Solved problems: P-59

1. A single degree of freedom spring-mass-damper system has the following data: spring
stiffness 20 kN/m; mass 0.05 kg; damping coefficient 20 N-s/m. Determine
(a) undamped natural frequency in rad/s and Hz
(b) damping factor
(c) damped natural frequency n rad/s and Hz.
If the above system is given an initial displacement of 0.1 m, trace the phasor of the system for
three cycles of free vibration.
Solution:
spring stiffness, k = 20 kN/m
mass, m = 0.05 kg
damping coefficient, c = 20 N-s/m
(a) undamped natural frequency in rad/s and Hz
(b) damping factor
(c) damped natural frequency
initial displacement = 0.1m

√ √
3
k
ω n= = 20 × 10 = 632.46 rad/sec
m 0.05
ω n 632.46
f n= = = 100.66 Hz
2π 2π

c 20
ζ= = = 0.32
2 √ km 2 √ 20 ×103 × 0.05

ω d=ωn √ 1−ζ 2 = 632.46 √ 1−0.322 = 599.2 rad/s

ωd 600
f d= = = 95.49 Hz
2π 2π
−ζ ωn t
y ( t ) =A e = 0.1 e−0.32 ×632.4 t

2. A second-order system has a damping factor of 0.3 (undamped system) and an un-damped
natural frequency of 10 rad/s. Keeping the damping factor the same, if the un-damped natural
frequency is changed to 20 rad/s, locate the new poles of the system?
Solution:
damping factor, ζ = 0.3
undamped natural frequency, ω n 1 = 10 rad/s

undamped natural frequency, ω n 2 = 20 rad/s

ω d 1=ω n 1 √ 1−ζ 2 = 10 √ 1−0.32 = 9.54 rad/s

ω d 2=ωn 2 √ 1−ζ 2 = 20 √ 1−0.32 = 19.08 rad/s

P1 ,2=−ζ ωn 1 ± j ωd 1

= −(0.3 ×10)± j 9.54

= −3 ± j 9.54
P3 , 4=−ζ ωn 2 ± jω d 2

= −(0.3 ×20)± j19.08

= −6 ± j 19.08
ζ
tanβ =
√ 1−ζ 2
0.3
=
√1−0.32
= 0.3144
β = 17.45˚

Solved problems: P-66

1. Consider the system shown in Figure 1. To improve the performance of the system a feedback
is added to this system, which results in Figure 2. Determine the value of K so that the damping
ratio of the new system is 0.4. Compare the overshoot, rise time, peak time and settling time and
the nominal value of the systems shown in Figure 1 and 2.
Solution:

C( s) G( s)
=
R( s) 1+ G ( s ) H (s)

20 20
s (s+1) s (s +1) 20
= = =
20 s ( s+1 ) +20 s ( s+ 1 )+ 20
1+
s(s+ 1) s (s +1)

20
= 2
s + s +20
Compare with s2+2ζωns+ωn2
ωn2 = 20 , 2ζωn = 1
1
ω n=√ 20 ,ζ= = 0.112
2 √20

C( s) G( s)
=
R( s) 1+ G ( s ) H (s)

20 20
s (s+1+20 K ) s(s +1+20 K) 20
= = =
20 s ( s+1+20 K ) +20 s ( s+ 1+ 20 K )+ 20
1+
s(s+ 1+ 20 K ) s(s +1+20 K)
 20
= 2
s + ( 1+ 20 K ) s+20

Compare with s2+2ζωns+ωn2

ωn2 = 20 , 2ζωn = 1+20K
(1+20 K )
ω n=√ 20 ,ζ= = 0.4 (given)
2 √ 20
K = 0.128

1−ζ 2 = −1 √ 1−(0.112) = 1.46

∅ 1=tan−1 √
2
tan
ζ 0.112

∅ 2=tan−1 √ = tan−1 √
2
1−ζ 2 1−(0.4)
= 1.16
ζ 0.4

ω d 1=ω n √ 1−ζ 2 = √ 20 × √ 1−(0.112)2 = 4.44

ω d 2=ωn √ 1−ζ 2 = √ 20 × √ 1−(0.4)2 = 4.09

Characteristic Figure 1 Figure 2

Maximum overshoot,
−πζ
70.18% 25%
√ 1−ζ 2
M p=100 × e
π− ∅
Rise time, t r= 0.38 0.48
ωd
π
Peak time, t p= 0.71 0.77
ωd
4
Settling time 2%, t s= 8 2.24
ζ ωn
Nominal value, steady state, c ∞ 1 1

Example:
K
4. Find the stability of the following system given by G ( s )= and H(s) = 1 using Routh-
s (s+1)
Hurwitz stability criterion.
Solution:
K
G ( s )= and H(s) = 1
s (s+1)
 K
G(s) s (s+1) K K
T ( s )= = = = 2
1+G ( s ) H (s) K s ( s+ 1 )+ K s +s+K
1+
s(s+ 1)

Method I

B ( s ) = s2 + s+ K = 0; a n=1

a n−1=1

a n−2=K

∆ 1=a n−1 =1

∆ 2=
| an−1 a n−3
an a n−2
=
1
1 | K| = |K −0| = K
| 0

For stability; ∆ 1=1>0

∆ 2=K >0

∴ So, the system is stable for K¿ 0.

Method II

B ( s ) = s2 + s+ K

s2 1 K
s1 1 0
s0 A
−1
A= [ 0−K ] = K
1

s2 1 K
s1 1 0
s0 K .
There is no sign change in the first column if K¿ 0. Therefore, the system is stable for K¿ 0.

K
5. Find the stability of the following system given by G ( s )= and H(s) = 1 using
s (s+2)(s+ 4)
Routh-Hurwitz stability criterion.
Solution:
K
G ( s )= and H(s) = 1
s (s+2)(s+ 4)
C( s) G( s)
=
R( s) 1+ G ( s ) H (s)

K
s (s+2)(s+ 4) K K
= = =
K s ( s+ 2 ) (s +4 )+ K ( s¿¿ 2+2 s)(s +4 )+ K ¿
1+
s(s+ 2)(s+ 4)

C( s) K
= 3 2 2
R( s) s + 4 s +2 s +8 s+ K
K
= 3 2
s + 6 s +8 s + K

Characteristics equation of, B ( s ) = s +6 s +8 s+ K

3 2
=0
Method I
a n=1 , a n−1=6, a n−2=8, a n−3=K

∆ 1=a n−1 =6

∆ 2=
| an−1 a n−3
an a n−2
= || |
6 K
1 8
= (48−K )

| || |
an−1 a n−3 a n−5 6 K 0
∆ 3= an a n−2 a n−4 = 1 8 0
0 a n−1 a n−3 0 6 K

=6 |68 K0|−K |10 K0 |+0

= 6 (8K−¿0) – K (K)

= 48K – K2

For stability, ∆ 1> 0 , ∆ 2> 0 , ∆ 3> 0

∆1 = 6 ¿ 0

∆ 2 = 48 – K ¿ 0

– K ¿ – 48

K ¿ 48

∆ 3 = 48K – K2 ¿ 0

K (48 – K) ¿ 0

K > 0 & 48 – K ¿ 0
 – K ¿ – 48

K ¿ 48

The system is stable for 0 < K ¿ 48.

Method II

B ( s ) = s3 +6 s2 +8 s+ K =0
s3 1 8

s2 6 K

s1 A

s0 B

−1 48−K
A= [ K−48 ] =
6 6

B=
6
48−K
0+
[
( 48−K ) K
6
=K ]
s3 1 8

s2 6 K

48−K
s1
6

s0 K

48−K
¿0 & K ¿0
6

48 – K ¿ 0

– K ¿ – 48

K ¿ 48

There is no sign change in the first column if K > 0 &K¿ 48 . Therefore, the system is stable for 0
¿ K < 48.

6. Find stability of the following system given by B ( s ) = s3 +5 s 2 +10 s +3 using Routh-Hurwitz

stability criterion.

Solution:

B ( s ) = s3 +5 s 2 +10 s +3
s3 1 10

s2 5 3

s1 A

s0 B

−1 47
A= [ 3−50 ] = = 9.4
5 50

−1
B= [ 0−3 A ] = −1 [ 0−3 (9.4) ] = 3
9.4 9.4

s3 1 10

s2 5 3

s1 9.4

s0 3

There is no sign change in the first column. Therefore, the system is stable.

7. Find stability of the following system given by B ( s ) = s3 +2 s 2 +3 s +10 using Routh-Hurwitz

stability criterion.

Solution:

B ( s ) = s3 +2 s 2 +3 s +10

s3 1 3

s2 2 10

s1 A

s0 B

−1
A= [ 10−6 ] = −¿ 2
2

1 1
B= [ 0−10 A ] = [ 0−10(−2) ] = 10
2 2

s3 1 3

s2 2 10

s1 −¿ 2
s0 10

There is two sign change in the first column. Therefore, the system is unstable.

8. Examine stability of the following system given by s5 +2 s 4 +4 s 3 +8 s 2+ 3 s+ 1 using Routh-

Hurwitz stability criterion.

Solution:
5 4 3 2
s +2 s +4 s +8 s + 3 s+ 1

s5 1 4 3

s4 2 8 1

s3 A B

s2

s1

s0

−1
A= [ 8−8 ] = 0
2

−1
B= [ 1−6 ] = 5 = 2.5
2 2

s5 1 4 3

s4 2 8 1

s3 0 2.5

s2

s1

s0

Zero in first column. Multiply by (s+1)

( s ¿ ¿ 5+2 s + 4 s +8 s +3 s +1)¿ (s+1)

4 3 2

= s6 + s5 +2 s5 +2 s 4 +4 s 4 + 4 s 3 +8 s 3 +8 s 2 +3 s 2+ 3 s+ s +1

= s6 +3 s5 +6 s 4+ 12 s3 +11 s2 + 4 s +1

s6 1 6 11
s5 3 12 4

s4 A B C

s3 D E

s2 F G

s1 H

s0 I

−1
A= [ 12−18 ] = 2
3

−1
B= [ 4−33 ] = 29
3 3

−1
C= [ 0−3 ] = 1
3

−1
D= [ 29−24 ] = −5
2 2

−1 5
E= [ 3−8 ] =
2 2

F=
2
5[ ]
5 29
5+( × ) =
2 3
35
3

G=
2
5 [ ]=
0+
5
2
1

H=
35 2[
−3 −5 5 35
]=
−( × )
2 3
19
7

I=
−7
19 [ ]=
0−
19
7
1

s6 1 6 11

s5 3 12 4

29
s4 2 1
3

−5 5
s3
2 2

35
s2 1
3
 19
s1
7

s0 1

There are two signs change in the first column.

∴ The system is unstable.

9. Examine stability of the following system given by s5 +2 s 4 +2 s 3 +4 s 2+ 4 s+8 using Routh-

Hurwitz stability criterion.

Solution:
5 4 3 2
s +2 s +2 s +4 s + 4 s+8
s5 1 2 4

s4 2 4 8

s3 A B C

s2

s1

s0

−1
A= [ 4−4 ] = 0
2

−1
B= [ 8−8 ] = 0
2

C=0

Zero in entire role.

Auxiliary equation A(s) = 2 s 4 + 4 s 2 +8

dA (s )
=8 s 3+ 8 s
ds

s5 1 2 4

s4 2 4 8

s3 8 8

s2 A B
s1 C

s0 D

−1
A= [ 16−32 ] = 2
8

−1
B= [ 0−82 ] = 8
8

−1 2
C= [ 8 −16 ] = −¿24
2

1
D= [ 0+8(24 )] = 8
24

s5 1 2 4

s4 2 4 8

s3 8 8

s2 2 8

s1 −¿24

s0 8

There are two signs change in the first column.

∴ The system is unstable.

10. Examine stability of the following system given by s4 +5 s3 +2 s 2 +3 s +2=0 using Routh-
Hurwitz stability criterion. Find the number of roots in the right half of the s-plane.

Solution:
4 3 2
s +5 s +2 s +3 s +2=0

s4 1 2 2

s3 5 3

s2 A B

s1 C

s0 D

−1
A= [ 3−10 ] = 7
5 5
 −1
B= [ 0−10 ] = 2
5

C=
−5
7 [ 7
10−3( ) =
5
−29
7 ]
D=
7
29 [ 29
0+ 2( ) = 2
7 ]
s4 1 2 2

s3 5 3

7
s2 2
5

−29
s1
7

s0 2

There are two signs change in the first column.

∴ The system is unstable.