Section 6.
5 Design Examples 411
Thus, we obtain the characteristic equation of the system. The additional root λ = 0
results from the definition of x3 as the integral of αx1 + γ x2 , and x3 does not affect
the other state variables. Thus, the root λ = 0 indicates the integration connected
with x3 . The characteristic equation indicates that the system is marginally stable
when α + γ > 0 and αγ + β 2 > 0. ■
6.5 DESIGN EXAMPLES
In this section we present two illustrative examples. The first example is a tracked
vehicle control problem. In this first example, stability issues are addressed em-
ploying the Routh–Hurwitz stability criterion and the outcome is the selection of
two key system parameters. The second example illustrates the stability problem
robot-controlled motorcycle and how Routh–Hurwitz can be used in the selection
of controller gains during the design process. The robot-controlled motorcycle
example highlights the design process with special attention to the impact of key
controller parameters on stability.
EXAMPLE 6.9 Tracked vehicle turning control
The design of a turning control for a tracked vehicle involves the selection of two
parameters [8]. In Figure 6.8, the system shown in part (a) has the model shown in
part (b). The two tracks are operated at different speeds in order to turn the vehicle.
We must select K and a so that the system is stable and the steady-state error for a
ramp command is less than or equal to 24% of the magnitude of the command.
The characteristic equation of the feedback system is
1 + Gc( s)G ( s) = 0,
Track torque
Right Y(s)
Throttle Direction
Power train
Steering Left Vehicle of travel
and controller
Di erence in track speed
(a)
Controller Power train and
Gc (s) vehicle G(s)
R(s)
Desired + s+a K
Y(s)
direction s+1 s(s + 2)(s + 5)
FIGURE 6.8 of turning -
(a) Turning control
system for a
two-track vehicle.
(b) Block diagram. (b)
412 Chapter 6 The Stability of Linear Feedback Systems
or
K ( s + a)
1+ = 0. (6.27)
s( s + 1)( s + 2)( s + 5)
Therefore, we have
s ( s + 1)( s + 2)( s + 5) + K ( s + a) = 0,
or
s4 + 8 s3 + 17 s2 + ( K + 10) s + Ka = 0. (6.28)
To determine the stable region for K and a, we establish the Routh array as
s4 1 17 Ka
s3 8 K + 10 0
s2 b3 Ka ,
s1 c3
s0 Ka
where
126 − K b3 ( K + 10) − 8 Ka
b3 = and c3 = .
8 b3
For the elements of the first column to be positive, we require that Ka, b3 , and c3
be positive. Therefore, we require that
K < 126,
Ka > 0, and
( K + 10)(126 − K ) − 64 Ka > 0. (6.29)
The region of stability for K > 0 is shown in Figure 6.9. The steady-state error to a
ramp input r (t ) = At , t > 0 is
ess = A/Kυ ,
3.0
2.0
Stable
1.0 region
Selected K and a
0.6
0
FIGURE 6.9 0 50 70 100 126 150
The stable region. K
Section 6.5 Design Examples 413
where
Kυ = lim sGcG = Ka/10.
s→ 0
Therefore, we have
10 A
ess = . (6.30)
Ka
When ess is equal to 23.8% of A, we require that Ka = 42. This can be satisfied
by the selected point in the stable region when K = 70 and a = 0.6, as shown
in Figure 6.9. Another acceptable design would be attained when K = 50 and
a = 0.84. We can calculate a series of possible combinations of K and a that can
satisfy Ka = 42 and that lie within the stable region, and all will be acceptable de-
sign solutions. However, not all selected values of K and a will lie within the stable
region. Note that K cannot exceed 126. ■
EXAMPLE 6.10 Robot-controlled motorcycle
Consider the robot-controlled motorcycle shown in Figure 6.10. The motorcycle
will move in a straight line at constant forward speed υ. Let φ (t ) denote the angle
between the plane of symmetry of the motorcycle and the vertical. The desired
angle φd (t ) is equal to zero, thus
φd ( s) = 0.
The design elements highlighted in this example are illustrated in Figure 6.11. Using
the Routh–Hurwitz stability criterion will allow us to get to the heart of the mat-
ter, that is, to develop a strategy for computing the controller gains while ensuring
closed-loop stability. The control goal is
Control Goal
Control the motorcycle in the vertical position, and maintain the prescribed
position in the presence of disturbances.
The variable to be controlled is
Variable to Be Controlled
The motorcycle position from vertical, φ (t ).
c.g. = Center of gravity
Robot v
Forward speed
c.g.
FIGURE 6.10 h
The robot-
controlled L
motorcycle. c
