Beruflich Dokumente
Kultur Dokumente
Stability
2. For the system shown here find K value such that the system will have oscillation in
response.
The value of K=5, then identify how many closed loop poles will have real part greater than
s=-1 is __________________.
4. Consider the characteristic equation of a system s3 6s2 7s K 0 . The range of ‘K’ for
the stability of a system
9. For the system shown below, the frequency of oscillations is _____ rad/sec.
s2 48s 14
11. The closed loop transfer function of a system is T(s) .The
s5 2s4 3s3 6s2 2s 4
system is said to be
(a) Unstable with a pair of complex conjugate poles on imaginary axis
(b) Unstable with two pair of complex conjugate poles on imaginary axis
(c) Marginal stable with all poles on imaginary axis
(d) Marginal stable with a pair of complex conjugate poles on imaginary axis
50
12. The open loop transfer function of a unity feedback system is G(s) .
s(1 sT)(1 0.5s)
The value of ‘T’ to drive the system on to the verge of instability is
K
13. For the system shown the condition for absolute stability is G(s)
as3 bs2 cs d K
(a) a,b,c,d>0,K<0
(b) a,b,c,d>0 & bc-ad>0
(c) a,b,c,d>0 & bc-ad<0
(d) bc-ad>0
15. How will stability of system behave if characteristic equation of a stable system is
s3 7s2 25s 39 0 with respect to 1 axis
1 1 2
16. The system matrix of a system is A 0 2 k . The maximum value of k that
0 1 3
ensures stability of the system is ___________.
1 0 0
17. A system has the system matrix A 1 0 2 . The number of poles in RHS is
2 3 1
__________.
18. For a closed loop system to be stable, which of these statements is correct for the first
column elements of Routh array formed from its characteristic equation.
19. The impulse responses of four· different control systems are listed in the following
figures, match these figures with second set of figures which lists location of poles in the s-
plane.
(A) (B)
(C) (D)
(4) (5)
A B C D A B C D
(a) 2 3 5 4 (b) 1 2 3 4
(c) 4 5 3 1 (d) 1 3 5 4
20. The value of k at which one of the roots of the characteristic equation
s2
2s 2 k s 0.5 would lie at s=-1 is _________.
21. The limitation of Routh-Hurwitz criterion and Bode plot technique in determining the
system stability are respectively
(a) Exact location of roots cannot be found and cannot be used for all pass system.
(b) Exact location of roots cannot be found and cannot be used for minimum phase system.
(c) Exact location of roots can be found and cannot be used for non-minimum phase system.
(d) Exact location of roots cannot be found and cannot be used for non-minimum phase
systems.
22. Which of the following statements are correct for addition of zero to open loop transfer
function near imaginary axis?
24. The number of roots on real axis for following characteristic equation s4 3s2 1 0
is______________.
25. If the value of Q=0 and P=1 then the system is of type __________.
(a) 3
(b) 5
(c) 2
(d) 1
e TS
26. The open loop transfer function of a system is G(S) . The maximum value of T
S(S 10)
such that the closed loop system is stable is ____________(sec)
K
28. The transfer function of a system is , the condition for absolute
a3S a2S2 a1S a0
3
stable is
(a) a3 ,a2 ,a1 ,a0 0 and a2a1 a3a0 >0 (b) a3 ,a0 0 and a3 ,a1 0
(c) a3 ,a2 ,a1 ,a0 0 and a2 ,a1 a3 ,a0 0 (d) a3 ,a2 ,a1 ,a0 0 and a2 ,a1 a3 ,a0 0
30. The transfer function is having symmetric pole and zero about the imaginary axis, then
system is called
(a) Minimum phase (b) All pass
(c) Non-Minimum phase (d) None of these
k
31. The open loop transfer function of a system is G(s)H(s) and 0 a b . The
s(s a)(s b)
system is stable if
(a b) ab
(a) 0 K (b) 0 K
ab (a b)
a
(c) 0 K ab(a b) (d) 0 K
b(a b)
32. The necessary (but not sufficient) condition for stability of a linear system is that all the
coefficient of its characteristic equation 1 G(s)H(s) 0 , be real and have the
1. Positive sign.
2. Negative sign.
3. Same sign.
(a) Only 1 (b) Only 2
(c) 3 (d) None of these
1
35. If open loop transfer function of a unity feedback system is G(s) . The
s(s 3)(s 2)
intersection of root locus with j axis are
(a) j2.45 (b) j1.095
(c) j3.6 (d) No intersection
36. The characteristic equation is s3 14s2 (45 k)s k 0 centroid is located at(-x, 0) then
the value of x is _________
1 0 0
38. If state matrix A 0 2 0 then the closed loop poles of a system having matrix A 1 is
0 0 3
1
(a) 1,2,3 (b) 1,2,
3
1 1
(c) 1, , (d) 1.4.9
2 3
39. If closed-loop transfer function poles shown below. Impulse response is?
(a) (b)
(c) (d)
40. For the characteristic equation s4 ks3 s2 s 1 0 , the range of k for stability is
41. The characteristic equation of a system is given below. Using routh's stability criterion
ke s
determine range of k for the system to be stable. 1 2 0
s(s 8 s 9)
42. The polynomial s3 s2 s 1 have ___________ roots with positive real parts.
Which of the following diagram represent the location of the poles of this network?
(a) (b)
(c) (d)
Solutions
1. Ans: (d)
Solution:
C.E= s3 +(K +2)s2 +2Ks+10 = 0
Routh Hurwitz array
S3 1 2k
S2 K+2 10
S1 2k(k + 2) - 10 0
k +2
S0 10
For stability sign of the 1st column of routh array should not change
K+2>0 = k>-2
-4 ± 16+80 -4 ± 96
And 2K2 +4K -10>0 , K= =
4 4
-4 + 96 -4 + 9.79
K= = 1.4475
4 4
-4 - 96 -4 - 9.79
and K = = =-3.4475
4 4
(K-1.44)(K+3.44)>0
The value which satisfy in equation is K=2
2. Ans: 6
Solution: The characteristic equation is s(s+1)(s+2)+K = 0
s3 3s2 2s k 0
Routh Hurwitz array
S3 1 2
S2 3 K
S1 6 k 0
3
S0 k
For Oscillation
6 -K
=0
3
K = 6
3. Ans: 0
Solution:
C.E= (s+1)(s+2)(s+3)+K = 0
Z(Z+1)(Z+2)+K=0
K =5
C.E’= Z 3 +3Z 2 +2Z +5 = 0
5. Ans: (a)
6. Ans: 56
Solution: CE= s3 7s2 8s k 0
Routh Hurwitz array
S3 1 8
S2 7 k
S1 56 k 0
7
S0 k 0
For sustained oscillation 56-k=0 =>K=56
7. Ans: (b)
Solution: CE= s3 (K 0.5)s2 4sK 50 0
Routh Hurwitz array
s3 1 4K
s2 (K+0.5) 50
s1 4K 2 2K 50 0
(K 0.5)
s0 50
for stability
K 0.5 0 and 4K2 2K 50 0
Or K>-0.5 and K>-3.8 and K> 3.3
Where K>3.3 Satisfies all the three conditions.
8. Ans: 3
Solution: CE= s5 s4 2s3 2s2 11s 10 0
Routh Hurwitz array
S5 1 2 11
S4 1 2 10
S3 lim 1 0
0
S2 2 1 10 0
S1 102 0 0
1
2 1
S0 10
Total number of sign change in the first column is =2=Roots located in RHS of s-plane.
Hence, 3 poles are having negative real part.
S2 20 25K
S0 25K
s 375 19.36j
s5 1 3 2
s4 -2 -6 -4
s3 0(-4) 0(-6) 0
s2 -3 -4 0
s1 2 3 0 0
s0 -4 0 0
dP(s)
4s3 6s
ds
Also number of sign changed in the first column of Routh Hurwitz array=1
Hence, the given system is unstable with two pair of complex conjugate poles on imaginary
axis.
s2 (1+2T) 100
s1 2(1 2 T) 100 T 0
(1 2 T)
s0 100
1 1
For Stability, T 0 , T and T
2 48
1
The system becomes unstable for T
48
As there are no sign changes, means that there are no roots lie between-1<s<0. Hence time
constant of the system is less than 1.
Z2 4 20
Z1 9 0
Z0 20
All elements in first column are positive, so system remain stable, stability increases
16. Ans: 6
(S 1) 1 2
Solution: Characteristic Equation= SI A 0 (S 2) K 0
0 1 (S 3)
S3 6S 2 11S (6 K) 0
Routh Hurwitz array
S3 1 11
S 2
6 6-K
S 1
66 6 K 0
6
S0 6-K 0
60 K
For stability 0 and 6-K>0 => K 60 and K<6
6
Limit on K is -60<K<6. Therefore maximum value of K is 6
17. Ans: 2
(S 1) 0 0
Solution: Characteristic equation= SI A 1 S 2 0
2 3 (S 1)
S3 7S 6 0
Routh Hurwitz array
S3 1 -7
S2 lim 6
0
S1
7 6 0
S0 6 0
There are two sign changes hence there are two poles in RHS.
20. Ans: 2
Solution: Using magnitude condition
G(s)H(s) 1
k s 0.5 k 1 0.5
1 => 1
s 2s 2
2
122
k 2
24. Ans: 0
Solution: s2 =x then equation is x2 3x 1 0
s2 =x=-0.382, -2.618
There are no real roots.
CLTF P
OPTF= 2
1 CLTF s (2 PQ)s
P
Substitute Q=0 in above equation we get G(s)H(s)
s(s 2)
Hence it is of type 1
26. Ans: 10
e TS
Solution: G(S)
S(S 10)
TS
Characteristic equation= S(S 10) e 0
TS
But e (1 TS)
s2 (10 T)s 1 0
T 10
TMax 10 sec
(i) All the coefficient of the polynomial have the same sign.
(ii) None of the coefficient vanishes.
(iii) The first column of the element >0
So, a3 ,a2 ,a1 ,a0 0
Centroid=
0 9 5 1 6.5
2
Coordinates =(-6.5,0)
s1 -(k+2) 0
s0 2k+5 0
s4 1 1 1
s3 k 1
s2 k 1 1
k
s1 k 1 k2
k 1
For stability k>0, k>1
k 1 k2 1 1 k k
And 0 >0 but it is always (-)ve for k>1
k 1 k 1
s3 1 9-k
s2 8 K
s1 72 9k
8
s0 k
42. Ans: 2
Solution: CE= s3 s2 s 1 0
Routh Hurwitz array
s3 1 -1
s2 1 1
s1 -2 0
s0 1
Two sign changes in first column so 2 roots with positive real parts.
S4 1 2 3
S3 0(4) 0(4) 0
S2 1 3
S1 -8 0
S0 3
d(A.E.)
Given equation is A.E, 4s3 4s 0
ds
No. of sign changes below the A.E=2
No. of RHP=No. of LHP = 2, jωP = 0
The four poles are located in quadrantal as shown above.
2. Ans: (b)
Solution: CE= s4 2s2 1 0
Routh Hurwitz array
S4 1 2 1
S3 0(4) 0(4) 0
S2 1 1 0
S1 0(2) 0
S0 1
d(A.E.)
Given equation is A.E of order 4 than 4s3 4s 0
ds
d(A.E.)
Another A.E. of order 2 is s2 1 0 2s 0
ds
No. of sign changes = 0
No. of RHP = 0
j Poles =4
LHP=0
3. Ans: (d)
Solution: Assume z=s+4 => s = z-4
New CE = (z 4)(z 4 10) K 0
z2 4z 6z 24 K 0
z2 2z K 24 0
4. Ans: (b)
11
Solution: CE= 1 G(s)H(s) 0 1 0
s3 4s2 3s 1
s3 4s2 3s 1 11 0
S2 4 (11 1)
S1 12 (11 1) 0
4
S0 (11 1)
For stability,
12 (11 1)
0 and (11 1) 0
4
1
12 (11 1) and
11
1
1 and
11
5. Ans: (b)
Solution: Characteristic equation
s2 0.9s 0.1 K(s2 3s 2) 0
or,(1 K)s2 (3K 0.9)s (2K 0.1) 0
S2 (1+K) (2K-0.1)
S1 (3K-0.9) 0
S0 (2K-0.1)
For K=0.3, row of zero occurs though there will be no sign change in first column of Routh
array.
Hence, the system is marginally stable.
7. Ans: (b)
k
Solution: For old system TF
s (s 2) k
2
CE= s3 2s2 k = 0
Since lower powers of ‘s’ are missing so system is unstable.
k(s 1)
If a zero is added OLTF becomes : G(s)
s2 (s 2)
CE = s3 2s2 ks k = 0
s3 1 k
s2 2 k
s1 k 0
2
s0 k
For k>0, all coefficients are positive in first column and hence system is stable.
8. Ans: 12.5
Solution: CE= 4s3 9s2 6s (K 1) 0
Routh Hurwitz array
s3 4 6
s2 9 K+1
s1 54 4K 4 0
9
s0 K+1 0
54 4K 4
For stability, no sign changes in the first column i.e. >0 and K+1>0
9
K<12.5 and K>-1
Therefore maximum value of K= 12.5
9. Ans: (a)
Solution: CE= s5 6s4 12s3 12s2 11s 6 0
Routh Hurwitz array
s5 1 12 11
s4 6 12 6
s3 1 1
s2 1 1
s1 0(2) 0(1)
s0 1
c(t) keat
s4 s3 2 2x s2 5 4x x 2 y 2 s 10x 2x 2 2y 2 5x 2 5y 2 0 ………..(2)
Comparing & solving 1 & 2,
1
2 2x =3 => x=0.5, 5x2 5y 2 1 => x2 y 2
5
1
And 5 4x x2 y 2 =3 => 4.2 4
5
2
And 10x 2x2 2y 2 1 => =4.4=4
5