Control Engineering

NPTEL Online Course

Indian Institute of Technology Madras
Solutions : Assignment 4
1. Consider the polynomial

p(s) = s5 + 5s4 + 11s3 + 23s2 + 28s + 12

Using the Routh Hurwitz criteria, comment on the system roots on the imaginary axis
(a) The system has no roots on the imaginary axis
(b) The system has multiple roots at the origin.
(c) The roots on the imaginary axis are at ±2j [Correct answer]
(d) The roots on the imaginary axis are at ±2j, ±2j (repeated roots on the imaginary axis)
and thus the system is unstable.
Solution:
Using Routh-Hurwitz criteria, the array for the polynomial is

s5 1 11 28
s4 5 23 12
s3 6.4 25.6 0
s2 3 12 0
s1 0 0 0
s0

Here, we form an auxiliary polynomial A(s) = 0 using the elements of row just preceding the
row containing all zeros. We then find the derivative dA(s)/ds and replace row of all zeros by
coefficients of dA(s)/ds and construct the rest of the Routh array.

A(s) = 3s2 + 12dA(s)/ds = 6s

s5 1 11 28
s4 5 23 12
s3 6.4 25.6 0
s2 3 12 0
s∗1 6 0 0
s0 12 0 0

Solving the auxiliary polynomial A(s) = 3s2 + 12 = 0 and s = ±j2. The roots on the imaginary
axis are s = ±j2.
2. Find the range of controller gains K and KI such that the feedback system is stable.

R +
K + KsI 1 Y
_
(s + 1)(s + 2)

1
(a) KI > 0, K > 0
(b) K > 0, KI > 3KI − 2
(c) K > 13 KI − 2, KI > 0 [correct answer]
(d) K > −5, KI > 2

Solution:
From the given figure,

" #" #
K1 1
G(s) = K +
s (s + 1)(s + 2)
sK + K1
G(s) =
s3 + 3s2 + 2s

For unity feedback system,

H(s) = 1

Characteristic equation of system is given by

F (s) = 1 + G(s)H(s) = 0
sK + K1
F (s) = 1 + 3
s + 3s2 + 2s
3 2
F (s) = s + 3s + s(2 + K) + KI

In order to check the stability of the system, the characteristic equation as obtained above is
analysed using Routh-Hurwitz criterion.

s3 1 2+K
s2 3 KI
6+3K−KI
s1 3 0
s0 KI

For the system to be stable, KI > 0 and

6 + 3K − KI
>0
3
(6 + 3K − KI ) > 0
3K > KI − 6
K > KI /3 − 2

In the above question, find the value of K and KI such that the closed-loop poles of the system
are at s = −1 and s = −1 ± j.

2
3. K = [Ans= 2; Range=1.95 to 2.05]
4. KI = [Ans= 2; Range=1.95 to 2.05]
Solution:
We can solve this problem by axis shifting, here we will need to transfer the Re{s = 0} axis to
Re{s = −1} axis. Let the variable in new co-ordinate be given by ‘z’.
The above shifting can be performed by replacing s by z − 1 in the characteristics polynomial.

F (z) = (z − 1)3 + 3(z − 1)2 + (z − 1)(2 + K) + KI = z 3 + (K − 1)z + (KI − K)

F (z) = z(z 2 + (K − 1)) + (KI − K)

In the new co-ordinates, the requirements are z = 0 and z = ±j. If KI = K one pole in the new
co-ordinate will be at origin. For complex pole at ±j we get K − 1 = 1.
Solving, we get K = 2 and KI = 2.
Alternate solution: The closed-loop poles of the system are at s = −1 and s = −1 ± j, the
characteristic polynomial is given by

F (s) = (s + 1)(s + 1 − j)(s + 1 + j)

F (s) = (s + 1)(s2 + 2s + 2)
F (s) = s3 + 3s2 + 4s + 2

As solved for the characteristic equation in previous question,

F (s) = s3 + 3s2 + s(2 + K) + KI

Comparing both the characteristic equations,we get 2 + K = 4. Therefore, K = 2 and similarly,

KI = 2.
5. Consider the value of K found in the above problem. The closed-loop system oscillates at a
frequency of rad/s. [Ans= 2; Range=1.95 to 2.05]
Solution:
The value of K = 2 as obtained in the above problem will cause sustained oscillations in the
system and for this value of K, all the elements of s1 row will be zero.Therefore, 6+3K−K
3
1
=0
2
or K1 = 12. Now, the auxiliary equation A(s) = 0 from the s row is
3s2 + 12 = 0 or s2 = −4 =⇒ s = ±j2.
6. Consider an open loop system with
1
G(s) =
(s − 1)(s − 2)

What is the√
value of H (a real number) that will result in the roots of the characteristic equation
at − 21 ± j 23
(a) H = 3
(b) H = −3
√
3
(c) H = 2

3
 (d) No such value of H exists. [correct]
Solution:
Given
1
G(s) =
(s − 1)(s − 2)
Transfer function of the system with feedback H is given by
1
G(s) (s−1)(s−2) 1
T.F. = = H
= 2 (1)
1 + G(s)H(s) 1 + (s−1)(s−2) s − 3s + 2 + H

From equation (1), characteristic equation is

F (s) = s2 − 3s + 2 + H
√
3
Characteristic equation for roots − 21 ± j 2 is given by
√ √
F (s) = (s + 1/2 − j 3/2)(s + 1/2 + j 3/2)

F (s) = s2 + s/2 + 1
On comparing the equations (2) and (4), there is no value of H, which results in the given roots.
7. In the above problem, suppose √H(s) is of the form Ks, what is the value of K such that the
closed-loop poles are at − 21 ± j 27 . [Ans K = 4]
Solution:
Given H(s)=Ks
Transfer function of the system with feedback H=Ks is given by
1
G(s) (s−1)(s−2) 1
T.F. = = Ks
= 2
1 + G(s)H(s) 1 + (s−1)(s−2) s + (K − 3)s + 2

Characteristic equation for the above function is

F (s) = s2 + (K − 3)s + 2
√
7
Characteristic equation for roots − 21 ± j 2 is given by
√ √
F (s) = (s + 1/2 − j 7/2)(s + 1/2 + j 7/2) = s2 + s + 2

On comparing the above two equations, K − 3=1 or K=4.

Common data for Q8 and Q9
A unity feedback control system has the open-loop transfer function
A
G(s) =
s(s + a)

8. The sensitivity of the closed-loop transfer function to the changes in the parameter A is
s2 +as
(a) (s2 +as+A)2
s2 +as
(b) s2 +as+A [Correct]

4
 −As
(c) (s2 +as+A)2
−as
(d) s2 +as+A

Solution:
Given open-loop transfer function is
A
G(s) =
s(s + a)
The closed loop transfer function of the unity feedback system is
A
s(s+a) A
T = A
=
1 + s(s+a) s2 + as + A

sensitivity of the closed-loop transfer function to the changes in the parameter A is given by

T ∂T A (s2 + as + A)1 − A  A s2 + as
SA = = 2 2 A
)= 2
∂A T (s + as + A) (s2 +as+A)
(s + as + A)

9. The sensitivity of the closed-loop transfer function to the changes in the parameter a is
s2 +as
(a) (s2 +as+A)2
s2 +as
(b) s2 +as+A
−As
(c) (s2 +as+A)2
−as
(d) s2 +as+A [Correct]

Solution:
The closed loop transfer function of the unity feedback system is
A
s(s+a) A
T = A
=
1 + s(s+a) s2 + as + A

sensitivity of the closed-loop transfer function to the changes in the parameter a is given by
∂T a (s2 + as + A)0 − A(s)  a −as
SaT = = A
)= 2
∂a T (s2 + as + A)2 (s2 +as+A)
(s + as + A)

10 ) Which of the following statements always hold true for unstable systems
(a) Bounded inputs resulting in unbounded Outputs
(b) Unbounded inputs resulting in unbounded outputs
(c) Unbounded inputs resulting in bounded outputs
Solution :
(a) Bounded inputs resulting in unbounded Outputs
11 Consider a polynomial in s given as p(s) = 3s4 + 2s3 + 4s2 + 14s + 23. How many roots of the
equation p(s) = 0 will lie on the right half plane, or in other words how many unstable roots the
system will have? [Answer =2 ; Range = 1.95 to 2.05]
Solution:
The polynomial p(s) = 3s4 + 2s3 + 4s2 + 14s + 23 has a Routh’s array that begins as follows:

s4 3 4 23
s3 2 14 0
s2 −17 23 0
s1 16.705 0 0
s0 23 0 0

There are two algebraic sign changes in the left column, going from top to bottom, so there are
two roots on the right half plane.
12 Which of the following statements are true ?
(a) The tracking error is given by E(s) = C(s) − R(s).
(b) Disturbance has insignificant role in the open-loop response of the system.
(c) Increasing the loop gain at low frequency helps in disturbance rejection. [Correct]
(d) Small loop gain helps in attenuating noise. [Correct]
Solution: Refer Lecture Slides.