NPTEL

Control Engineering
Sept.-Dec. 2020
Solution: Assignment 4
1. The closed loop transfer function of a system is

s3 + 3s + 8
T (s) = .
s5 + 6s3 + 2s2 + 5
The number of poles in the left half-plane, on the imaginary axis and in the right half-plane are
(a) 3, 0, 2
(b) 2, 2, 1
(c) 1, 0, 4 [Correct]
(d) 1, 2, 2
Solution:
Using Routh-Hurwitz criteria, the array for the polynomial is

s5 1 6 0
s4 0
 2 5
6 − 2 −5
s3 0
 
17 − 4
s2 5 0
6 − 2
(35 − 180)
s1 0 0
17 − 4
0
s 5 0 0

By careful inspection, we get the sign of entries of the first columns as

+ve, +ve, −ve, +ve, −ve, +ve

Here, we have 4 sign change, so,

Number of poles in the right half-plane = 4.
Number of poles on the imaginary axis = 0 (since there is no auxillary equation).
Number of poles in the left half-plane = 5-4-0=1 .

2. Consider a system with open loop transfer function

K(s + 2)
G(s) =
(s + 3)(s − 1)(s − 2)

and with unity feedback. For what range of values of K is the system stable?
(a) K > −3
(b) −3 < K < 7
(c) The system is unstable for all K [Correct]
(d) K > 7

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 Solution:
The closed loop system has the characteristic equation
(s + 3)(s − 1)(s − 2) + K(s + 2) = 0
or
s3 + (K − 7)s + (2K + 6) = 0.
The Routh-Hurwitz array for this polynomial is:

s3 1 (K − 7)
s2
0  (2K + 6)
(K − 7) − (2K + 6)
s1 0
0

s 2K + 6 0

As  → 0, the first entry in the s1 row tends to −∞. The entries in the first column cannot all be
positive, and hence there is no value of K for which the closed loop system is stable.
3. The open loop transfer function of a unity feedback system is
K(s2 + 3)
G(s) = .
s4 + 3s3 + 5s2 + 3s + 3
The closed loop system is stable for
(a) K > −1
(b) K > −4
1
(c) −4 < K <
2
1
(d) −1 < K < [Correct]
2
Solution:
The characteristic equation of the closed loop system is:
s4 + 3s3 + (K + 5)s2 + 4s + (3K + 3) = 0.
The corresponding Routh-Hurwitz array is

s4 1 (K + 5) (3K + 3)
s3 3 3 0
s2 (K + 4) 3(K + 1) 0
−6K + 3
s1 0 0
K +4
0
s 3(K + 1) 0 0

For all the entries in the first column to be positive, we need K +4 > 0, −6K +3 > 0 and K +1 > 0.
1
Hence, the closed loop system is stable when −1 < K < .
2
4. Consider the system shown below. Which of the following values of Kp and Kd stabilize the closed
loop system?

+
R(s) s
Kp + Kd (s+10) (s−1) Y (s)
− (s+1)

2
 (a) Kp = 2, Kd = 5
(b) Kp = 0.5, Kd = 10 [Correct]
(c) Kp = 0.8, Kd = 15 [Correct]
(d) Kp = 0.2, Kd = 15

Solution:
The transfer function of the closed loop system is
(Kp + Kd )s2 + (9Kp − Kd )s − 10Kp
T (s) = ,
s2 + 11s + 10
which gives us the characteristic equation
(1 + Kp + Kd )s2 + (11 + 9Kp − Kd )s + (10 − 10Kp ) = 0.
The corresponding Routh-Hurwitz array is

s2 1 + Kp + Kd 10 − 10Kp
s1 11 + 9Kp − Kd 0
s0 10 − 10Kp 0

Then, the conditions for closed loop stability are 1 + Kp + Kd > 0, 11 + 9Kp − Kd > 0 and Kp < 1.
Options (a) and (d) do not satisfy these conditions, while options (b) and (c) do.
5. Consider a system with the characteristic equation s6 + s5 + 5s4 + 4s3 + 8s2 + 4s + 4 = 0. Which
of the following statements are true?

(a) The system is unstable. [Correct]

(b) The system has two poles in the right half-plane.
(c) The system has two poles in the left half-plane. [Correct]
(d) The system has poles on the imaginary axis. [Correct]
(e) The system is marginally stable.

Solution:
Using the Routh-Hurwitz criterion, the array for the given characteristic equation is:

s6 1 5 8 4
s5 1 4 4 0
s4 1 4 4 0
s3 0 0 0 0

The entire row corresponding to s3 is zero. The auxiliary equation is given by

A1 (s) = s4 + 4s2 + 4 = 0
dA1 (s)
∴ = 4s3 + 8s.
ds
dA1 (s)
Replacing the row with the coefficients of = 0, we get the array
ds
s6 1 5 8 4
s5 1 4 4 0
s4 1 4 4 0
s3 1 2 0 0
s2 2 4 0 0
s1 0 0 0 0

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 This time, the row corresponding to s1 is zero. The auxiliary equation is

A2 (s) = s2 + 2 = 0

dA2 (s)
∴ = 2s.
ds
dA2 (s)
Replacing the row with the coefficients of = 0, we get the array
ds

s6 1 5 8 4
s5 1 4 4 0
s4 1 4 4 0
s3 1 2 0 0
s2 2 4 0 0
s1 1 0 0 0
s0 4 0 0 0

All the entries in the first column are positive, hence there are no poles in the right half-plane,
√
meaning
√ option (b) is false. However, the roots of the auxiliary equation A1 (s) = 0 are ±j 2,
±j 2, which means option (d) is true. The remaining two poles must be in the left half-plane,
which makes option (c) true. Since there are repeated roots on the imaginary axis, the system is
unstable, meaning option (a) is true, and option (e) is false.
6. Consider a system with the characteristic equation s5 + 3s4 + 6s3 + 6s2 + 5s + 3 = 0. How many
poles does the system have on the imaginary axis, and how many does it have with real part −1?
(a) 2, 3 [Correct]
(b) 2, 1
(c) 2, 2
(d) 0, 3
Solution:
For poles on the imaginary axis, we consider the Routh-Hurwitz array corresponding to the given
characteristic equation
s5 + 3s4 + 6s3 + 6s2 + 5s + 3 = 0.

s5 1 6 5
s4 3 6 3
s3 4 4 0
s2 3 3 0
s1 0 0 0

The entire row corresponding to s1 is zero. The auxiliary equation is

A1 (s) = s2 + 1 = 0

dA1 (s)
∴ = 2s.
ds
dA1 (s)
Replacing the row with the coefficients of = 0, we get the array
ds

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 s5 1 6 5
s4 3 6 3
s3 4 4 0
s2 3 3 0
s1 1 0 0
s0 3 0 0

Since the auxiliary equation has roots at ±j, the system has 2 poles on the imaginary axis.
To evaluate the poles with real part −1, we consider a new variable z = s + 1. The characteristic
equation in the variable z is

(z − 1)5 + 3(z − 1)4 + 6(z − 1)3 + 6(z − 1)2 + 5(z − 1) + 3 = 0

or
z 5 − 2z 4 + 4z 3 − 4z 2 + 4z = 0.
The corresponding Routh-Hurwitz array is

z5 1 4 4
z4 −2 −4 0
z3 2 4 0
z2 0 0 0

The entire row corresponding to z 2 is zero. The auxiliary equation is

A2 (s) = z 3 + 2z = 0

dA2 (s)
∴ = 3z 2 + 2.
ds
dA2 (s)
Replacing the row with the coefficients of = 0, we get the array
ds

z5 1 4 4
z4 −2 −4 0
z3 2 4 0
z2 3 2 0
8
z1 0 0
3
z0 2 0 0

Since the auxiliary equation has roots at ±j, 0, the system has 3 poles with real part −1.
Common data for Q7-Q8

Consider the system shown below.

D(s)

R(s) + (s+1) + + 1 Y (s)

K (s+3) (s+2)(s2 +1)
−

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7. If the disturbance (D(s)) is zero, what is the minimum value of K for which a unit
step input results in a steady state error less than or equal to 0.05?
(a) 95
(b) 0
(c) 114 [Correct]
(d) No value of K can achieve a steady state error of less than or equal to 0.05

Solution:
The closed loop transfer function from input to output, given zero disturbance is
Y (s) K(s + 1)
T (s) = = 4 3 2
R(s) s + 5s + 7s + (K + 5)s + (K + 6)
The error is given by
E(s) = R(s) − Y (s) = R(s)(1 − T (s)).
1
For a unit step input, R(s) = , and we have
s
(s2 + 1)(s + 2)(s + 3)
1 − T (s) = .
s4 + 5s3 + 7s2 + (K + 5)s + (K + 6)
The steady state error is given by the final value theorem:
(s2 + 1)(s + 2)(s + 3)
e∞ = lim sE(s) = lim
s→0 s→0 s4 + 5s3 + 7s2 + (K + 5)s + (K + 6)

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e∞ = .
K +6
e∞ ≤ 0.05 =⇒ K ≥ 114.
Note: Once we plug back the value of K and verify the RH criteria, we
will get two poles in RHP and the system will be unstable and hence
we cant say anything about steady state error. We have removed this
question from evaluation.
8. Let the reference (R(s)) be set to zero, and the disturbance signal be 0.1(1−e−3t )u(t),
where u(t) is the unit step signal. What is the minimum value of K for which the
absolute value of the steady state error is less than or equal to 0.01?

(a) 0
(b) 84
(c) 4
(d) 24 [Correct]

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 Solution:
1
When R(s) = 0, E(s) = −Y (s). Denoting G(s) = and Gc (s) =
(s + 2)(s2 + 1)
(s + 1)
K , we get
(s + 3)
E(s) = −Y (s) = −(G(s)D(s) + G(s)Gc (s)E(s))
−G(s)
=⇒ E(s) = D(s).
1 + G(s)Gc (s)
Since the disturbance signal d(t) = 0.1(1 − e−3t )u(t),
0.3
D(s) = .
s(s + 3)
E(s) −G(s) −(s + 3)
= = .
D(s) 1 + G(s)Gc (s) (s + 3)(s + 2)(s2 + 1) + K(s + 1)
Then, the steady state error is
−(s + 3) 0.3
e∞ = lim sE(s) = lim s
s→0 s→0 (s + 3)(s + 2)(s2 + 1) + K(s + 1) s(s + 3)
−0.3
=⇒ e∞ = .
6+K
|e∞ | ≤ 0.01 =⇒ K ≥ 24.
9. Consider the typical closed loop control system depicted in the figure below. If
Y (s)
T (s) = with D(s) and N (s) held at zero, what is the sensitivity of T (s) with
R(s)
respect to changes in the sensor transfer function H(s)?

D(s)
+ + + Y (s)
Gc (s) G(s)
R(s) −

+
H(s)
+ N (s)

Gc
(a)
(1 + Gc GH)2
−Gc GH
(b) [Correct]
1 + Gc GH

7
 1
(c)
1 + Gc GH
−G2c G2
(d)
(1 + Gc GH)2
Solution:
The closed loop transfer function given D(s) = N (s) = 0 is
Y (s) Gc (s)G(s)
T (s) = = .
R(s) 1 + Gc (s)G(s)H(s)
The sensitivity of the closed loop transfer function with respect to H(s) is

T ∂T H
SH =
∂H T
∂T −Gc G −G2c G2
= × Gc G =
∂H (1 + Gc GH)2 (1 + Gc GH)2
T −G2c G2 H
∴ SH = ×
(1 + Gc GH)2 Gc G
1 + Gc GH
T −Gc GH
SH =
1 + Gc GH
10. Which of the following statements are true?

(a) BIBO stability only applies to linear time-invariant systems.

(b) The number of sign changes in the first column of the Routh-Hurwitz array of a
system is equal to the number of poles it has in the right half-plane. [Correct]
(c) For a system with disturbances and zero reference input, increasing the loop gain
decreases the effect of disturbance on the tracking error. [Correct]
(d) Any system with no poles in the right half-plane is stable.
(e) A system having poles either in the left half-plane or on the imaginary axis is
always marginally stable.
Solution:

(a) BIBO stability is applicable to any system which generates a bounded output
for every bounded input. It is not restricted to linear time-invariant systems.
(b) The number of sign changes in the first column equalling the number of poles in
the right half-plane is a property of the Routh-Hurwitz array.

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(c) For a typical control system with zero reference input (R(s) = 0), the error is
−G(s)
given by E(s) = D(s) and the loop gain is L(s) = Gc (s)G(s).
1 + Gc (s)G(s)
This means
−G(s)
E(s) = D(s).
1 + L(s)
It can be seen that increasing the loop gain L(s) results in a lower absolute value
of tracking error E(s) for the same value of disturbance D(s).
1
(d) The system G(s) = 2 has two poles at 0 and no poles in the right half-plane,
s
yet G(s) is unstable since its response to a unit step input (bounded) is a unit
ramp signal (unbounded).
(e) Having repeated poles on the imaginary axis makes a system unstable.