Worksheet 4

Addis Ababa University
Addis Ababa Institute of Technology

School of Electrical & Computer Engineering
Introduction to Control Engineering: ECEG-3175

Worksheet-4
1. Answer the following questions.
(a) What are the similarity and differences between asymptotically stable, marginally/critically
stable and unstable control systems?
(b) If a step function is applied at the input of a continuous system and the output remains
below a certain level for all time, is the system stable?
(c) If a step function is applied at the input of a continuous system and the output is of the
form y = t, is the system stable or unstable?
(d) The differential equation of an integrator may be written as follows: dy/dt = u. Determine
if an integrator is stable.
(e) If a zero appears in the first column of the Routh table, is the system necessarily unstable?
2. For each characteristic polynomial, determine if it represents a stable or an unstable system.

a) s3 + s2 − s + 1 b) s4 + 2s3 + 2s2 + 2s + 1
c) s3 + s2 − 2 d) 2s4 + 8s3 + 10s2 + 10s + 20
e) s3 − 2s2 + 4s + 6 f) s3 + s2 + s + 6
3. Using the Routh-Array method determine whether the following system has any poles in the
right half plane. Determine the number of these RHP poles.
1
(a) G(s) =
s4 + s3 + 12s2 + 12s + 36
s3 − 1
(b) G(s) =
s5 + s4 + 1s3 + 2s2 + 5s + 5
4. For what positive value of K does the polynomial s4 + 8s3 + 24s2 + 32s + K have roots with
zero real parts? What are these roots?
5. For the transfer function given below
1
G(s) =
s3 + 7s2 + 11s + (5 + K)
determine the range of K (which could include negative numbers, for this problem only) such
that the system has no poles in the RHP. Consider all the cases.
6. (a) Consider a DC motor. It is assumed that its transfer function from the input to the
angular position is 1/s(s + 2). Is the motor stable?
(b) If the angular velocity of the motor shaft, rather than the displacement, is considered as
an output, what is this transfer function? With respect to this input and output, is the
system stable?
Prepared by: Nebiyu Tenaye Introduction to Control Engineering AAU/AAiT/SECE, 2023/24 AY (1)
7. Find the ranges of k in which the systems shown in the figures below are stable.
T HE U NIVERSITY OF T EXAS AT S AN A NTONIO

Figure 1: Figures for Problem #7. HOMEWORK # 6
EE 3413 Ahmad F. Taha
A NALYSIS AND
8. The D ESIGN
system OF Cin
shown Figure Sbelow
ONTROL YSTEMS is a typical block diagram representation February
depicting29, 2016
a
simplified spark ignition system of an engine. Two parameters of this system are the gain
The objective of this homework
K and performance is top.test
parameter Theyour understanding
performance of the
parameter cancontent
take twoofvalues:
Module p1 6.= Due
0 anddate
of the homework is: Monday, March 7th, 2016, @ 18h00.
p2 = 2. The objective of this problem is to design a gain K to stabilize the initially unstable
system. Answer the following questions.
Figure 2: Figure for Problem #8.

Figure 1: Spark ignition system — a block diagram representation.
(a) Find the overall closed loop transfer function Y (s)/R(s) in terms of p and K. You should
end up with a typical TF with polynomials on the denominator and numerator. The
1. Using the Routh-Array
CLTF should bemethod we discussed
third order. Make sureinthat
Module 6 (in addition
your answer tobefore
is correct the twoyouspecial cases
move to
we discussed), determine
the next question. whether the following system has any poles in the right half plane.
Determine the number of these RHP poles.
(b) Obtain a value (or values) for K that would make the CLTF stable for the two given values
of p, simultaneously. In other words, your design1 should stabilize the system whether p = 0
or p = 2. H ( s ) = .
s4 + s3 + 12s2 + 12s + 36
2. For this CLTF,

1
H (s) = ,
s3 + 7s2 + 11s + (5 + K )
determine the range of K (which could include negative numbers, for this problem only) such
that the
Prepared by:system
Nebiyu has no poles
Tenaye in the RHP.
Introduction Consider
to Control all the cases.
Engineering AAU/AAiT/SECE, 2023/24 AY (2)

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Addis Ababa University

Addis Ababa Institute of Technology

Introduction to Control Engineering: ECEG-3175

1. Answer the following questions.

2. For each characteristic polynomial, determine if it represents a stable or an unstable system.

c) s3 + s2 − 2 d) 2s4 + 8s3 + 10s2 + 10s + 20

5. For the transfer function given below

T HE U NIVERSITY OF T EXAS AT S AN A NTONIO

Figure 2: Figure for Problem #8.

2. For this CLTF,

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