Ika Sevi Saputri

18501241010
Pendidikan Teknik Elektro

Suatu sistem kendali digambarkan dalam diagram blok sebagai berikut :

Dengan kriteria Routh, tentukan range nilai K agar sistem tersebut stabil !
b=digit terakhir nim

1 +0

R(s) 1 C(s)
- 1
+- 4 +
s+2 s + 3s
2

R(s) 1 C (s )
- 1
+- 4 +
s+2 s2 + 3 s

R(s) 1 C (s )
- 1
+- 4 +
s+2 s + 3s
2
ks2 + 3ks
 1

R(s) - + 1 C (s)
+- 4 +
s3 + 5s2 6s

ks2 + 3ks

1
3 2
+ 5𝑠 2 + 6𝑠 𝑥 𝑠 + 5𝑠 + 6𝑠
𝑠3
1 𝑠 3 + 5𝑠 2 + 6𝑠
1+ 3
𝑠 + 5𝑠 2 + 6𝑠

1
𝑠 3 + 5𝑠 2 + 6𝑠 + 1

1
R(s C(s)
+- 4 𝑠 3 + 5𝑠 2 + 6𝑠 + 1

𝑘𝑠 2 + 3𝑘𝑠

R(s + C (s)
4
-
3 2
𝑠 + 5𝑠 + 6𝑠 + 1

𝑘𝑠 2 + 3𝑘𝑠

4
3 2
𝑠 3 + 5𝑠 2 + 6𝑠 + 1 𝑥 𝑠 + 5𝑠 + 6𝑠 + 1
4𝑘𝑠 2 + 12𝑘𝑠 𝑠 3 + 5𝑠 2 + 6𝑠 + 1
1+ 3
𝑠 + 5𝑠 2 + 6𝑠 + 1
4 4
=
𝑠3 +5𝑠2 +6𝑠+1+4𝑘𝑠2 +12𝑘𝑠 𝑠3 +(5+4𝑘)𝑠2 +(6+12𝑘)𝑠+1
R(s) C(s)
4
𝑠 3 + (5 + 4𝑘)𝑠 2 + (6 + 12𝑘)𝑠 + 1

Hasil dari

>> k = -0.8;
>> G = 4/(s^3 + (5+4*k)*s^2 + (6+12*k)*s + 1)
G=
4
-------------------------
s^3 + 1.8 s^2 - 3.6 s + 1

Continuous-time transfer function.

>> step(G)
>> roots ([ 1 (5+4*k) (6+12*k) 1])

ans =
-3.4288 + 0.0000i
0.8193 + 1.1680i
0.8193 - 1.1680i
>> k = 1;
>> G = 4/(s^3 + (5+4*k)*s^2 + (6+12*k)*s + 1)

G=
4
----------------------
s^3 + 9 s^2 + 18 s + 1
Continuous-time transfer function.
>> hold on
>> step (G)
>> roots ([ 1 (5+4*k) (6+12*k) 1])
ans =
-6.3316
-2.1550
-0.5127