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Chapter 5

Reduction of Multiple Subsystems

11. Which two forms of the state-space representation are found using the same
method?
12. Which form of the state-space representation leads to a diagonal matrix?
13. When the system matrix is diagonal, what quantities lie along the diagonal?
14. What terms lie along the diagonal for a system represented in Jordan canonical
form?
15. What is the advantage of having a system represented in a form that has a
diagonal system matrix?
16. Give two reasons for wanting to represent a system by alternative forms.
17. For what kind of system would you use the observer canonical form?
18. Describe state-vector transformations from the perspective of different bases.
19. What is the definition of an eigenvector?
20. Based upon your definition of an eigenvector, what is an eigenvalue?
21. What is the significance of using eigenvectors as basis vectors for a system
transformation?

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Problems
1. Reduce the block diagram shown in Figure P5.1 to a
single transfer function, Ts Cs=Rs Use the
following methods:

2. Find the closed-loop transfer function, Ts

Cs=Rs for the system shown in Figure P5.2, using
block diagram reduction. [Section: 5.2]

a. Block diagram reduction [Section: 5.2]

H1

b. MATLAB
R(s) +
R(s) +

1
s2

50
s+1

2
s

FIGURE P5.1

G1

G2

C(s)

+
+

FIGURE P5.2

3. Find the equivalent transfer function,

Ts Cs=Rs, for the system shown
in Figure P5.3. [Section: 5.2]

G3

C(s)

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Problems
G1(s)
R(s) +

G2(s)

G8(s)
+

G5(s)

G6(s)

C(s)
R(s) +

G1(s)

+
G3(s)

G3(s)

G4(s)

G2(s)

G4(s)

G6(s)
+

G7(s)

C(s)

G5(s)
G7(s)

FIGURE P5.5

FIGURE P5.3

4. Reduce the system shown in Figure P5.4 to a

single transfer function, Ts Cs=Rs. [Section: 5.2]

6. Reduce the block diagram shown in Figure P5.6 to a

single block, Ts Cs=Rs. [Section: 5.2]

G8(s)
R(s) +

G3(s)

R(s) +

G1(s)

G2(s)

C(s)

G1(s)

G5(s)

G2(s)

C(s)

G6(s)

G4(s)

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+
+

G4(s)

H(s)

G7(s)

G3(s)

FIGURE P5.6

7. Find the unity feedback system that is equivalent to

the system shown in Figure P5.7. [Section: 5.2].

FIGURE P5.4

5. Find the transfer function, Ts Cs=Rs, for the

system shown in Figure P5.5. Use the following
methods:
a. Block diagram reduction [Section: 5.2]
b. MATLAB. Use the following
transfer functions:
G 1 s 1=s 7, G 2 s 1=s2 2s 3,
G 3 s 1=s 4, G 4 s 1=s,
G 5 s 5=s 7, G 6 s 1=s2 5s 10,
G 7 s 3=s 2, G 8 s 1=s 6.
Hint: Use the append and connect
commands in MATLABs Control System
Toolbox.

R(s) +

C(s)

s+1

2s
+

FIGURE P5.7

8. Given the block diagram of a system shown in

Figure P5.8, find the transfer function Gs
u22 s=u11 s. [Section: 5.2]

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Chapter 5

11(s) +

Reduction of Multiple Subsystems

G1(s)

G2(s)

G3(s)

G4(s)

G5(s)

21(s)

G7(s)

12(s) +

22 (s)

G6(s)

FIGURE P5.8

9. Reduce the block diagram shown in Figure P5.9

to a single transfer function, Ts Cs=Rs.
[Section: 5.2]

11. For the system shown in Figure P5.11, find the

percent overshoot, settling time, and peak time
for a step input if the systems response is underdamped. (Is it? Why?) [Section: 5.3]

G1(s)
R(s) +

G2(s)

G5(s)

G6(s)

R(s)

C(s)

E(s)

G3(s)

C(s)

225
s(s + 15)

FIGURE P5.11

G4(s)
G7(s)

For the system

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shown in Figure P5.12, find

the output, c(t), if the input, r(t), is a unit step.
[Section: 5.3]

FIGURE P5.9

10. Reduce the block diagram shown in

Figure P5.10 to a single block representing the transfer function, Ts
Cs=Rs. [Section: 5.2]

R(s)

E(s)

C(s)

5
s(s + 2)

FIGURE P5.12

H3(s)

13. For the system shown in Figure P5.13, find the poles
of the closed-loop transfer function, Ts Cs=
Rs. [Section: 5.3]

H1(s)
R(s) +

G1(s)

G2(s)

G3(s)

C(s)

H2(s)

R(s)

1
s

+
+

H4(s)
2

FIGURE P5.10

2s

FIGURE P5.13

C(s)

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Problems

14. For the system of Figure P5.14, find the value of

K that yields 10% overshoot for a step input.
[Section: 5.3]
R(s) +

C(s)

K
s(s+30)

18. For the system shown in Figure P5.18, find z, vn ,

percent overshoot, peak time, rise time, and settling
time. [Section: 5.3]

R(s) +

E(s)

FIGURE P5.14

FIGURE P5.18

15. For the system shown in Figure P5.15, find K and a

to yield a settling time of 0.15 second and a 30%
overshoot. [Section: 5.3]
R(s)

E(s)

C(s)

K
s(s + )

19. A motor and generator are set up to drive a load as

shown in Figure P5.19. If the generator output
voltage is eg t K f if t, where if(t) is the generators field current, find the transfer function
Gs uo s=Ei s. For the generator, K f 2 V.
For the motor, Kt 1 N-m/A, and K b 1 V-s/rad.

FIGURE P5.15

Generator

16. For the system of Figure P5.16, find the values of K1

and K2 to yield a peak time of 1.5 second and a
settling time of 3.2 seconds for the closed-loop
systems step response. [Section: 5.3]
R(s) +

K1

Motor

if(t)
ei(t)

eg(t) Ja = 0.75 kg-m2

1H

10

o(t)

4 kg-m2

20

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4 N-m-s/rad

FIGURE P5.19

20. Find Gs E0 s=Ts for the system

shown in Figure P5.20.

FIGURE P5.16

T(t)

17. Find the following for the system shown

in Figure P5.17: [Section: 5.3]
a. The equivalent single block that
represents the transfer function,
Ts Cs=Rs.

10

+
+

1
s+12

20
s

0.2s

10

FIGURE P5.17

N1

N2

b. The damping ratio, natural frequency, percent

overshoot, settling time, peak time, rise time, and
damped frequency of oscillation.

C(s)

10
s(s+2)

K2s

R(s)

C(s)

38343
s(s + 200)

10 V
e1(t)

1 Turn pot
C
Buffer
amplifier
gain = 1

e0(t)

C(s)

FIGURE P5.20

21. Find the transfer function Gs Eo s=Ts for the

system shown in Figure P5.21.

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Chapter 5

T(t)

J1 = 0.25 kg-m2

5
K = 5 N-m/rad

Reduction of Multiple Subsystems

25. Repeat Problem 24 for

50 V
10

20

J2 = 50 kg-m2

50

D=2 N-m-s/rad

Gs

10 Turn pot

50 V

10 F

Buffer
amplifier
gain = 1

200K

[Section: 5.7]
+

eo(t)

26. Using Masons rule, find the transfer function,

Ts Cs=Rs, for the system represented in
Figure P5.22. [Section: 5.5]

FIGURE P5.21

R(s)

G1(s)

G2(s)

23. Draw a signal-flow graph for each of the

following state equations: [Section: 5.6]
2

0
6
a. x_ 4 0

2 3
0
0
6 7
7
1 5x 4 0 5r
3

1
0

2 4 6
y 1 1 0 x
0

3 4

5

b. x_ 6
4 0 3

1

c. x_ 6
4 3
y 1

2 3
1
7
6 7
2 1 5x 4 2 5r
1

2 x

24. Given the system below, draw a signal-flow

graph and represent the system in state space
in the following forms: [Section: 5.7]
a. Phase-variable form
b. Cascade form
Gs

R(s)

G1(s)

G2(s)

G4(s)

G3(s)

G5(s)

G6(s)

H1(s)

G7(s)

C(s)

H2(s)

H3(s)

0 x

27. Using Masons rule, find the transfer function,

Ts Cs=Rs, for the system represented by
Figure P5.23. [Section: 5.5]

Apago PDF EnhancerFIGURE P5.23

2 3
0
7
6 7
1 5x 4 1 5r

C(s)

FIGURE P5.22

c. Problem 5

G4(s)

a. Problem 1
b. Problem 3

y 1

G3(s)

22. Label signals and draw a signal-flow graph for each

of the block diagrams shown in the following problems: [Section: 5.4]

20
ss  2s 5s 8

10
s 7s 8s 9

28. Use Masons rule to find the transfer function of

Figure 5.13 in the text. [Section: 5.5]
29. Use block diagram reduction to find the transfer
function of Figure 5.21 in the text, and compare
your answer with that obtained by Masons rule.
[Section: 5.5]
30. Represent the following systems in state
space in Jordan canonical form. Draw the
signal-flow graphs. [Section: 5.7]
a. Gs
b. Gs
c. Gs

s 1s 2
s 32 s 4
s 2
s 52 s 72
s 3
2

s 2 s 4s 5

31. Represent the systems below in state space

in phase-variable form. Draw the signal-flow
graphs. [Section: 5.7]
a. Gs

s3
s2 2s 7