Institut fr Chemie und Bioingenieurwissenschaften

Dr. Robert N. Grass

Regelungstechnik FS 12

Lsung 6
Aufgabe 1
a)

G1
y

G2
r 1 G1

b)

G1G3 G4 G6
y
G7
1 G1G2 1 G4 G5
r

c)

GG G G G
y
G7 G6 1 2 3 4 5
r
1 G2 1 G4

Aufgabe 2
Y G1G2 G3 1 G1 H 1 G1 H 2

R 1 G1 H 1 G1 H 2 G1G2 H 3

Aufgabe 3
a) X s

6s 2
6s 2

s 9s 20 s 4 s 4 s 5s 4

Applying the initial value theorem we get:

6 s s 2
x0 lim
0
s s 4 2 s 5

Since X(s) has all poles with negative real part we can use the final value theorem
6 s s 2
x lim
0
s 0 s 4 2 s 5

x(t) is converging. Finally x(t) is smooth because all the poles are real.

b) X s

10s 2 3
10s 2 3

s 2 6s 10s 2 s 3 2i s 3 2i s 2

Applying the initial value theorem we get

-1-

s 10 s 2 3
x0 lim
10
s s 3 2i s 3 2i s 2

Since X(s) has at least one pole with positive real part system is not stable (x(t) is unbounded)
and we cannot use the final value theorem. Finally x(t) is oscillatory because there are complex
poles.
c) X s

16 s 5
16 s 5

2
s 9 s 3i s 3i

Applying the initial value theorem we get

s16s 5
x0 lim
16
s s 3i s 3i

Since sX(s) has two complex poles whose real part is zero final value theorem is not applicable
(note that sX(s) has same poles of X(s) with the exception of 0 if present) and x(t) is purely
oscillatory, meaning that is bounded but not convergent.
Aufgabe 4

Since convergent and oscillatory behaviour does not depend on initial conditions, assume
x0 x 0 x0 0
a) Laplace transform of the equation gives
s 3 X s 2 s 2 X s 2sX s X s

X s

3
s

1
3
1
3
s s
i s
i s 1
2
2
2
2

[sX(s)] has complex poles so that x(t) is oscillatory, furthermore exactly one pole has real part
equal to zero so that x(t) is neither converging nor diverging.
b) s 2 X s X s
X s

2
s 1

2
2

2
s 1 s 1 s 12 s 1

[sX(s)] has no complex poles so that x(t) is not oscillatory, furthermore one pole has positive
real part so that x(t) is diverging.
c) s 3 X s X s

1
s 1
2

-2-

X s

s 1 s3 1

s i s i s 1

1
3
1
3
i s
i s 1
2
2 2

[sX(s)] has complex poles so that x(t) is oscillatory, furthermore one pole has positive real part
so that x(t) is diverging.
d) s 2 X s sX s
X s

4
s

4
4
2
s s s
s s 1

[sX(s)] has no complex poles so that x(t) is not oscillatory, two poles are equal to zero so that
x(t) is diverging (doppelte Nullstelle).

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