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Unformatted text preview: stability is that all of the coefficients must have the same sign. Since only positive values for K are considered, the closedloop system is stable for K > 0. The closedloop system is always overdamped. The 2% settling time approaches 4/5 s as K approaches . For r ( t ) = 5, ( 29 ( 29 ( 29 ( 29 1 5 lim 1.62 5 5 1 2 6 s e s s s s s = = + + + + The steady state output is 3.38. The 2% bounds for the output are 3.31 and 3.45. The output reaches 3.31 and stays within the bounds at 0.669 s. Therefore, the graphically determined 2% settling time is 0.669 s. The percent overshoot is 0% since the response is overdamped. The Root Locus Diagram and simulation plots are given below. 2 4 6 2 4 6 time (s) r y 2 4 6 2 4 6 time (s) e(t) 2 4 6 10 20 30 time (s) u(t)86421 1 2...
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 Spring '11
 LANDERS

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