自动控制理论六习题.docVIP

第六章习题 E6.1 A system has a characteristic equation : s3+3Ks2+(2+K)s+5=0. Determine the range of K for a stable system. E6.7 A negative feedback system has a loop transfer function Find the value of the gain when the ζ of the closed-loop roots is equal to 0.707. Find the value of the gain when the closed system has two roots on the imaginary axis. E6.11 A system with a transfer function Y(s)/R(s) is Determine the steady-state error to a unit step input.is the system stable? E6.14 A system has a characteristic equation q(s)=s4+9s3+45s2+87s+50=0. (a) Determine whether the system is stable,using the Routh-Hurwitz criterion.(b)Determine the roots of the characteristic equation. E6.23 A closed-loop feedback system is shown in Figure E6.23.For what range of values of the parameters K and p is the system stable? P6.3 Arc welding is one of the most important areas of application for instustrial robots.In most manufacturing welding situation,uncertainties in dimensions of part,geometry of the joint,and the weiding process itself require the use of sensors for maintaining weld quality.Several systems use a vision system to measure the qeometry of the puddle of melted metal,as shown in Figure P6.3. This system uses a constant rate of feeding the wire to be melted. Calculate the maximum value for K for the system that will result in a stable sytem For half of the maximum value of K found in part(a). Determine the roots of the characteristic equation. Estimate the overshoot of the system of part(b) when it is subjected to step input. P6.4 A feedback control system is shown in Figure P6.4. The process transfer function is And the feedback transfer function is H(s)=1/(s+20). Determine the limiting value of gain K for a stable system For the gain that results in marginal stability,determine the magnitude of the imaginary roots Reduce the gain to half the magnitude of the marginal value and determine the relative stability of the s