1

FACULTY OF MECHANICAL ENGINEERING

UNIVERSITI TEKNOLOGI MALAYSIA
Q1 =
SME 3233 CONTROL ENGINEERING
SEMESTER 1 2009/2010 Q2 =
Test 2 (25%)
Name: IC No:
Section: Lecturer’s Name:

QUESTION 1 (13 marks)

U(s) + 1 Y(s)

( )
K
s (s + 3) s + 4s + 8
2

4
Figure Q1

Figure Q1 represents a block diagram of a control system

a) Using Routh Hurwitz Criterion, find the range of K for a stable system.
b) Plot a root locus diagram for the control system shown in Figure Q1 if given the breakaway point,
σb is -1.11. Show all the steps clearly.

Solution
4K 4K
KGH= = 4
s( s + 3)( s + 4s + 8) s + 7 s + 20s 2 + 24s
2 3

For RH, using characteristic equation, 1 + KGH = 0, built the array:

1+KGH= s + 7 s + 20s + 24s + 4 K = 0

4 3 2

s4 1 20 4K

s3 7 24 0

s2 16.57 4K 0

s1 397.7 − 28K 0
7
s0 4K

For stability
1) 4K>0, hence K>0,
397.7 − 28K
2) 0 → K  14.2
7
Thus range for K: 0  K  14.2

15 October 2009 Test 2, SME3233 Control Engineering

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Im
Root Locus: Step 2:
4K Region 2
KGH= of locus
s( s + 3)( s 2 + 4s + 8) 1
Step 1:
N ( s) = 0; no zeros -3 -2 -1 0
Re

D(s) = 0; s = 0; s = −3; s = −2 + 2 j; s = −2 − 2 j; 4 poles -1

Step 3: There will be 4 locus starting from open loop poles, ending at ± ∞ -2

Step 4: Angle of asymptote:  =

(2k + 1)180 = 45,135,225,315
no of poles - no of zeros

Step5:  a =
 value of poles -  value of zeros = 0 − 3 − 2 + 2 j − 2 − 2 j = −1.75
no of poles - no of zeros 4
Step 6:  b = −1.11 (Given)
Step 7: Locus leaving real axis at ± 90º
Step 8:  d = 180 −  = 180 − (135 + 90 + 63.4) = −108.4
Step 9: From Q1(a) Routh Array shows that range of stability: 0  K  14.2
Hence for critically stable system: K = 14.2 substitute in characteristic equation:
1+KGH= s + 7 s + 20s + 24s + 4 K = 0 or from Routh Array:
4 3 2

16.57s2 + 4 K = 0
16.57s2 + 4(14.2) = 0 Root Locus Plot:Using Matlab:>> num=[4];>> c=[0;-3;-2+2i;-2-2i];>>
s = 1.85 j
den=poly(c)
den = 1 7 20 24 0>> rlocus(num,den)
Root Locus
8

2
Imaginary Axis

-2

-4

-6

-8
-10 -8 -6 -4 -2 0 2 4 6
Real Axis

>> [Gm,Pm,Wcg,Wcp] = margin(num,den)

Gm = 14.2041
Pm = 82.0523
Wcg =1.8516
Wcp =0.1664

15 October 2009 Test 2, SME3233 Control Engineering

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QUESTION 2 (12 marks)

U(s) + 1 Y(s)
+ 2 G( s) =
Gc ( s) = (s + 1)(s + 5)
s
-

H(s) = 5

Figure Q2
Figure Q2 above represents a block diagram of a control system.
a) Plot the Nyquist diagram for the system above. Use  of 0,1,3,5,8,10
b) Find the system’s gain margin and the phase margin from the diagram

Solution
a) Open-loop transfer function = KGH(s):

Step 1: Convert equation s to j

10 10
kGH(s) = ; kGH(j) =
s ( s + 1)(s + 5) j ( j + 1)( j + 5)

Step 2: Find equation for gain kGH(j) and phase 

10
│kGH(j)│= ,  = - 900 – tan-()– tan-(0.2)
  +1
2 2
 +5
2 2

Step 3: Fill in the values of gain and phase for  = 0,1,3,5,8,10 in Table below:
 │kGH(j)│= 
0  -90
1 1.387 -146.3
3 0.181 -192.5
5 0.055 -214
8 0.0164 -231
10 0.009 -238

b) Find the gain margin and the phase margin from the diagram
Gain margin JG = 1/0.33 = 3.03
Phase margin  = 250
Using Matlab
>> num=[10];
>> c=[0; -1; -5];
>> den=poly(c)
den =
1 6 5 0
>> nyquist(num,den); grid
>> [Gm,Pm,Wcg,Wcp] = margin(num,den)
Gm = 3
Pm = 25.3898
Wcg = 2.2361
Wcp = 1.2271

15 October 2009 Test 2, SME3233 Control Engineering