266 Chapter 7

8. The imaginary-axis intercepts are obtained from

CðsÞ 2600K1 ðs þ 25Þ

¼ ð7:71Þ
RðsÞ s4 þ 125s 3 þ 5100s 2 þ 65000s þ 65000K1

The Routhian array for the denominator of CðsÞ=RðsÞ which is the

characteristic polynomial, is (see Sec. 6.2,Theorem 1)

s4
1 5100 65000K1

s3
1 520 (after division by 125)

s2
1

14:2K1 (after division by 4580)
s1
520  14:2K

1
s0
14:2K
1

Pure imaginary roots exist when the s1 row is zero. This occurs
when K1 ¼ 520=14:2 ¼ 36:6: The auxiliary equation is formed
from the s2 row:

s 2 þ 14:2K1 ¼ 0

and the imaginary roots are

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffi
s ¼
j 14:2K1 ¼
j 520 ¼
j 22:8
9. Additional points on the root locus are found by locating points
that satisfy the angle condition

ffs þ ffs þ 25 þ ffs þ 50  j10 þ ffs þ 50 þ j10
¼ ð1 þ 2mÞ180

The root locus is shown in Fig. 7.17.

10. The radial line for z ¼ 0:5 is drawn on the graph of Fig. 7.17 at the
angle (see Fig. 4.3 for definition of Z)

Z ¼ cos1 0:5 ¼ 60

The dominant roots obtained from the graph are
s12 ¼ 6:6
j11:4
11. The gain is obtained from the expression

K ¼ 65000K1 ¼ js j js þ 25j
s þ 50  j10

s þ 50 þ j10

Inserting the value s1 ¼ 6:6 þ j11:4 into this equation yields

K ¼ 65000K1 ¼ 598800
K1 ¼ 9:25

Copyright © 2003 Marcel Dekker, Inc.