Feedback Control System 5th Chapter

5000
Solutions Manual:
Chapter 5
7th Edition
Feedback Control of Dynamic

Systems
Gene F. Franklin
J. David Powell
Abbas Emami-Naeini
Assisted by:
H.K. Aghajan
H. Al-Rahmani
P. Coulot
P. Dankoski
S. Everett
R. Fuller
T. Iwata
V. Jones
F. Safai
L. Kobayashi
H-T. Lee
E. Thuriyasena
M. Matsuoka
J.K. Lee
2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
Chapter 5
The Root-Locus Design

Method
Problems and solutions for Section 5.1
1. Set up the listed characteristic equations in the form suited to Evanss
root-locus method. Give L(s); a(s); and b(s) and the parameter K in
terms of the original parameters in each case. Be sure to select K so that
a(s) and b(s) are monic in each case and the degree of b(s) is not greater
than that of a(s).
(a) s + (1= ) = 0 versus parameter
(b) s2 + cs + c + 1 = 0 versus parameter c
(c) (s + c)3 + A(T s + 1) = 0
i. versus parameter A,
ii. versus parameter T ,
iii. versus the parameter c, if possible. Say why you can or can not.
Can a plot of the roots be drawn versus c for given constant
values of A and T by any means at all?
kI
kD s
c(s)
+
G(s) = 0: Assume that G(s) = A
, where
s
s+1
d(s)
c(s) and d(s) are monic polynomials with the degree of d(s) greater
than that of c(s).
(Note: The rst printing of the 7th edition
kI
had an error in the equation above where the
term above was
s
incorrectly stated to be kI (s):)
(d) 1 + kp +
i. versus kp
ii. versus kI
iii. versus kD
5001
5002
CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

iv. versus
Solution:
(a) K = 1= ;
a = s;
b=1
(b) K = c;
a = s2 + 1;
b=s+1
(c)
(d)
i. K = AT ;
a = (s + c)3 ;
b = s + 1=T
ii. K = AT ;
a = (s + c)3 + A;
b=s
iii. The parameter c enters the equation in a nonlinear way and a
standard root locus does not apply. However, using a polynomial
solver, the roots can be plotted versus c:
i. K = kp A;
a = s(s + 1= )d(s) + AkI (s + 1= )c(s) +
kD
b = s(s + 1= )c(s)
ii. K = AkI ;
a = s(s + 1= )d(s) + Akp s(s + 1= )c(s) +
s2 Ac(s);
kD
s2 Ac(s);
b = (s + 1= )c(s)
AkD
iii. K =
;
a = s(s + 1= )d(s) + Akp s(s + 1= )c(s) + AkI (s + 1= )c(s);
b = s2 c(s)
iv. K = 1= ;
a = s2 d(s) + Akp s2 c(s) + AkI sc(s);
b = sd(s) + Akp sc(s) + AkI c(s) + AkD s2 c(s)
5003

2. Roughly sketch the root loci for the pole-zero maps as shown in Fig. 5.44
without the aid of a computer. Show your estimates of the center and
angles of the asymptotes, a rough evaluation of arrival and departure
angles for complex poles and zeros, and the loci for positive values of the
parameter K. Each pole-zero map is from a characteristic equation of the
form
b(s)
= 0;
1+K
a(s)
where the roots of the numerator b(s) are shown as small circles o and the
roots of the denominator a(s) are shown as 0 s on the s-plane. Note that
in Fig. 5.44(c) there are two poles at the origin.
Solution:
We had to make up some numbers to do it on Matlab, so the results
partly depend on what was dreamed up, but the idea here is just get the
basic rules right.
(a) a(s) = s2 + s; b(s) = s + 2
Breakin(s): -3.414
Breakaway(s): -0.586
(b) a(s) = s2 + 0:2s + 1; b(s) = s + 1
Angle of departure: 137:9
Breakin(s): -2.342
(c) a(s) = s2 ; b(s) = (s + 1)
Breakin(s): -2
(d) a(s) = s2 + s; b(s) = s2 + 5s + 6
Breakin(s): -2.366
Breakaway(s): -0.634
(e) a(s) = s3 + 3s2 + 4s 8
Center of asymptotes: -1
Angles of asymptotes:
60 ; 180
Angle of departure:
56:3
(f) a(s) = s5 + 3s4 + s3 5s2 0:5; b(s) = s + 1
Center of asymptotes: -0.5
Angles of asymptotes:
45 ; 135
Angle of departure:
115:8 at s = 2:01 + 1:01j
70:5 at s = 0:01 + 0:31j
Breakin(s): 0.05
Breakaway(s): 0:652
5004
Root loci for Problem 5.2

2
Imaginary Axis
Imaginary Axis
2
1
0
-1
-2
-10
1
0
-1
-5
-2
-6
-4
-2
Real Axis
Real Axis
1
0
-1
-2
-4
0.5
0
-0.5
-2
-1
-4
-2
Real Axis
Imaginary Axis
Imaginary Axis
0
Real Axis
10
5
0
-5
-10
-10
Imaginary Axis
Imaginary Axis
2
0
-2
-5
0
Real Axis
-4
-4
-2
0
Real Axis
5005
3. For the characteristic equation
1+
K
= 0;
s2 (s + 1)(s + 5)
(a) Draw the real-axis segments of the corresponding root locus.

(b) Sketch the asymptotes of the locus for K ! 1.
(c) Sketch the locus.
(d) Verify your sketch with a Matlab plot.
Solution:
(a) The real axis segment is
(b)
6=4 =
1:5;
1>
45 ;
>
5.
135
(c) The plot is shown below.
Root Locus
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Solution for Problem 5.3
5006
4. Real poles and zeros. Sketch the root locus with respect to K for the
equation 1+KL(s) = 0 and the listed choices for L(s). Be sure to give the
asymptotes and the arrival and departure angles at any complex zero or
pole. After completing each hand sketch, verify your results using Matlab.
Turn in your hand sketches and the Matlab results on the same scales.
(a) L(s) =
2
s(s + 1)(s + 5)(s + 10)
(b) L(s) =
(s + 3)
s(s + 1)(s + 5)(s + 10)
(c) L(s) =
(s + 2)(s + 4)
s(s + 1)(s + 5)(s + 10)
(d) L(s) =
(s + 2)(s + 6)
s(s + 1)(s + 5)(s + 10)
Solution:
All the root locus plots are displayed at the end of the solution set for this
problem.
(a)
4;
45 ;
(b)
4:33;
(c)
5;
90
(d)
4;
90
135
60 ; 180
5007
b
15
10
10
Imaginary Axis
Imaginary Axis
a
15
-5
-5
-10
-10
-15
-15
-10
-5
Real Axis
-15
-15
-10
15
10
10
-5
-10
-10
-10
-5
Real Axis
-5
-15
-15
15
Imaginary Axis
Imaginary Axis
-5
Real Axis
-15
-15
-10
-5
Real Axis
5008
5. Complex poles and zeros. Sketch the root locus with respect to K for the
equation 1+KL(s) = 0 and the listed choices for L(s). Be sure to give the
(a) L(s) =
1
s2 + 3s + 10
(b) L(s) =
1
s(s2 + 3s + 10)
(c) L(s) =
(s2 + 2s + 8)
s(s2 + 2s + 10)
(d) L(s) =
(s2 + 2s + 12)
s(s2 + 2s + 10)
(e) L(s) =
(s2 + 1)
s(s2 + 4)
(f) L(s) =
(s2 + 4)
s(s2 + 1)
Solution:
problem.
(a)
1:5;
(b)
1;
(c)
i
i
90 ;
= 90 at s =
60 ; 180 ;
1:5 + 2:78j
28:3 at s =
= 0; i = 180 ; d = 161:6 at s =
= 200:7 at s = 1 + 2:65j
1 + 3j;
= 0; i = 180 ;
= 16:8 at s =
1 + 3j;
1:5 + 2:78j
(d)
= 18:4 at s =
1 + 3:32j
(e)
= 0;
= 180 ;
= 180 at s = 2j;
(f)
= 0;
= 180 ;
= 0 at s = j;
= 180 at s = j
= 0 at s = 2j
5009
b
20
Imaginary Axis
Imaginary Axis
20
10
0
-10
-20
-3
-2
-1
Real Axis
10
0
-10
-20
-20
-10
0
Real Axis
d
4
Imaginary Axis
Imaginary Axis
4
2
0
-2
-4
-3
-2
-1
Real Axis
2
0
-2
-4
-3
-2
0.5
4
Imaginary Axis
Imaginary Axis
-1
Real Axis
f
4
2
0
-2
-4
-2
10
-1
Real Axis
2
0
-2
-4
-1.5
-1
-0.5
Real Axis
5010
6. Multiple poles at the origin. Sketch the root locus with respect to K for
the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to
give the asymptotes and the arrival and departure angles at any complex
zero or pole. After completing each hand sketch, verify your results using
Matlab. Turn in your hand sketches and the Matlab results on the same
scales.
(a) L(s) =
1
s2 (s + 8)
(b) L(s) =
1
s3 (s + 8)
(c) L(s) =
1
s4 (s + 8)
(d) L(s) =
(s + 3)
s2 (s + 8)
(e) L(s) =
(s + 3)
s3 (s + 4)
(f) L(s) =
(s + 1)2
s3 (s + 4)
(g) L(s) =
(s + 1)2
s3 (s + 10)2
Solution:
problem.
(a)
2:67;
(b)
2;
(c)
1:6;
36 ;
(d)
2:5;
90
(e)
0:33;
(f)
3;
90
(g)
6;
60 ; 180
60 ; 180
45 ;
135
108 ; 180
60 ; 180
5011
b
Imaginary Axis
Imaginary Axis
a
20
10
0
-10
-20
-15
-10
-5
0
Real Axis
5
0
-5
-10
10
-10
-5
Imaginary Axis
Imaginary Axis
Real Axis
10
5
0
50
-5
-15
-10
-5
Real Axis
-50
-10
10
-5
Imaginary Axis
Imaginary Axis
Real Axis
0.5
0
-0.5
10
5
0
-5
-10
-1
-5
-4
-3
-2
-1
Real Axis
-5
Real Axis
Imaginary Axis
-5
-4
-3
-2
Real Axis
-1
5
0
-5
-10
-10
5012
7. Mixed real and complex poles. Sketch the root locus with respect to K for
the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to
give the asymptotes and the arrival and departure angles at any complex
zero or pole. After completing each hand sketch, verify your results using
Matlab. Turn in your hand sketches and the Matlab results on the same
scales.
(a) L(s) =
(s + 3)
s(s + 10)(s2 + 2s + 2)
(b) L(s) =
(s + 3)
s2 (s + 10)(s2 + 6s + 25)
(c) L(s) =
s2 (s
(s + 3)2
+ 10)(s2 + 6s + 25)
(d) L(s) =
(s + 3)(s2 + 4s + 68)
s2 (s + 10)(s2 + 4s + 85)
(e) L(s) =
[(s + 1)2 + 1]
s2 (s + 2)(s + 3)
Solution:
All the plots are attached at the end of the solution set.
(a)
3;
(b)
3:25;
45 ;
(c)
3:33;
60 ; 180 ;
(d)
60 ; 180 ;
135 ;
24:8 at s =
d
1+j
103:5 at s =
13:5 at s =
= 3:5; i = 90 ; d = 100:2 at s =
= 99:8 at s = 2 + 8j
3 + 4j
3 + 4j
2 + 9j;
(e)
1:5;
90 ;
= 71:6 at s =
1+j
5013
c
10
10
1
0
Imaginary Axis
Imaginary Axis
Imaginary Axis
2
0
-2
-1
-8
-8
-10
-10
-10
-5
Real Axis
0
-2
-6
-6
-3
-4
-4
-2
-15
-10
-5
Real Axis
-15
-10
-5
Real Axis
e
5
4
15
3
10
Imaginary Axis
Imaginary Axis
2
5
1
0
-1
-5
-2
-10
-3
-4
-15
-5
-15
-10
-5
Real Axis
-3
-2
-1
Real Axis
5014
8. RHP and zeros. Sketch the root locus with respect to K for the equation 1 + KL(s) = 0 and the listed choices for L(s). Be sure to give the
1
s+2
; the model for a case of magnetic levitation
s + 10 s2 1
with lead compensation.
(a) L(s) =
s+2
1
; the magnetic levitation system with inte2
s(s + 10) (s
1)
gral control and lead compensation.
(b) L(s) =
(c) L(s) =
1
s2
s2 + 2s + 1
: What is the largest value that can
s(s + 20)2 (s2 2s + 2)
be obtained for the damping ratio of the stable complex roots on this
locus?
(d) L(s) =
(e) L(s) =
(f) L(s) =
(s + 2)
;
s(s 1)(s + 6)2
1
1)[(s + 2)2 + 3]
(s
Solution:
(a)
4;
(b)
2:67;
(c)
1;
(d)
90
=
60 ; 180
= 180
= 12; i = 60 ; 180 ; d = 92:7 at s = 1 + j

The maximum damping ratio is obtained at a point at the smallest
angle o the horizontal. From the locus, the maximum damping is
0:31 when K 2600.
(e)
3;
60 ; 180
(f)
1;
60 ; 180 ;
60:0 at s =
2 + 1:73j
5015
10
10
plot a
-5
0.5
Imag Axis
5
Imag Axis
Imag Axis
-10
plot c
plot b
-5
-10
-10
-5
0
Real Axis
plot d
-0.5
-10
-1
-1
-5
0
Real Axis
10
10
plot f
Imag Axis
0
-5
-10
2
Imag Axis
4
plot e
15
Imag Axis
0
1
Real Axis
-5
-2
-15
-20
-5
0
Real Axis
-10
-8
-6
-4 -2
0
Real Axis
-4
-2
0
Real Axis
5016
9. Put the characteristic equation of the system shown in Fig. 5.45 in root
locus form with respect to the parameter , and identify the corresponding
L(s); a(s); and b(s): Sketch the root locus with respect to the parameter
, estimate the closed-loop pole locations, and sketch the corresponding
step responses when = 0; 0:5, and 2. Use Matlab to check the accuracy
of your approximate step responses.
Figure 5.45: Control system for Problem 5.9

Solution:
The characteristic equation is s2 +2s+5+5 s = 0 and L(s) =
the root locus and step responses are plotted below.
s2
s
:
+ 2s + 5
root locus
StepResponse
2.5
1.4
a l p h a = 0
1.2
1.5
a l p h a = 0 . 5
a l p h a = 2
0.5
Amplitude
Imaginary Axis
0.8
0.6
-0.5
-1
0.4
-1.5
0.2
-2
-2.5
-6
-5
-4
-3
-2
Real Axis
-1
10
Time(sec)
15
20
5017
10. Use the Matlab function rltool to study the behavior of the root locus of
1 + KL(s) for
(s + a)
L(s) =
s(s + 1)(s2 + 8s + 52)
as the parameter a is varied from 0 to 10, paying particular attention to
the region between 2:5 and 3:5. Verify that a multiple root occurs at a
complex value of s for some value of a in this range.
Solution:
For small values of ; the locus branch from 0; 1 makes a circular path
around the zero and the branches from the complex roots curve o toward
the asymptotes. For large values of
the branches from the complex
roots break into the real axis and those from 0; 1 curve o toward the
asymptotes. At about = 3:11 these loci touch corresponding to complex
multiple roots.
a = 2 .5
Imaginary Axis
10
-2
-2
-2
-4
-4
-4
-6
-6
-6
-8
-8
-1 0
-1 4
-1 2
-1 0
-8
-6
-4
-2
-1 0
-1 4
-8
-1 2
-1 0
-8
-6
R e a l A x is
-4
-2
-1 0
-1 4
Imaginary Axis
Imaginary Axis
-2
-2
-4
-4
-4
-6
-6
-6
-8
-8
-6
-4
-2
-1 0
-1 4
-4
-2
-2
-2
-8
-6
a=10
10
-1 0
-8
a=5
10
-1 2
-1 0
R e a l A x is
10
-1 0
-1 4
-1 2
R e a l A x is
a = 3 .5
Imaginary Axis
a=3
10
Imaginary Axis
Imaginary Axis
a=0
10
-8
-1 2
-1 0
-8
R e a l A x is
-6
-4
R e a l A x is
-2
-1 0
-1 4
-1 2
-1 0
-8
-6
-4
R e a l A x is
5018
11. Use Rouths criterion to nd the range of the gain K for which the systems
in Fig. 5.46 are stable, and use the root locus to conrm your calculations.
Figure 5.46: Feedback systems for Problem 5.11
Solution:
(a) The system is stable for 0

K
478:234. The root locus of the
system and the location of the roots at the crossover points are shown
in the left plot.
(b) There is a pole in the right hand plane thus the system is unstable
for all values of K as shown in the right plot.
5019
Root Locus
plot a
Imag Axis
Imag Axis
Root Locus
5
plot b
-5
-5
-10
-5
Real Axis
-3
-2.5
-2
-1
-0.5
-1
-0.5
Root Locus
4
plot c
Imag Axis
Imag Axis
Root Locus
1.5
1
-1.5
Real Axis
0.5
0
-0.5
plot d
2
0
-2
-1
-1.5
-6
-4
Real Axis
-2
-4
-3
-2.5
-2
-1.5
Real Axis
5020
12. Sketch the root locus for the characteristic equation of the system for
which
(s + 2)
L(s) = 2
;
s (s + 5)
and determine the value of the root-locus gain for which the complex conjugate poles have the maximum damping ratio. What is the approximate
value of the damping?
Solution:
Plot the system on Matlab using rlocus(sys), and use [K]= rlocnd(sys)
to pick the gain for the maximum damping. We nd that the maximum
damping, = 0.275 when K 10:7.
R oot Loc us
15
0 .3 8
0 .2 6
0 .1 9
0 .1 3
0 .0 8 5
0 .0 4
14
12
10
10
0 .5 2
6
5
0 .8
Imaginar y Axis
0 .8
-5
-10
0 .5 2
10
12
0 .2 6
0 .3 8
-15
-6
-5
-4
0 .1 9
-3
0 .1 3
-2
0 .0 8 5
-1
0 .0 4
14
0
R e a l Ax is
Root locus with 0.275 damping marked
5021
13. For the system in Fig. 5.47,
Figure 5.47: Feedback system for Problem 5.13
(a) Find the locus of closed-loop roots with respect to K.

(b) Is there a value of K that will cause all roots to have a damping ratio
greater than 0:5?
(c) Find the values of K that yield closed-loop poles with the damping
ratio = 0:707.
(d) Use Matlab to plot the response of the resulting design to a reference
step.
Solution:
(a) The locus is plotted below
(b) There is a K which will make the dominant poles have damping
0.5 but none that will make the poles from the resonance have that
much damping.
(c) Using rlocnd, the gain is about 35.
(d) The step response shows the basic form of a well damped response
with the vibration of the response element added.
0.84
8 0.92
6
RootLocus
0.74
0.6
1.2
0.965
1
0.99
Amp litu d e
Imag Axis
StepResponse
1.4
0.42 0.22
2
200 17.5
15 12.5
10
7.5
2.5
-2
0.8
0.6
0.99
0.4
-4
-6
-8
-20
0.965
0.2
0.92
0.84
-15
0.74
0.6 0.42 0.22
-10
-5
RealAxis
3
Time(sec)
5022

Root locus and step response for Problem 5.13
5023
14. For the feedback system shown in Fig. 5.48, nd the value of the gain K
that results in dominant closed-loop poles with a damping ratio = 0:5.
Solution:
Use block diagram reduction to nd the characteristic equation of the

closed loop system, then divide that up into terms with and without K to
10s
nd the root locus form, where L(s) = 2
: Plugging into Matlab
s + s + 10
and using rlocnd produces the required gain to be K = 0:22:The locus is
5024
R oot Locus
4
0.84
0.72
0.58
0.44
0.3
0.14
3
0.92
0.98
Imaginary Axis
6
0
-1
0.98
-2
0.92
-3
0.72
0.84
-4
-6
-5
-4
0.58
-3
0.44
-2
0.3
-1
0.14
0
R eal Axis
Root locus with 0.5 damping marked
5025

15. A simplied model of the longitudinal motion of a certain helicopter near
hover has the transfer function
G(s) =
9:8(s2 0:5s + 6:3)

:
(s + 0:66)(s2 0:24s + 0:15)
and the characteristic equation 1 + Dc (s)G(s) = 0. Let Dc (s) = kp at

rst.
(a) Compute the departure and arrival angles at the complex poles and
zeros.
(b) Sketch the root locus for this system for parameter K = 9:8kp . Use
axes -4 x 4; 3 y 3;
(c) Verify your answer using Matlab. Use the command axis([-4 4 -3 3])
to get the right scales.
(d) Suggest a practical (at least as many poles as zeros) alternative compensation Dc (s) which will at least result in a stable system.
Solution:
(a)
d
a
=
=
180
25:26
90 + 266:5 + 92:6 = 63:83 ;
90 + 86:5 + 69:9 + 87:4
180 = 26:11
(b) (c)
Root Locus
3
Imaginary Axis
-1
-2
-3
-4
-3
-2
-1
Real A xis
Problem 5.15(b)(c)
5026

(d) For this problem a double lead is needed to bring the roots into the
left half-plane. The plot shows the rootlocus for control for. Let
(s + :66)(s + :33)
:
Dc (s) =
(s + 5)2
Root Loc us
3
Imaginary Axis
-1
-2
-3
-4
-3
-2
-1
Real A xis
Problem 5.15(d)
5027
16. For the system given in Fig. 5.49,

(a) Plot the root locus of the characteristic equation as the parameter
K1 is varied from 0 to 1 with = 2. Give the corresponding L(s);
a(s); and b(s):
(b) Repeat part (a) with
value?
= 5. Is there anything special about this
(c) Repeat part (a) for xed K1 = 2 with the parameter K =

from 0 to 1.
varying
Solution:
Use block diagram reduction to nd the characteristic equation of the
closed-loop system:
1+
10K1
s(s + )
0:1
+ 0:2s + 1
s(s + 10)(s + )
K1
or
s(s + )(s + 11) + 2K1 (s + 5) = 0
=0
The root locus for each part is attached at the end.

(a) Substituting = 2 and divide the equation above up into terms with
and without K1 to nd Evans form:
1 + K1
2(s + 5)
=0
s(s + 2)(s + 11)
L(s) =
2(s + 5)
s(s + 2)(s + 11)
(b) Substituting
= 5 and rewrite the equation in Evans form with
respect to K1 :
1 + K1
2(s + 5)
=0
s(s + 5)(s + 11)
We have a pole-zero cancellation at s =
L(s) =
2
s(s + 11)
5.
5028

(c) Substituting K1 = 2 and divide the characteristic equation up into
terms with and without to nd Evans form:
1+
s(s + 11)
=0
s2 (s + 11) + 4(s + 5)
L(s) =
s(s + 11)
s3 + 11s2 + 4s + 20
plot a
plot b
40
30
1.5
1
Imaginary Axis
Imaginary Axis
20
10
0
-10
0.5
0
-0.5
-20
-1
-30
-1.5
-40
-15
-10
-5
Real Axis
-2
-40
-30
-20
-10
Real Axis
10
20
plot c
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-30
-25
-20
-15
-10
Real Axis
-5
10
5029
17. For the system shown in Fig. 5.50, determine the characteristic equation
and sketch the root locus of it with respect to positive values of the parameter c. Give L(s), a(s); and b(s) and be sure to show with arrows the
direction in which c increases on the locus.
Solution:
L(s) =
a(s)
s2 + 9
=
+ 144s
b(s)
s3
R oot Loc us
10
Imag Axis
-5
-10
-18
-16
-14
-12
-10
-8
-6
-4
-2
R eal Ax is
5030
18. Suppose you are given a system with the transfer function
L(s) =
(s + z)
;
(s + p)2
where z and p are real and z > p. Show that the root locus for 1+KL(s) =
0 with respect to K is a circle centered at z with radius given by
r = (z
p):
Hint: Assume s + z = rej and show that L(s) is real and negative for
real under this assumption.
Solution:
Assume s + z = (z
p)ej . Then L(s) can be written as:
L =
=
=
(z
p)ej
z + p)
j
(z p)e
(z p)2 (ej
1)2
1
((z
(z
=
p)ej
p)( 4)
1
4(z
ej
=2
e
2j
j =2
1
p) (sin( =2))2
Because z > p; this function is real and negative for real

these points are on the locus.
and therefore
5031
19. The loop transmission of a system has two poles at s = 1 and a zero
at s = 2. There is a third real-axis pole p located somewhere to the
left of the zero. Several dierent root loci are possible, depending on the
exact location of the third pole. The extreme cases occur when the pole
is located at innity or when it is located at s = 2. Give values for p
and sketch the three distinct types of loci.
Solution:
Root Locus
Root Locus
0.5
20
pole is at negativ e inf inity
pole is at s=-2
Imag Axis
Imag Axis
10
0
-10
-20
-0.5
-100
-80
-60
-40
-20
-2
Real Axis
-1.5
-1
-0.5
Real Axis
Root Locus
5
Imag Axis
pole is slightly to the lef t of zero
-5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
5032
20. For the feedback conguration of Fig. 5.51, use asymptotes, center of
asymptotes, angles of departure and arrival, and the Routh array to sketch
root loci for the characteristic equations of the listed feedback control
systems versus the parameter K: Use Matlab to verify your results.
K
;
s(s + 1 + 3j)(s + 1 3j)
K
(b) G(s) = 2 ;
s
K(s + 5)
(c) G(s) =
;
(s + 1)
K(s + 3 + 4j)(s + 3 4j)
(d) G(s) =
;
s(s + 1 + 2j)(s + 1 2j)
(a) G(s) =
s+2
s+8
s+1
H(s) =
s+3
s+7
H(s) =
s+3
H(s) =
H(s) = 1 + 3s

Solution:
The root locus for each part is attached at the end.
(a)
L(s)
-
(s + 2)
s(s + 1 + 3j)(s + 1
Asymptotes: 4 1 = 3
Center of asymptotes: = 2:67
Angle of asymptotoes: = 60 ; 180
Angle of departure: d = 29:93 at s =
Imaginary-axis crossings:
(s)
3j)(s + 8)
1 + 3j
= s4 + 10s3 + 26s2 + (80 + K) s + 2K

s4 :
1
26
2K
s3 :
10
80 + K
K
s2 :
18 10
2K
2
K
100K+14400
s:
180 K
s0 :
2K
Rouths test gives 0 < K < 80 for stability. Solving

K = 80, the crossings are s = 4j.
(s) with
5033
(b)
L(s)
- Asymptotes: 3
(s + 1)
s2 (s + 3)
1=2
- Center of asymptotes:
- Angle of asymptotoes:
90
- Imaginary-axis crossings:
(s)
= s3 + 3s2 + Ks + K
s3 : 1 K
s2 : 3 K
s : 2K
3
s0 : K
Rouths test gives K > 0 for stability. Solving

the crossings are s = 0.
(s) with K = 0,
(c)
L(s)
- Asymptotes: 2
(s + 5)(s + 7)
(s + 1)(s + 3)
2=0
- Breakin/Breakaway:
dL(s)
= 0 =) 8s3 + 64s + 104 = 0
ds
Therefore the breakin/breakaway points are at s =
2:27; 5:73.
(d)
L(s)
- Asymptotes: 3
(1 + 3s) (s + 3 + 4j) (s + 3 4j)

s(s + 1 + 2j)(s + 1 2j)
3=0
- Angle of departure:
- Angle of arrival:
= 108:4 at s =
23:4 at s =
1 + 2j
3 + 4j
5034

Root Locus
Root Locus
5
plot a
plot b
Imag Axis
Imag Axis
-5
-5
-10
-5
Real Axis
-3
-2.5
-2
Root Locus
-1.5
-1
Real Axis
-0.5
-0.5
Root Locus
4
1.5
plot c
plot d
2
Imag Axis
Imag Axis
1
0.5
0
-0.5
-2
-1
-1.5
-4
-6
-4
Real Axis
-2
-3
-2.5
-2
-1.5
-1
Real Axis
5035
21. Consider the system in Fig. 5.52.
(a) Using Rouths stability criterion, determine all values of K for which
the system is stable.
(b) Use Matlab to nd the root locus versus K. Find the values for K
at imaginary-axis crossings.
Solution:
(a)
(s)
= s4 + 5s3 + 9s2 + (5 + K)s + 3K

s4 :
1
9
3K
s3 :
5
5+K
s2 :
8 K
3K
5
2
K
40K+200
s:
40 K
s0 :
3K
For the system to be stable, 0 < K < 4:49.

(b) The imaginary axis crossings are at s = 1:38j when K = 4:49.
Root locus is shown below.
Root Locus
Im ag Axis
-2
-4
-6
-7
-6
-5
-4
-3
-2
-1
Real Axis
Root locus for Problem 5.21
5036

22. Let
G(s) =
1
(s + 2)(s + 3)
and Dc (s) = K
s+a
:
s+b
Using root-locus techniques, nd values for the parameters a; b, and K of

the compensation Dc (s) that will produce closed-loop poles at s = 1 j
for the system shown in Fig. 5.53.
Figure 5.53: Unity feedback system for Problems 5.22, 5.28, and 5.33
Solution:
Since the desired poles are slower than the plant, we will use PI control.
The solution is to cancel the pole at -3 with the zero and set the gain to
K = 2: Thus, a = 3; b = 0; and K = 2:
5037
23. Suppose that in Fig. 5.53,
G(s) =
1
s(s2 + 2s + 5)
and Dc (s) =
K
:
s+2
Without using Matlab, sketch the root locus with respect to K of the
characteristic equation for the closed-loop system, paying particular attention to points that generate multiple roots. Find the value of K at
that point, state what the location of the multiple roots is, and how many
multiple roots there are.
Solution:
The root locus for the system is attached at the end.
(s) =
- Asymptotes: 4
1
s(s + 2)(s2 + 2s + 5)
0=4
- Center of asymptotes:
- Angle of asymptotoes:
45 ; 135
- Angle of departure:
90 at s =
1 + 2j
- Imaginary-axis crossings:
(s)
= s4 + 4s3 + 9s2 + 10s + K

s4 :
1
9 K
s3 :
4
10
s2 :
6:5
K
s : 10 8K
13
s0 :
K
Rouths test gives 0 < K < 16:25 for stability. Solving

K = 16:25, the crossings are s = 1:58j.
(s) with
- Location of multiple roots:

If a polynomial has repeated roots, its derivative is equal to zero at
the multiple roots. Therefore
d (s)
= 4s3 + 12s2 + 18s + 10 = 0
ds
Thus the repeated roots are at s = 1; 1 1:225j. Plugging the
roots into the characteristic equation, the corresponding value of K
is K = 4; 16:25, respectively.
5038

Root Locus
4
I magi nary Axi s
-1
-2
-3
-4
-4
-3
-2
-1
Real Axis
5039
24. Suppose the unity feedback system of Fig. 5.53 has an open-loop plant
s+z
to be
given by G(s) = 1=s2 . Design a lead compensation Dc (s) = K s+p
added in series with the plant so that the dominant poles of the closed-loop
system are located at s = 2 2j.
Solution:
Setting the pole of the lead to be at p = 20; the zero is at z =
with a gain of K = 72: The locus is plotted below.
1:78
Root Loc us
3
0.92
0.84
0.74
0.6
0.42
0.22
2
0.965
Imag Axis
0.99
7
0
-1
-6
-5
0.99
0.965
-2
-3
-7
0.84
0.92
0.74
-4
-3
0.6
-2
0.42
0.22
-1
Real Axis
5040
25. Assume that the unity feedback system of Fig. 5.53 has the open-loop
plant
1
G(s) =
:
s(s + 3)(s + 6)
Design a lag compensation to meet the following specications:
The step response settling time is to be less than 5 sec.
The step response overshoot is to be less than 17%.
The steady-state error to a unit ramp input must not exceed 10%.
Solution:
The overshoot specication requires that damping be 0:5 and the
settling time requires that ! n > 1:8: From the root locus plotted
below, these can be met at K = 28 where the ! n = 2: With this
gain, the Kv = 28=18 = 1:56: To get a Kv = 10; we need a lag gain
of about 6:5: Selecting the lag zero to be at 0:1 requires the pole
to be at 0:1=6:5 = 0:015: To meet the overshoot specications, it is
necessary to select a smaller K and set p = 0:01: Other choices are
of course possible. The step response of this design is plotted below.
0.84
0.74
RootLocus
0.6
1.4
0.42 0.22
0.92
1.2
Imag Axis
0.965
2
10
2
-2
0.99
0.8
10
0.6
0.99
0.4
0.965
-4
0.2
0.92
-6
0.84
-10
0.74
0.6 0.42 0.22

-5
RealAxis
00
10
15
20
Root locus and step response for Problem 5.25
25
5041
26. A numerically controlled machine tool positioning servomechanism has a
normalized and scaled transfer function given by
G(s) =
1
:
s(s + 1)
Performance specications of the system in the unity feedback conguration of Fig.

p 5.53 are satised if the closed-loop poles are located at
s = 1 j 3.
(a) Show that this specication cannot be achieved by choosing proportional control alone, Dc (s) = kp .
s+z
that will meet the speci(b) Design a lead compensator Dc (s) = K s+p
cation.
Solution:
(a) With proportional control, the complex poles have real part at s =
0:5.
(b) To design a lead, we select the pole to be at p =
zero and gain to be z = 3; K = 12.
10 and nd the
5042
27. A servomechanism position control has the plant transfer function

G(s) =
10
:
s(s + 1)(s + 10)
You are to design a series compensation transfer function Dc (s) in the

unity feedback conguration to meet the following closed-loop specications:
The response to a reference step input is to have no more than 16%
overshoot.
The response to a reference step input is to have a rise time of no
more than 0.4 sec.
The steady-state error to a unit ramp at the reference input must be
less than 0.05.
(a) Design a lead compensation that will cause the system to meet the
dynamic response specications, ignoring the error requirement.
(b) What is the velocity constant Kv for your design? Does it meet the
error specication?
(c) Design a lag compensation to be used in series with the lead you
have designed to cause the system to meet the steady-state error
specication.
(d) Give the Matlab plot of the root locus of your nal design.
(e) Give the Matlab response of your nal design to a reference step.
Solution:
(a) Setting the lead pole at p = 60 and the zero at z = 1; the dynamic
specications are met with a gain of 245. With the lead compensator,
the overshoot is reduced to 3:64% and the rise time is 0:35 sec.
(b)
Kv = lim sGDc = lim s
s!0
s!0
245(s + 1)
10
= 4:083
s(s + 1)(s + 10) (s + 6)
(c) To meet the steady-state requirement, we need a new Kv = 20; which

is an increase of a factor of 5. If we set the lag zero at z = 0:4; the
pole needs to be at p = 0:08:
(d) The root locus is plotted below.
(e) The step response is plotted below.
5043
Lead root locus
4
3
Lead Step response

1.5
0.92
0.84
0.74
0.6
0.42 0.22
0.965
1
0.99
1
10
0
Amplitude
Imaginary Axis
-1
0.99
0.5
-2
-3
-4
0.965
0.84
0.92
-10
0.74
0.6
0.42 0.22
0
-8
-6
-4
Real Axis
-2
0.5
Lead-lag root locus
1.5
Lead-lag step response

1.5
4 0.92
3
1
Time (sec)
0.84
0.74
0.6
0.42 0.22
0.965
1
0.99
1
10
0
Amplitude
Imaginary Axis
-1
0.99
0.5
-2
-3
-4
-10
0.965
0.84
0.92
0.74
0.6
0.42 0.22
0
-8
-6
-4
Real Axis
-2
3
4
Time (sec)
Solution to Problem 5.27
5044
28. Assume the closed-loop system of Fig. 5.53 has a feed forward transfer
function G(s) given by
1
:
G(s) =
s(s + 2)
Design a lag compensation so that the dominant poles of the closed-loop
system are located at s = 1 j and the steady-state error to a unit ramp
input is less than 0.2.
Solution:
The poles can be put in the desired location with proportional control
alone, with a gain of kp = 2 resulting in a Kv = 1: To get a Kv = 5; we add
s + 0:1
:
a compensation with zero at 0:1 and a pole at 0:02: Dc (s) = 2
s + 0:02
5045
29. An elementary magnetic suspension scheme is depicted in Fig. 5.54. For
small motions near the reference position, the voltage e on the photo
detector is related to the ball displacement x(in meters) by e = 100x.
The upward force (in newtons) on the ball caused by the current i (in
amperes) may be approximated by f = 0:5i + 20x. The mass of the ball
is 20 g, and the gravitational force is 9.8 N/kg. The power amplier is a
voltage-to-current device with an output (in amperes) of i = u + V0 .
Figure 5.54: Elementary magnetic suspension
(a) Write the equations of motion for this setup.

(b) Give the value of the bias V0 that results in the ball being in equilibrium at x = 0.
(c) What is the transfer function from u to e?
(d) Suppose the control input u is given by u = Ke. Sketch the root
locus of the closed-loop system as a function of K.
U
(e) Assume that a lead compensation is available in the form E
=
s+z
Dc (s) = K s+p : Give values of K; z; and p that yields improved
performance over the one proposed in part (d).
Solution:
(a) The equations of motion can be written as
X
m
x =
f orces
=
0:5i + 20x
mg = 0:5(u + Vo ) + 20x
mg
Substituting numbers, we have

0:02
x = 0:5(u + Vo ) + 20x
0:196:
5046

(b) In equilibrium at x = 0, x
= 0 and u = 0. Therefore to have the bias
cancel gravity, 0:5Vo 0:196 = 0 or Vo = 0:392:
(c) Taking Laplace transforms of the equation and substituting e = 100x;
E
2500
= 2
U
s
1000
(d) The locus starts at the two poles symmetric to the imaginary axis,
meet at the origin and cover the imaginary axis. The locus is plotted
below.
Root Locus
40
30
Imaginary Axis
20
10
-10
-20
-30
-40
-40
-30
-20
-10
0
Real Axis
10
20
30
40
Root loci for Problem 5.29d
(e) Since the system with a proportional gain is on the stability boundary, any p
lead will improve its performance. For example, we can
pick z = 1000 to cancel one of the open-loop plant poles, and pick
p = 150 to pull the locus into the left-hand plane. K can be selected
to give a desired amount of damping, say 0:7. K = 4:75 gives a
damping of 0:7. See the plot below.
5047
Root Locus
50
40
30
Imaginary Axis
20
10
0
-10
-20
-30
-40
-50
-160
-140
-120
-100
-80
-60
Real Axis
-40
-20
20
40
Root loci for Problem 5.29e
5048
30. A certain plant with the non minimum phase transfer function
G(s) =
4 2s
;
s2 + s + 9
is in a unity positive feedback system with the controller transfer function

Dc (s):
(a) Use Matlab to determine a (negative) value for Dc (s) = K so that
the closed-loop system with negative feedback has a damping ratio
= 0:707.
(b) Use Matlab to plot the systems response to a reference step.
Solution:
(a) With all the negatives, the problem statement might be confusing.
With the G(s) as given, Matlab needs to plot the negative locus,
which is the regular positive locus for G: The locus is plotted below.
The value of gain for closed loop roots at damping of 0:7 is K = 1:04
(b) The nal value of the step response plotted below is 0:887. To get
a positive output we would use a positive gain in positive feedback.
RootLocus
0.84
4 0.92
3
0.74
0.6
StepResponse
0.4
0.42 0.22
0.2
0.965
0
Amplitude
Imag Axis
0.99
1
100
-0.2
-0.4
-1
0.99
-0.6
-2
-3
-4
-10
0.965
-0.8
0.92
0.84
-8
0.74
-6
0.6
-4
RealAxis
0.42 0.22
-2
-1
2
Time(sec)
Solutions for Problem 5.30
5049
31. Consider the rocket-positioning system shown in Fig. 5.55.
Figure 5.55: Block diagram for rocket-positioning control system
(a) Show that if the sensor that measures x has a unity transfer function,
the lead compensator
s+2
H(s) = K
s+4
stabilizes the system.
(b) Assume that the sensor transfer function is modeled by a single pole
with a 0:1 sec time constant and unity DC gain. Using the root-locus
procedure, nd a value for the gain K that will provide the maximum
damping ratio.
Solution:
(a) The root locus is plotted below and lies entirely in the left-half plane.
So the system is stable for all K.
(b) At maximum damping, the gain is K = 6:25 but the damping of the
complex poles is only 0:073: A practical design would require much
more lead.
RootLocus
0.19
0.13
0.26
10
0.09 0.06 0.03 12

10
0.4
0.65
0.4
0.26
0.19
-3
0.13
-2
RealAxis
1.5
0.09 0.06 0.03 12

-1
0
0.5
0.5
0.97
-1
1
0.88
1.5
0.76
2.5
-2
10
-4
0.88
6
-10
3
2.5
0.97
2
-5
RootLocus
0.36 0.24 0.12
1
Imag Axis
Imag Axis
4
2
0.48
5 0.65
0.62
0.76
-3-3
2
0.62
0.48
-2
0.36 0.24 0.12

-1
RealAxis
30
Loci for Problem 5.31
5050
32. For the system in Fig. 5.56:
(a) Find the locus of closed-loop roots with respect to K.

(b) Find the maximum value of K for which the system is stable. Assume
K = 2 for the remaining parts of this problem.
(c) What is the steady-state error (e = r y) for a step change in r?
(d) What is the steady-state error in y for a constant disturbance w1 ?
(e) What is the steady-state error in y for a constant disturbance w2 ?
(f) If you wished to have more damping, what changes would you make
to the system?
Solution:
(a) For the locus, L(s) =
100(s + 1)
: The locus is plotted below.
s2 (s2 + 12s + 40)
Root Locus
0.92
0.84
0.74
0.6
0.42
0.22
4
0.965
Im ag Axis
0.99
14
0
-2
-4
-6
-14
12
10
-12
-10
0.99
0.965
0.84
0.92
0.74
-8
-6
0.6
-4
0.42
0.22
-2
Real Axis
Locus for Problem 5.32
5051
(b) The maximum value of K for stability is K = 3:36:
(c) The transfer function from R to Y is
Y
200
= 2 2
:
R
s (s + 12s + 40) + 200(s + 1)
Therefore the steady-state error for a step change in r is
estep (1)
Y 1
R s
2 2
s (s + 12s + 40) + 200s
=0
= lim 2 2
s!0 s (s + 12s + 40) + 200(s + 1)
=
lim s 1
s!0
(d) The transfer function from W1 to Y is:

Y
100s2
= 2 2
W1
s (s + 12s + 40) + 200(s + 1)
Therefore the steady-state error for a constant disturbance w1 is
estep (1) = lim s
s!0
Y
W1
1
=0
s
(e) The transfer function from W2 to Y is:

Y
100
= 2 2
W2
s (s + 12s + 40) + 200(s + 1)
Therefore the steady-state error for a constant disturbance w1 is
estep (1) = lim s
s!0
Y
W2
1
= 0:5
s
(f) To get more damping in the closed-loop response, the controller needs
to have a lead compensation.
5052
33. Consider the plant transfer function

G(s) =
bs + k
s2 [mM s2 + (M + m)bs + (M + m)k]
to be put in the unity feedback loop of Fig. 5.53. This is the transfer
function relating the input force u(t) and the position y(t) of mass M in
the non-collocated sensor and actuator problem. In this problem, we will
use root-locus techniques to design a controller Dc (s) so that the closedloop step response has a rise time of less than 0.1 sec and an overshoot of
less than 10%. You may use Matlab for any of the following questions:
(a) Approximate G(s) by assuming that m = 0, and let M = 1, k = 1,
b = 0:1, and Dc (s) = K. Can K be chosen to satisfy the performance
specications? Why or why not?
(b) Repeat part (a) assuming Dc (s) = K(s + z), and show that K and z
can be chosen to meet the specications.
(c) Repeat part (b) but with a practical controller given by the transfer
function
p(s + z)
;
Dc (s) = K
s+p
and pick p so that the values for K and z computed in part (b) remain
more or less valid.
(d) Now suppose that the small mass m is not negligible, but is given by
m = M=10. Check to see if the controller you designed in part (c)
still meets the given specications. If not, adjust the controller parameters so that the specications are met.
Solution:
(a) The approximate plant transfer function is G(s) = s12 . The locus in
this case is the imaginary axis and cannot meet the specs for any K:
(b) The specs require that > 0:6; ! n > 18: Select z = 15 for a start.
The locus will be a circle with radius 15: Because of the zero, the
overshoot will be increased and Figure 3.29 indicates that wed better
make the damping greater than 0.7. As a matter of fact, experimentation shows that we can lower the overshoot of less than 10% only
by setting the zero at a low value and putting the poles on the real
axis. The plot shows the result when Dc = 25(s + 4): The resulting
overshoot is 9:9% and the rise time is 0:06 sec.
(c) In this case, we pick p = 150; z = 4; and K = 30. Then the resulting
overshoot is 9:8% and the rise time is 0:05 sec.
(d) With the resonance present, the only chance we have is to introduce
a notch as well as a lead. The compensation resulting in the plots
s + 4 s2 =9:25 + s=9:25 + 1
: The overshoot
shown is Dc (s) = 12
(:01s + 1) s2 =3600 + s=30 + 1
is 7% and the rise time is 0:04 sec :
5053
Root Locus
1.5
Imaginary Axis
20
10
0
0.5
-10
-20
-60
-50
-40
-30
Real Axis
-20
-10
Root Locus
0.2
0.4
0.6
0.8
0.2
0.4
0.6
0.8
1.5
Imaginary Axis
20
10
0
0.5
-10
-20
-60
-50
-40
-30
Real Axis
-20
-10
Root Locus
1.5
Imaginary Axis
0.5
-2
-4
-10
-8
-6
-4
Real Axis
-2
0.5
1.5
2.5
3.5
Root loci and step responses for Problem 5.33
5054
34. Consider the Type 1 system drawn in Fig. 5.57. We would like to design the compensation Dc (s) to meet the following requirements: (1) The
steady-state value of y due to a constant unit disturbance w should be less
than 54 , and (2) the damping ratio = 0:7. Using root-locus techniques,
(a) Show that proportional control alone is not adequate.

(b) Show that proportional-derivative control will work.
(c) Find values of the gains kp and kD for Dc (s) = kp + kD s that meet
the design specications with at least a 10% margin.
Solution:
(a) To meet the error requirement, we need
ystep (1) = lim s
s!0
1
Y 1
= lim
W s s!0 s2 + s + K
0:8:
Thus K must be at least K 1:25. With this K, the damping ratio

will be
1
= p
)
0:45
2 K
So we cant meet both requirements with proportional control.
(b) With PD control,
ystep (1) = lim s
s!0
Y 1
1
= lim
W s s!0 s2 + (1 + kD )s + kp
So the error requirement can be met by setting kp

damping ratio requirement can be written as
=
By choosing kD
p
1:4 kp
1 + kD
p
2 kp
0:8:
1:25. The
0:7
1, we can satisfy both specications.
5055
(c) Setting kp = 1:4 and kD = 0:85, we get ystep (1) = 0:714 and =
0:782. The root loci and disturbance step response are plotted below.
R o ot L oc u s
Ste p r e s p o n s e fo r p r o b le m 5 .3 4
1 .5
0 .8
0 .9 6
0 .9 2
0 .8 6
0 .7 6
0 .5 8
0 .3 5
0 .7
1
0 .9 8 4
0 .6
0 .5
0 .9 9 6
Amplitude
Imaginary Axis
0 .5
5
0
0 .4
0 .3
0 .9 9 6
- 0 .5
0 .2
0 .9 8 4
-1
0 .1
0 .9 2
0 .9 6
- 1 .5
-5
0 .8 6
0 .7 6
0 .5 8
0 .3 5
0
-4
-3
-2
-1
R e a l Ax is
Time ( s e c )
5056
35. Using a sample rate of 10 Hz, nd the Dc (z) that is the discrete equivalent
to your Dc (s) from Problem 5.34 using the trapezoid rule. Evaluate the
time reponse using Simulink, and determine whether the damping ratio
requirement is met with the digital implementation. (Note: The material
to do this problem is covered in the Appendix W4.5 at www.FPE7e.com
or in Chapter 8.) (Note: The rst printing of the 7th edition had an
error in the problem statement. It said to use the Dc (s) from Problem
5.7 rather than the correct one, Problem 5.34)
Solution:
From Problem 5.34, we have Dc (s) = 0:85s + 1:4. The discrete equivalent
2 z 1
in the Dc (s):
for Ts = 0:1 sec is given by substituting s =
0:1 z + 1
Dd (z) = 0:85
2 z 1
18:4z 15:6
+ 1:4 =
:
0:1 z + 1
z+1
To evaluate this discrete controller, we use Simulink to compare the two

implementations. The results of the step responses are shown below.
1
Continuousdesign
Discreteequivalentdesign,T
0.8
s =0.1sec
0.6
0.4
0.2
00
Time(sec)
10
12
14

Note that there is slightly greater overshoot in the digital system, which
suggests a decrease in the damping due to the digital implementation.
However, the damping ratio requirement of 0:7 is still met with the digital
control. It is interesting to note, however, that there is an oscillation of
the output at 5 Hz, which is half the sample rate. This arises because the
use of the trapezoidal equivalent places a root of the compensation at z
= -1, which has created an extraneous oscillatory root in the closed-loop
system. .This is also a result of having a pure dierentiation in the D(s),
5057
i.e., a zero in the numerater with no pole. Using the Matched Pole-Zero
discrete equivalent will help this situation since it does not create the
oscillatory pole in the compensator. Using Matlabs C2D function for
this discrete equivalent produces
Dd2 (z) = 9:219z
7:819:
which eliminates the oscillation at 5 hz.
5058

36. Consider the positioning servomechanism system shown in Fig. 5.58, where
ei = Ko i ; eo = Ko o ; Ko = 10V=rad;
(note: 1st printing of book had eo = Kpot o ; which is not correct)
T = motor torque = Kt ia ;
km = Kt = torque constant = 0:1 N m=A;
Ke = back emf constant = 0:1V sec
Ra = armature resistance = 10 ;
Gear ratio = 1 : 1;
JL + Jm = total inertia = 10
va = KA (ei ef ):
kg m2 ;
Figure 5.58: Positioning servomechanism
(a) What is the range of the amplier gain KA for which the system is
stable? Estimate the upper limit graphically using a root-locus plot.
(b) Choose a gain KA that gives roots at = 0:7. Where are all three
closed-loop root locations for this value of KA ?
Solution:
(a) Neglecting viscous friction and the eect of inductance, the transfer
function of the DC motor is
o
Va
(JL + Jm
Kt
Ra
)s2
Kt Ke
Ra s
10
s2 + s
5059
From the root locus plotted below, the upper limit of KA for stability
is 0:11.
Root Locus
3
0.92
0.84
0.74
0.6
0.42
0.22
2
0.965
Imaginary A xis
0.99
7
0
-1
-6
-5
0.99
0.965
-2
-3
-7
0.84
0.92
0.74
-4
-3
Real Axis
0.6
-2
0.42
0.22
-1

(b) The damping is 0:7 when K = 0:046. For the value of KA , poles are
at s = 10:05; 0:475 0:482j:
5060
37. We wish to design a velocity control for a tape-drive servomechanism. The

transfer function from current I(s) to tape velocity (s) (in millimeters
per millisecond per ampere) is
15(s2 + 0:9s + 0:8)
(s)
=
:
I(s)
(s + 1)(s2 + 1:1s + 1)
We wish to design a Type 1 feedback system so that the response to a
reference step satises
tr
4msec;
ts
15msec;
Mp
0:05
(a) Use the integral compensator kI =s to achieve Type 1 behavior, and

sketch the root-locus with respect to kI . Show on the same plot the
region of acceptable pole locations corresponding to the specications.
(b) Assume a proportional-integral compensator of the form kp (s + )=s,
and select the best possible values of kp and you can nd. Sketch
the root-locus plot of your design, giving values for kp and , and
the velocity constant Kv your design achieves. On your plot, indicate
the closed-loop poles with a dot ( ) and include the boundary of the
region of acceptable root locations.
Solution:
(a) The root locus with respect to kI and the step response with kI =
0:036 are plotted in the rst row below.
(b) Using rltool, we can choose the location of zeroto pull the locus to
the left-hand plane. This will improve the transient response. Here,
the zero was put at s = 1:7, and kp was set to 0:036. The root
locus and the step response are plotted in the second row below.
With the PI compensator, the closed-loop poles are at s = 0:7749
0:7774j; 0:5451 0:5589j, and the closed-loop zeros are at s = 1:7;
0:45 0:773j. Thus the velocity constant can be calculated from
Truxals formula.
n
X
1
=
Kv
i=1
X 1
1
+
pi i=1 zi
Kv = 0:7344
5061
Integ r al c ontr ol with k= 0.036
R oot loc us
1.2
1
0.8
Amplitude
Imaginary Axis
0.5
0.6
0.4
- 0.5
0.2
-1
- 1.5
0
-1
- 0.5
0.5
R eal Axis
10
10
T ime ( sec )
PI c ontr ol with k = 0.036
R oot Locus
0.8
0.6
1
0.8
Amplitude
Imaginary Axis
0.4
0.2
0
0.6
- 0.2
0.4
- 0.4
- 0.6
0.2
- 0.8
0
-2
- 1.5
-1
- 0.5
R eal Axis
T ime ( sec )
5062
38. The normalized, scaled equations of a cart as drawn in Fig. 5.59 of mass
mc holding an inverted uniform pendulum of mass mp and length ` with
no friction are
= v
(5.88)
y +
=v
where
3mp
4(mc +mp )
is a mass ratio bounded by 0 <
< 0:75. Time is
3g(m +m )
measured in terms of = ! o t where ! 2o = `(4mcc+mpp) : The cart motion, y;
is measured in units of pendulum length as y = 3x
4` and the input is force
normalized by the system weight, v = g(mcu+mp ) : These equations can be
used to compute the transfer functions

V
1
s2
s2 1 +
Y
= 2 2
V
s (s
1)
(5.89)
(5.90)
In this problem you are to design a control for the system by rst closing
a loop around the pendulum, Eq.(5.89) and then, with this loop closed,
closing a second loop around the cart plus pendulum, Eq.(5.90). For this
problem, let the mass ratio be mc = 5mp :
Figure 5.59: Figure of cart-pendulum for Problem 5.38
(a) Draw a block diagram for the system with V input and both Y and
as outputs.
s+z
for the loop to cancel
(b) Design a lead compensation Dc (s) = K
s+p
the pole at s = 1 and place the two remaining poles at 4 j4: The
new control is U (s), where the force is V (s) = U (s) + Dc (s) (s):
Draw the root locus of the angle loop.
(c) Compute the transfer function of the new plant from U to Y with
Dc (s) in place.
5063
(d) Design a controller Dc (s) for the cart position with the pendulum
loop closed. Draw the root locus with respect to the gain of Dc (s)
(e) Use Matlab to plot the control, cart position, and pendulum position
for a unit step change in cart position.
Solution:
(a)
(b) To cancel the pole at s = 1, we set z = 1. Then the closed loop

transfer function for the loop becomes
(s
K
= 2
1)(s + p) + K
s + (p
K
1)s + K
Setting p = 9 and K = 41, the remaining poles can be placed at

s+1
The root locus is shown
s = 4 4j. Therefore Dc (s) = 41
s+9
below.
(c) Since mc = 5mp , = 0:125. Therefore the transfer function from U
to Y with Dc (s) is
Y
41
s2 0:875
= 2
U
s + 8s + 32
s2
(d) Dc = kc
s2 + 0:2s + 0:01
: The root locus is shown below.
s2 + 2s + 1
(e) The step responses are shown below. The pendulum position control
is rather fast for this problem. A more reasonable alternative choice
would be to place the pendulum roots at s = 0:5 j0:5:
5064

Inner pendulum loop
Outer cart loop
Final design
-2
Amplitude
Imag Axis
Imag Axis
1.5
4
-2
-4
0.5
-4
-0.5
-10
-5
-8
-6
-4
-2
Real Axis
Real Axis
Alternative design
Alternative design
50
100
150
T ime (sec)
1.5
1.2
Amplitude
Imag Axis
1
0.5
0
-0.5
0.8
0.6
0.4
0.2
-1
-1.5
-2
0
-0.2
-1
0
Real Axis
20
40
60
80
T ime (sec)
Root loci and step responses for Problem 5.38
5065
39. Consider the 270-ft U.S. Coast Guard cutter Tampa (902) shown in Fig. 5.60.
Parameter identication based on sea-trials data (Trankle, 1987) was used
to estimate the hydrodynamic coe cients in the equations of motion. The
result is that the response of the heading angle of the ship to rudder
angle and wind changes w can be described by the second-order transfer
functions
0:0184(s + 0:0068)
(s)
=
;
(s)
s(s + 0:2647)(s + 0:0063)
(s)
0:0000064
Gw (s) =
=
;
w(s)
s(s + 0:2647)(s + 0:0063)
G (s) =
where
= heading angle, rad
r = reference heading angle; rad:
r = yaw rate; rad=sec;
= rudder angle; rad;
w = wind speed; m=sec:
Figure 5.60: USCG cutter Tampa (902)
5066

(a) Determine the open-loop settling time of r for a step change in .
(b) In order to regulate the heading angle , design a compensator that
uses and the measurement provided by a yaw-rate gyroscope (that
is, by _ = r). The settling time of to a step change in r is specied
to be less than 50 sec, and, for a 5 change in heading the maximum
allowable rudder angle deection is specied to be less than 10 .
(c) Check the response of the closed-loop system you designed in part (b)
to a wind gust disturbance of 10 m= sec (Model the disturbance as
a step input.) If the steady-state value of the heading due to this
wind gust is more than 0:5 , modify your design so that it meets this
specication as well.
Solution:
(a) To determine the open-loop settling time to 1% of the nal value, we
can use the stepinfo command in Matlab. The value from Matlab is
ts = 314:64 sec.
(b) The rate feedback from a yaw-rate gyroscope is giving us a derivative
control for free. Thus the block diagram of the system will look like
shown below.
Block diagram for Problem 5.39b

Lets set KD = 1 and see what we can do with a simple proportional
controller, i.e. Dc (s) = Kp . (Since the plant has a negative sign, the
controller gain will also be negative.) With the proportional control,
the maximum deection of the rudder is almost surely at the initial
instant, when it is (0) = Kp r (0): Thus to keep below 10 for a
step of 5 ; we need jKp j < 2. And for a settling time less than 50 sec,
we need > 4:6=50 = 0:092 from the design relations for the standard
second order system. Using root-locus technique, Kp = 1:5 was
picked. Checking the step response with this proportional control
using Matlab, we nd ts = 28:2 sec, which meets the settling time
requirement. And the rudder angle deection for a 5 input is less
than 7:5 . Therefore Dc (s) = 1:5 is adequate for the problem.
5067
Root Locus
1
Imaginary Axis
0.5
-0.5
-1
-4
-3
-2
-1
Real Axis
Heading angle to a step input
Rudder angle to 5
1.4
input
1.2
0
1
0.8
0.6
-5
0.4
0.2
0
10
20
Time (sec)
30
40
-10
10
20
Time (sec)
30
40
Root locus and Step response for Problem 5.39b
(c) With the compensator from part (b), the closed-loop transfer function from w to is
(s)
Gw
=
w(s)
1 + Kp G (1 + KD s)
=
0:0000064
s(s + 0:2647)(s + 0:0063) + 0:0278(s + 0:0068)(1 + s)
Using the Final Value Theorem, the steady-state value of the heading
angle due to a disturbance of 10m= sec is
(1) = lim s
s!0
(s) 10
= 0:3386 rad = 19:4 > 0:5
w(s) s
So we need to modify our design. To reject the disturbance completely, lets add an integral term to the controller, Dc (s) = Kp +
KI =s. Using rltool, we nd that when Dc (s) = 1:87 0:11=s, all
specications are met as shown below.
5068
Root Locus
Heading angle to 10 m/s disturbance

0.2
0.8
0.15
0.4
0.2
P control
Imaginary Axis
0.6
0.1
PI control
-0.2
-0.4
0.05
-0.6
-0.8
-2
-1.5
-1
Real Axis
-0.5
Heading angle to a step input
200
400
600
800
Time (sec)
Rudder angle to 5
1.4
1000
1200
1400
input
1.2
0
1
0.8
0.6
-5
0.4
0.2
0
20
40
60
Time (sec)
80
100
-10
20
40
Time (sec)
60
80
Root locus and Step response for Problem 5.39c
5069
40. Golden Nugget Airlines has opened a free bar in the tail of their airplanes
in an attempt to lure customers. In order to automatically adjust for the
sudden weight shift due to passengers rushing to the bar when it rst
opens, the airline is mechanizing a pitch-attitude auto pilot. Figure 5.61
shows the block diagram of the proposed arrangement. We will model the
passenger moment as a step disturbance Mp (s) = M0 =s, with a maximum
expected value for M0 of 0.6.
Figure 5.61: Golden Nugget Airlines Autopilot
(a) What value of K is required to keep the steady-state error in

less than 0.02 rad(= 1 )? (Assume the system is stable.)
to
(b) Draw a root locus with respect to K.

(c) Based on your root locus, what is the value of K when the system
becomes unstable?
(d) Suppose the value of K required for acceptable steady-state behavior
is 600. Show that this value yields an unstable system with roots at
s=
2:9; 13:5; +1:2
6:6j:
(e) You are given a black box with rate gyro written on the side and told
that when installed, it provides a perfect measure of _ , with output
KT _ . Assume K = 600 as in part (d) and draw a block diagram
indicating how you would incorporate the rate gyro into the auto
pilot. (Include transfer functions in boxes.)
(f) For the rate gyro in part (e), sketch a root locus with respect to KT .
(g) What is the maximum damping factor of the complex roots obtainable with the conguration in part (e)?
(h) What is the value of KT for part (g)?
5070

(i) Suppose you are not satised with the steady-state errors and damping ratio of the system with a rate gyro in parts (e) through (h).
Discuss the advantages and disadvantages of adding an integral term
and extra lead networks in the control law. Support your comments
using Matlab or with rough root-locus sketches.
Solution:
(a) Since any error is due to the disturbance Mp , we dene the transfer
function from Mp to :
(s + 3)(s + 10)
(s)
=
Mp (s)
s(s + 10)(s2 + 4s + 5) + K(s + 3)
Using the Final Value Theorem, the steady-state error is
e(1) = lim s
s!0
10Mo
(s) Mo
=
Mp (s) s
K
(10)(0:6)
< 0:02
K
Therefore we need K > 300.

(b) The characteristic equation of the system in Evans form is
1+K
(s + 3)
=0
s(s + 10)(s2 + 4s + 5)
The root locus is plotted below.

Root locus for problem 5.41
Imag Axis
-1
-2
-3
-4
-10
-8
-6
-4
-2
Real Axis
5071
(c) To nd the stability boundary, we can do the Routh test or solve the
characteristic equation for the j! crossings. Here, the latter method
is used. The characteristic equation of the system is
(s)
1+K
(s + 3)
s(s + 10)(s2 + 4s + 5)
= s4 + 14s3 + 45s2 + (50 + K)s + 3K = 0

Plugging s = j!, we can write
(j!) = ! 4
45! 2 + 3K + j
14! 3 + (50 + K)! = 0

q
50+K
From the imaginary part, we have ! = 0;
14 . Substituting
these into the real part, we see that the roots are on the imaginary
axis when K = 143:7. So the system goes unstable if K > 143:7.
This agrees with the root locus.
(d) When K = 600, the characteristic equation is
s4 + 14s3 + 45s2 + 650s + 1800 = 0
The roots of the equation are s = 13:5; 2:94; 1:22 6:63:
(e) The output of the rate gyro box would be added at the same spot as
the attitude sensor output.
(f) With the rate feedback, the characteristic equation in Evans form is
1 + KT
s (s +
600s (s + 3)
=0
+ 4s + 5) + 600 (s + 3)
10) (s2
The root locus is shown below.

Root Locus
15
0.84
0.74
0.6
0.42
0.22
0.92
10
0.965
Imag Axis
0.99
30
0
25
20
15
10
0.99
-5
0.965
-10
0.92
0.84
-15
-30
-25
0.74
-20
-15
0.6
-10
0.42
0.22
-5
10
Real Axis
Root locus for Problem 5.40f
5072

(g) From the root locus in Matlab, we can draw a point around and nd
that the maximum damping ratio occurs at s = 3:54 12j with a
max damping of = 0:282.
(h) From the root locus in Matlab, we can immediately get the gain value
at the maximum damping; it is KT = 0:288.
(i) Integral (PI) control would reduce the steady-state error to the moment to zero but would make the damping less and the settling time
longer. A lead network could improve the damping of the response.
The root locus and step responses for the cases with an integrator
and with an integrator+extra lead network are shown below.
Root locus for problem 5.41
Imag Axis
-1
-2
-3
-4
-10
-8
-6
-4
-2
Real Axis
5073
41. Consider the instrument servomechanism with the parameters given in
Fig. 5.62. For each of the following cases, draw a root locus with respect
to the parameter K, and indicate the location of the roots corresponding
to your nal design.
(a) Lead network : Let

H(s) = 1;
Dc (s) = K
s+z
;
s+p
p
= 6:
z
Select z and K so that the roots nearest the origin (the dominant
roots) yield
0:4;
7;
Kv
2
16 sec
3
(b) Output-velocity (tachometer) feedback : Let

H(s) = 1 + KT s and Dc (s) = K:
Select KT and K so that the dominant roots are in the same location
as those of part (a). Compute Kv . If you can, give a physical reason explaining the reduction in Kv when output derivative feedback
is used.
(c) Lag network : Let
H(s) = 1
and D(s) = K
s+1
:
s+p
Using proportional control, is it possible to obtain a Kv = 12 at

= 0:4? Select K and p so that the dominant roots correspond to the
proportional-control case but with Kv = 100 rather than Kv = 12.
5074

Solution:
(a) Setting p = 6z, the velocity constant is
Kv = lim s
s!0
K(s + z)
1
K
=
2
s + 6z s(s + 51s + 550)
3300
Thus the Kv requirement leads to K

35200: With K = 40000, a
root locus can be drawn with respect to z.
1+z
6s(s2 + 51s + 550) + 40000

=0
s2 (s2 + 51s + 550) + 40000s
Root locus with res pect to z
30
20
Imaginary Ax is
10
-10
-20
-30
-45
-40
-35
-30
-25
-20
Real Axis
-15
-10
-5
Root locus for Problem 5.41(a)

At the point of maximum damping, the values are z = 16:8 and
the dominant roots are at s = 11 13j: So the compensator is
s + 16:8
Dc (s) = 40000
.
s + 100:8
(b) With H(s) = 1 + KT s and Dc (s) = K, the closed-loop transfer
function is
Y
K
= 3
2
R
s + 51s + (550 + KKT )s + K
For this system to have poles at s = 11 13j:, the characteristic
polynomial should be in the form of
(s + p)(s2 + 22s + 290) = s3 + (p + 22)s2 + (22p + 290)s + 290p
Equating the coe cients leads to p = 29, K = 8410, and KT = 0:045.
With these value, the velocity constant is
1
= lim s 1
s!0
Kv
Y
R
1
550 + KKT
=
s2
K
Kv = 9:058
5075
The output derivative feedback is acting only when there is a change
in the output. Therefore, for a ramp input, the derivative action will
minimize the deviation from the reference because the input signal
is continuously increasing.
(c) Using proportional control (Dc (s) = K), the velocity constant is
Kv = lim sK
s!0
K
1
=
s(s2 + 51s + 550)
550
Therefore Kv = 12 can be obtained by setting K = 6600. With this

value, the dominant roots are at s = 4:7 11:69j, and = 0:37.
s+1
With Dc (s) = K s+p
, the velocity constant is
Kv = lim s
s!0
K(s + 1)
1
K
=
s + p s(s2 + 51s + 550)
550p
So Kv = 100 can be obtained by setting K

p = 55000. Setting K =
55000p, a root locus can be drawn with the parameter p
1+p
s(s2 + 51s + 550) + 55000(s + 1)

=0
s2 (s2 + 51s + 550)
Root loc us with res pec t to p
20
15
10
Imaginary Axis
-5
-10
-15
-20
-40
-35
-30
-25
-20
-15
Real Ax is
-10
-5
10
Root locus for Problem 5.41(c)

In the plot, the desired pole locations are marked with a dot ( ).
Thus we can choose p = 0:11 to place the poles near the desired
s+1
.
locations. Thus the compensator is Dc (s) = 6050
s + 0:11
5076

42. Plot the loci for the 0 locus or negative K for each of the following:
(a) The examples given in Problem 5.3

(b) The examples given in Problem 5.4
(c) The examples given in Problem 5.5
(d) The examples given in Problem 5.6
(e) The examples given in Problem 5.7
(f) The examples given in Problem 5.8
Solution:
plot a
15
10
Imaginary A xis
-5
-10
-15
-15
-10
-5
0
Real Axis
10
15
(a)
Problem 5.42(a)
5077
plot a
plot b
10
20
15
Imaginary Axis
Imaginary Axis
6
4
2
0
-2
-4
10
5
0
-5
-10
-6
-15
-8
-15
-10
-5
Real Axis
10
-15
-10
-5
Real Axis
plot c
10
-2
plot d
1.5
Imaginary Axis
Imaginary Axis
1
0.5
0
-0.5
-1
0.5
-0.5
-1.5
-20
-15
-10
-5
Real Axis
-1
-10
-8
-6
-4
Real Axis
Problem 5.42(b)
plot a
plot b
10
Imaginary Axis
Imaginary Axis
5
0
-5
-5
-4
-3
-2
-1
Real Axis
-6
-4
-2
0
2
Real Axis
plot c
plot d
Imaginary Axis
Imaginary Axis
4
2
1
0
-1
2
0
-2
-2
-3
-4
-1
-0.5
Real Axis
0.5
-1
-0.5
Real Axis
plot e
0.5
plot f
3
Imaginary Axis
3
Imaginary Axis
2
1
0
-1
-2
2
1
0
-1
-2
-3
-0.4
-0.2
0.2
0.4
Real Axis
0.6
0.8
-3
-0.6
-0.4
-0.2
0
Real Axis
0.2
0.4
Problem 5.42(c)
5078
20
10
0
-10
-20
-50
-20
-10
10
Real Axis
plot c
20
30
40
-20
Imaginary Axis
Imaginary Axis
plot b
Imaginary Axis
Imaginary Axis
plot a
50
20
10
0
-10
-20
-20
-10
Imaginary Axis
Imaginary Axis
5
0
-5
-10
-10
-5
-15
-10
10
-5
Real Axis
g
Imaginary Axis
-5
Real Axis
plot f
0.5
-0.5
-10
10
-0.5
Real Axis
plot e
10
0.5
-1
10
-10
Real Axis
plot d
Real Axis
20
10
0
-10
-20
-20
-10
0
Real Axis
10
Problem 5.42(d)
plot b
2
0
-2
Imaginary Ax is
10
2
0
-2
2
0
-2
-4
-4
-4
-6
-6
-6
-8
-8
-10
-5
0
Real Ax is
10
-8
-10
-5
0
Real Ax is
plot d
1
0.8
0.6
0.4
2
0
-2
10
-10
-5
0
Real Ax is
0.2
0
-0.2
-4
-0.4
-6
-0.6
-8
-10
-20
plot e
10
Imaginary Ax is
Imaginary Ax is
plot c
10
Imaginary Ax is
Imaginary Ax is
plot a
10
-0.8
-10
0
Real Ax is
10
20
-3
-2
-1
Real Ax is
Problem 5.42(e)
5079
plot b
plot c
0.8
1.5
0.6
0.4
0.2
0
-0.2
Imaginary Axis
Imaginary Axis
Imaginary Axis
plot a
1
2
1
0
-1
-0.4
-2
-0.6
-3
0
-0.5
-1
-1.5
-0.8
-4
-15
-10
-5
Real Axis
-10
plot d
-5
Real Axis
-2
-2
plot e
2
0
-2
Imaginary Axis
Imaginary Axis
0
2
Real Axis
plot f
10
Imaginary Axis
0.5
4
2
0
-2
-4
1
0
-1
-2
-4
-6
-6
-8
-30
-3
-8
-20
-10
Real Axis
-10
-5
0
Real Axis
-4
-5
0
Real Axis
Problem 5.42(f)
5080
43. Suppose you are given the plant

L(s) =
1
;
s2 + (1 + )s + (1 + )
where
is a system parameter that is subject to variations. Use both
positive and negative root-locus methods to determine what variations in
can be tolerated before instability occurs.
Solution:
The characteristic polynomial in Evans form with respect to
1+
is
s+1
=0
s2 + s + 1
The positive and negative root locus are shown below.
Positive root locus
Negative root locus
1.5
0.8
1
0.6
0.4
Imaginary Axis
Imaginary Axis
0.5
0.2
-0.2
-0.5
-0.4
-0.6
-1
-0.8
-1.5
-4
-3
-2
-1
Real Axis
-1
-2
-1.5
-1
-0.5
Real Axis
0.5
Positive(left) and Negative(right) root locus for Problem 5.43

From the root locus, we see that the system is stable for all
>
1.
5081
44. Consider the system in Fig. 5.63.
(a) Use Rouths criterion to determine the regions in the (K1 ; K2 ) plane
for which the system is stable.
(b) Use rltool to verify your answer to part (a).
Solution:
(a) Dene kp = K1 and kI = K1 K2 and the characteristic polynomial is

a(s) = s4 + 1:5s3 + 0:5s2 + kp s + kI
The Routh array for this polynomial is
(s)
= s4 + 1:5s3 + 0:5s2 + kp s + kI
s4 :
s3 :
1
1:5
3 4kp
s2 :
6
9kI
s : kp
3 4kp
s0 :
kI
0:5 kI
kp
kI
For the system to be stable, it is necessary that

kI > 0, kp < 0:75, and 4kp2
3kp + 9kI < 0
The third of these represents a parabola in the [kp; kI ] plane plotted

below. The region of stability is the area under the parabola and
above the kp axis.
5082

Stability region in the kp,kI plane for problem 5.43
0.07
0.06
0.05
kI
0.04
0.03
0.02
0.01
0.1
0.2
0.3
0.4
kp
0.5
0.6
0.7
0.8
Stability region for Problem 5.44(a)

(b) When kI = 0; there is obviously a pole at the origin. For points on
the parabola, consider kp = 3=8 and kI = 1=16: The roots of the
characteristic equation are 1:309; 0:191; and 0:5j:
5083
45. The block diagram of a positioning servomechanism is shown in Fig. 5.64.

(a) Sketch the root locus with respect to K when no tachometer feedback
is present (KT = 0).
(b) Indicate the root locations corresponding to K = 16 on the locus
of part (a). For these locations, estimate the transient-response parameters tr , Mp , and ts . Compare your estimates to measurements
obtained using the step command in Matlab.
(c) For K = 16, draw the root locus with respect to KT .
(d) For K = 16 and with KT set so that Mp = 0:05( = 0:707), estimate
tr and ts . Compare your estimates to the actual values of tr and ts
obtained using Matlab.
(e) For the values of K and KT in part (d), what is the velocity constant
Kv of this system?
Solution:
(a) When KT = 0, the characteristic equation of the system is
1+K
1
=0
s(s + 2)
The root locus is plotted at the end.

(b) With K = 16, ! n = 4 and = 0:25. Using the design relations, wed
estimate the overshoot to be Mp = 45% and a rise time of 0:45 sec,
and a settling time of 4:6 sec. The values from the step command in
Matlab are Mp = 44:2%; tr = 0:32 sec; and ts = 4:32 sec : The pole
locations are indicated with ( ) on the plot for (a).
(c) The characteristic equation of the system is s2 + (2 + KT )s + K = 0.
With K = 16, it can be written in Evans form as
s
1 + KT 2
=0
s + s + 16
The root locus is shown below.
5084

(d) Use rlocnd on the locus vs KT to nd the KT value that yields
0.7 damping; the locations are marked with ( ). This shows that
KT = 3:66: Using the formulas inside the back cover yields Mp = 5%;
tr = 0:45 sec; and ts = 1:62 sec : The values from the step command
in Matlab are Mp = 4:3%; tr = 0:54 sec; and ts = 1:65 sec :.
Root locus for Problem 5.45(a)
Step response for Problem 5.45(b)
1.5
1
Amplitude
Imaginary Axis
-2
0.5
-4
-6
-6
0
-4
-2
Real Axis
Root locus vs KT , Problem 5.45(c)
3
Time (sec)
step response for Problem 5.45(d)
1.5
0.76
0.86
0.64
0.5
0.34
0.16
1
1 0.985
6
0
-1
0.985
-2
0.94
Amplitude
Imaginary Axis
2 0.94
0.5
-3
0.86
-4
-6
0.76
0.64
0.5
0.34
0.16
0
-5
-4
-3
-2
Real Axis
-1
0.5
1
1.5
Time (sec)
2.5
Plots for Problem 5.45

(e) The velocity constant is
Kv = lim s
s!0
K
K
=
= 2:83
s(s + 2 + KT )
2 + KT
5085
46. Consider the mechanical system shown in Fig. 5.65, where g and a0 are
gains. The feedback path containing gs controls the amount of rate feedback. For a xed value of a0 , adjusting g corresponds to varying the
location of a zero in the s-plane.
(a) With g = 0 and

complex.
= 1, nd a value for a0 such that the poles are
(b) Fix a0 at this value, and construct a root locus that demonstrates
the eect of varying g.
Solution:
(a) The roots are complex for a0 > 0:25: We select a0 = 1 and the roots
are at s = 0:5 0:866j.
(b) With respect to g, the root-locus form of the characteristic equation
s
is 1 + g 2
= 0: The locus is plotted below.
s +s+1
5086

Rootlocus for problem 5.46
0.8
0.84
0.92
0.74
0.6
0.42
0.22
0.6
0.965
0.4
0.99
Imag Axis
0.2
2
0
1.75
1.5
1.25
0.75
0.5
0.25
-0.2
0.99
-0.4
0.965
-0.6
-0.8
-2
0.92
0.84
-1.5
0.74
0.6
-1
0.42
-0.5
0.22
0
Real Axis
47. Sketch the root locus with respect to K for the system in Fig. 5.66 using
the Pad(1,1) approximation and the rst-order lag approximation. For
both approximations, what is the range of values of K for which the system
is unstable?(Note: The material to answer this question is contained in
Appendix W5.6.3 discussed in www.FPE7e.com.)
Solution:
Matlab cannot directly plot a root locus for a transcendental function.
From the Appendix W5.6.3, we see that the Pad(1,1) approximation for
5087
e
is
e
1 (s=2)
=
1 + (s=2)
s 2
;
s+2
and the rst-order lag approximation (Pad(0,1)) is

e
1
:
s+1
With the Pad(1,1) approximation, a locus valid for small values of s can
be plotted, as shown below by the red curve. The rlocnd routine is used
by placing the cursor on the j! axis to nd the maximum value of K at
the instability boundary. This yields Kmax = 2 for the Pad(1,1). The
locus for the rst-order lag is also shown in green; however, it produces
a locus with two branches going to innity at s = 1=2: thus there is
no value of K that produces instability for this approximation for a rst
order system. This demonstrates a limitation for this approximation of
the delay. However, for higher order systems, the rst order lag can be
useful.
Root loci f or problem 5.46 with the (1,1)and (0,1) Pade aproxim ates
3
Imaginary Axis
-1
-2
-3
-6
-5
-4
-3
-2
Real Axis
-1
5088
48. Prove that the plant G(s) = 1=s3 cannot be made unconditionally stable
if pole cancellation is forbidden.
Solution:
The angles of departure from a triple pole are 180 and 60 for the
negative locus and 0 and 120 for the positive locus. In either case, at
least one pole starts out into the right-half plane. Such a system must be
conditionally stable for it will be unstable if the gain is small enough.
5089
49. For the equation 1 + KG(s) where,
G(s) =
1
;
s(s + p)[(s + 1)2 + 4]
use Matlab to examine the root locus as a function of K for p in the range
from p = 1 to p = 10, making sure to include the point p = 2.
Solution:
The root loci for four values are given in the gure. The point is that the
locus for p = 2 has multiple roots at a complex value of s:
Problem 5.49
Problem 5.49
6
4
Imag Axis
Imag Axis
p=2
p=1
0
-2
-4
0
-2
-4
-6
-6
-5
-6
-4
Real Axis
Problem 5.49
Problem 5.49
10
p=5
p = 10
20
10
Imag Axis
Imag Axis
-2
Real Axis
-10
-5
-20
-10
-10
-5
Real Axis
-20
-10
10
20
Real Axis

Feedback Control System 5th Chapter

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5000

Feedback Control of Dynamic

The Root-Locus Design

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Problems and solutions for Section 5.2

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Root loci for Problem 5.2

(a) Draw the real-axis segments of the corresponding root locus.

(d) Verify your sketch with a Matlab plot.

(c) The plot is shown below.

Solution for Problem 5.3

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Root loci for Problem 5.4

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Root loci for Problem 5.5

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Solution for Problem 5.6

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Solution for Problem 5.7

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

= 12; i = 60 ; 180 ; d = 92:7 at s = 1 + j

Solution for Problem 5.8

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Figure 5.45: Control system for Problem 5.9

Solution for Problem 5.10

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Figure 5.46: Feedback systems for Problem 5.11

(a) The system is stable for 0

Solution for Problem 5.11

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Root locus with 0.275 damping marked

Figure 5.47: Feedback system for Problem 5.13

(a) Find the locus of closed-loop roots with respect to K.

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Figure 5.48: Feedback system for Problem 5.14

Use block diagram reduction to nd the characteristic equation of the

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Root locus with 0.5 damping marked

Problems and solutions for Section 5.3

9:8(s2 0:5s + 6:3)

and the characteristic equation 1 + Dc (s)G(s) = 0. Let Dc (s) = kp at

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Figure 5.49: Control system for Problem 5.16

16. For the system given in Fig. 5.49,

= 5. Is there anything special about this

(c) Repeat part (a) for xed K1 = 2 with the parameter K =

The root locus for each part is attached at the end.

We have a pole-zero cancellation at s =

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Solution for Problem 5.16

Figure 5.50: Control system for Problem 5.17

Solution for Problem 5.17

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

p)ej . Then L(s) can be written as:

Because z > p; this function is real and negative for real

pole is at negativ e inf inity

pole is slightly to the lef t of zero

Solution for Problem 5.19

CHAPTER 5. THE ROOT-LOCUS DESIGN METHOD

Figure 5.51: Feedback system for Problem 5.20

= s4 + 10s3 + 26s2 + (80 + K) s + 2K

Rouths test gives 0 < K < 80 for stability. Solving

Rouths test gives K > 0 for stability. Solving