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Homework 5 - Solutions
Note: Each part of each problem is worth 3 points and the homework is worth a total of 24 points.
4 7 8 5
h i
y = 9 9 8 x
convert the system to one where the new state vector, z, is given by
1 7 6
z = 8 4 8 x
4 7 8
Solution: Let
1 7 6 5 h i
T = A = 8 4 8 ; B = 7 and C = 9 9 8
4 7 8 5
x = Ax + Br (1)
y = Cx (2)
z = Tx (3)
Using Equation (3), we can solve for x and subsitute in Equations (1) and (2) as follows,
x = T 1 z
T 1 z = AT 1 z + Br
Therefore
z = T AT 1 z + T Br (4)
y = CT 1 z (5)
Using Equations (4) and (5), we can now solve for the new system with the new state vector z as
shown below.
1 7 6
T AT 1 = 8 4 8
4 7 8
84
T B = 52
109
h i
CT 1 = 13.8 3.65 13
Therefore,
1 7 6 84
z = 8 4 8 z + 52 r
4 7 8 109
h i
y = 13.8 3.65 13 z
0 2 1 2
h i
y = 1 1 2 x
1 2 2
Thus,
h i 1 1 1
P = u1 u2 u3 = 0 1 2
1 2 2
2 4 3
P 1 = 2 3 2
1 1 1
Now, z = P 1 AP z + P 1 Bu and y = CP z,
1 0 0 12
z = 0 2 0 z + 8 u
0 0 3 3
h i
y= 1 4 7 z
Since there are 2 sign changes, there are 2 RHP poles, 3 LHP poles and no poles on the j-axis..
240
G(s) =
(s + 1)(s + 2)(s + 3)(s + 4)
240
T (s) =
s4 + 10s3 + 35s2 + 50s + 264
Since there are 2 sign changes, there are two closed loop poles in the RHP and the closed loop system
is unstable.
Solution:
Even Polynomial (6th order) : 1 sign change, therefore
RHP: 1 pole; LHP: 1 pole; j-axis: 4 poles
Rest (1st order): 0 sign changes, therefore
RHP: 0 poles; LHP: 1 pole j-axis: 0 poles
Total (7th order):
RHP: 1 pole; LHP: 2 poles; j-axis: 4 poles
K(s a)
G(s) =
s(s b)
Solution: The characteristic equation for all cases is s2 + (K b)s Ka = 0. Using Routh-Hurwitz
analysis, we find the following relations for closed loop stability:
K b>0 (6)
Ka > 0 (7)
K(s + 4)
G(s) =
s(s + 1.2)(s + 2)
5K(s + 4)
T (s) =
5s3 + 16s2 + (12 + 5K)s + 20K
Using Routh-Hurwitz analysis, we find the following relations for closed loop stability:
(a) For closed loop stability, both Equations (8) and (9) need to be satisfied simultaneously. Thus
0 < K < 9.6.
(b) For oscillations, at least one pair of poles must lie on the imaginary axis. K = 9.6 makes one
pair of poles purely imaginary.
(c) Let K = 9.6. Now, the characteristic equation becomes 5s3 +16s2 +60s+192 = 0. Factorization
yields (32s2 + 384)(s2 + 12) = 0. Roots of (s2 + 12) = 0 are 2 3. Therefore, = 2 3 rad/s.
K(s2 + 2s + 1)
T (s) =
s3 + 2s2 + (K + 1)s K
2
<K<0
3