Automatic Control Systems 9th Edition

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AutomaticControlSystems,9thEdition
A Chapter2Solution
ns Golnarraghi,Kuo

C
Chapter 2
2
21(a) 10;
Poless:s=0,0,1, (b) Poles:s=2,,2;
Zeross:s=2,f,f,f. Zeros:s=0.
Thepoleandzeroats=1ccanceleachotther.

( Poles:s=0,1+j,1j;
(c) (d)Poles:s =0,1,2,f.
Zeross:s=2.

2
2-2) a)

b)

c)

2
2-3)
M
MATLABcode
e:
21

AutomaticControlSystems,9thEdition Chapter2Solutions Golnaraghi,Kuo

clear all;
s = tf('s')
'Generated transfer function:'
Ga=10*(s+2)/(s^2*(s+1)*(s+10))
'Poles:'
pole(Ga)
'Zeros:'
zero(Ga)
Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
'Poles:';
pole(Gb)
'Zeros:'
zero(Gb)
Gc=10*(s+2)/(s*(s^2+2*s+2))
'Poles:';
pole(Gc)
'Zeros:'
zero(Gc)
Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
'Poles:';
pole(Gd)
'Zeros:'
zero(Gd)
22


Polesandzerosoftheabovefunctions:
(a)
Poles:00101
Zeros:2
(b)
Poles:2.00002.00001.0000
Zeros:01
(c)
Poles:
0
1.0000+1.0000i
1.00001.0000i
Zeros:2
Generatedtransferfunction:
(d)usingfirstorderPadeapproximationforexponentialterm
Poles:
0
2.0000
1.0000+0.0000i
1.00000.0000i
Zeros:
1
23


2-4) Mathematical representation:
In all cases substitute and simplify. The use MATLAB to verify.
10 22 Z 2 1 Z 2 102 Z 2
R ;
Z 2 (Z 2 1)(Z 2 100)
Z
10( jZ 2)
tan 1 2 Z
2 2
Z ( jZ 1)( jZ 10)
2 I1 2
10( jZ 2) ( jZ 1)( jZ 10) 2 Z2
2
u
Z ( jZ 1)( jZ 10) ( jZ 1)( jZ 10)
2
Z
10( jZ 2)( jZ 1)( jZ 10)
tan 1 1 Z
2
a) I2
Z 2 (Z 2 1)(Z 2 100) 1
jZ 2 jZ 1 jZ 10 1 Z2
R
22 Z 2 1 Z 2 102 Z 2 Z
tan 1 10 Z
2 2
R(e jI1 e jI2 e jI3 ) I3 10
102 Z 2
I I1 I2 I3
10 1 Z 2 9 Z 2
R ;
(Z 2 1) 2 (Z 2 9)
Z
10
tan 1 1 Z
2
( jZ 1) 2 ( jZ 3) I1 1
10 ( jZ 1)( jZ 1)( jZ 3) 1 Z2
u
( jZ 1)( jZ 1)( jZ 3) ( jZ 1)( jZ 1)( jZ 3) Z
10( jZ 1)( jZ 1)( jZ 3)
tan 1 1 Z
2
b) I2
(Z 2 1) 2 (Z 2 9) 1
jZ 1 jZ 1 jZ 3 1 Z2
R
1 Z2 1 Z2 9 Z2 Z
tan 1 9 Z
2
R (e jI1 e jI2 e jI3 ) I3 3
9 Z2
I I1 I2 I3
24


10
jZ ( j 2Z 2 Z 2 )
10 j (2 Z 2 j 2Z )
u
Z ( j 2Z 2 Z 2 ) (2 Z 2 j 2Z )
10(2Z (2 Z 2 ) j )
c)
Z (4Z 2 (2 Z 2 ) 2 )
2Z (2 Z 2 ) j
R
4Z 2 (2 Z 2 ) 2
R (e jI )
10 4Z 2 (2 Z 2 ) 2 10
R ;
Z (4Z 2 (2 Z 2 ) 2 ) Z 4Z (2 Z 2 ) 2
2
2 Z 2
4Z (2 Z )
2 2 2
I tan 1
2Z
4Z 2 (2 Z 2 ) 2
1
R ;
10Z 2 Z 2 1 Z 2
2
e 2 jZ
Z
10 jZ ( jZ 1)( jZ 2)
tan 1 2 Z
2 2
j ( jZ 1)( jZ 2) 2 jZ I1 2
e
d) 10Z (Z 2 1)(Z 2 2) 2 Z2
2
jZ 2 jZ 1 2 jZ jS / 2 Z
R e
22 Z 2 1 Z 2 I2 tan 1 1 Z
2
1
R (e jI1 e jI2 e jI3 )
1 Z2
I I1 I2 I3
MATLABcode:
clear all;
s = tf('s')
Ga=10*(s+2)/(s^2*(s+1)*(s+10))
figure(1)
25


Nyquist(Ga)
Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
figure(2)
Nyquist(Gb)
Gc=10*(s+2)/(s*(s^2+2*s+2))
figure(3)
Nyquist(Gc)
Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
figure(4)
Nyquist(Gd)
Nyquistplots(polarplots):
Part(a)
26


Nyquist Diagram
15
10
5
Imaginary Axis
-5
-10
-15
-300 -250 -200 -150 -100 -50 0
Real Axis

Part(b)
Nyquist Diagram
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis

Part(c)
27


Nyquist Diagram
80
60
40
20
Imaginary Axis
-20
-40
-60
-80
-7 -6 -5 -4 -3 -2 -1 0
Real Axis

Part(d)
Nyquist Diagram
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis

28


2-5) In all cases find the real and imaginary axis intersections.
10 10( jZ 2) 10 2 jZ
G ( jZ ) ;
( jZ 2) (Z 2 4) (Z 4)
2
(Z 2 4)
2
Re ^G ( jZ )` cos I ,
(Z 2 4)
Z
a) Im ^G ( jZ )` sin I ,
(Z 2 4)
2
(Z 2 4)
I tan 1
Z
(Z 2 4)
10
R
(Z 2 4)
lim Z o0 G ( jZ ) 5; I 90$
tan 1 1
0
lim Z of G ( jZ ) 0; I tan 1 0 180$
1
Real axis intersection @ jZ 0
Imaginary axis int er sec tion does not exist.
b&c) = 1 0o
= 0 -180o
Therefore:

Re{ G(j) } =

Im {G(j)} =

29


If Re{G(j )} = 0

If Im{ G(j )} = 0

If = n

If = n and = 1
If = n and
If = n and

d) G(j) =

= - 90o

= -180o

e)

G(j) = + = tan-1 ( T) L

210


26
MATLABcode:
clear all;
s = tf('s')
%Part(a)
Ga=10/(s-2)
figure(1)
nyquist(Ga)
%Part(b)
zeta=0.5; %asuuming a value for zeta <1
wn=2*pi*10 %asuuming a value for wn
Gb=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(2)
nyquist(Gb)
%Part(c)
zeta=1.5; %asuuming a value for zeta >1
wn=2*pi*10
Gc=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(3)
nyquist(Gc)
%Part(d)
T=3.5 %assuming value for parameter T
Gd=1/(s*(s*T+1))
figure(4)
nyquist(Gd)
211


%Part(e)
T=3.5
L=0.5
Ge=pade(exp(-1*s*L),2)/(s*T+1)
figure(5)
hold on;
nyquist(Ge)
notes:InordertouseMatlabNyquistcommand,parametersneedstobeassignedwithvalues,andPade
approximationneedstobeusedforexponentialterminpart(e).
Nyquistdiagramsareasfollows:
212


Part(a)
Nyquist Diagram
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-5 -4 -3 -2 -1 0 1
Real Axis

Part(b)
Nyquist Diagram
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

213


Part(c)
Nyquist Diagram
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

Part(d)
214


Nyquist Diagram
60
40
20
Imaginary Axis
-20
-40
-60
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

Part(e)
Nyquist Diagram
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

215


2-7) a) G(j) =

Steps for plotting |G|:
(1) For < 0.1, asymptote is
Break point: = 0.5

Slope = -1 or -20 dB/decade
(2) For 0.5 < < 10
Break point: = 10
Slope = -1+1 = 0 dB/decade
(3) For 10 < < 50:
Break point: = 50
(4) For > 50
Steps for plotting G

(1) = -90o

(2) =

(3) =

(4) =

b) Lets convert the transfer function to the following form:

G(j) = G(s) =

Steps for plotting |G|:
(1) Asymptote: < 1 |G(j)| 2.5 /

Slope: -1 or -20 dB/decade

216


(2) n =2 and = 0.1 for second-order pole
break point: = 2
slope: -3 or -60 dB/decade

Steps for plotting G(j):
(1) for term 1/s the phase starts at -90o and at = 2 the phase will be -180o
(2) for higher frequencies the phase approaches -270o
c) Convert the transfer function to the following form:

for term , slope is -2 (-40 dB/decade) and passes through

(1) the breakpoint: = 1 and slope is zero

(2) the breakpoint: = 2 and slope is -2 or -40 dB/decade
|G(j)| = 1 = 2 = 0.01 below the asymptote

|G(j)| = 1 = = = 50 above the asymptote

Steps for plotting G:
(1) phase starts from -180o due to
(2) G(j)| =1 = 0
(3) G(j)| = 2 = -180o

d) G(j) =

Steps for plotting the |G|:
(1) Asymptote for <1 is zero
(2) Breakpoint: = 1, slope = -1 or -10 dB/decade
(3) As is a damping ratio, then the magnitude must be obtained for various when
01
217


The high frequency slope is twice that of the asymptote for the single-pole case
Steps for plotting G:
(1) The phase starts at 0o and falls -1 or -20 dB/decade at = 0.2 and approaches -180o
at = 5. For > 5, the phase remains at -180o.
(2) As is a damping ratio, the phase angles must be obtained for various when
01
28)Usethisparttoconfirmtheresultsfromthepreviouspart.
MATLABcode:
s = tf('s')
Ga=2000*(s+0.5)/(s*(s+10)*(s+50))
figure(1)
bode(Ga)
grid on;
Gb=25/(s*(s+2.5*s^2+10))
figure(2)
bode(Gb)
grid on;
Gc=(s+100*s^2+100)/(s^2*(s+25*s^2+100))
figure(3)
bode(Gc)
grid on;
218


zeta = 0.2
wn=8
Gd=1/(1+2*zeta*s/wn+(s/wn)^2)
figure(4)
bode(Gd)
grid on;
t=0.3
'from pade approzimation:'
exp_term=pade(exp(-s*t),1)
Ge=0.03*(exp_term+1)^2/((exp_term-1)*(3*exp_term+1)*(exp_term+0.5))
figure(5)
bode(Ge)
grid on;
Part(a)
219


Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
-60
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Part(b)
Bode Diagram
50
Magnitude (dB)
-50
-100
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

220


Part(c)
Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
0
-45
Phase (deg)
-90
-135
-180
-1 0 1
10 10 10
Frequency (rad/sec)

Part(d)
221


Bode Diagram
10
0
Magnitude (dB)
-10
-20
-30
-40
-50
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Part(e)
Bode Diagram
0
-20
Magnitude (dB)
-40
-60
-80
-100
-120
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
222


2-9)
a)
1 2 0 0 0
u1 (t )
A 0 2 3 B 1 0 u (t ) u (t )
2
1 3 1 0 1
b)
2-10) We know that:

Partial integration of equation (1) gives:

Differentiation of both sides of equation (1) with respect to s gives:

Comparing with equation (1), we conclude that:
223


2-11) Let g(t) = then

Using Laplace transform and differentiation property, we have X(s) = sG(s)
Therefore G(s) = , which means:

2-12) By Laplace transform definition:

Now, consider = t - T, then:

Which means:
2-13) Consider:

f(t) = g1(t) g2(t) =
By Laplace transform definition:

By using time shifting theorem, we have:
224


Lets consider g(t) = g1(t) g2(t)

By inverse Laplace Transform definition, we have

Then

Where

therefore:

2-14) a) We know that

= = sG(s) + g(0)

When s , it can be written as:
225


As

Therefore:
b) By Laplace transform differentiation property:

As

Therefore
which means:
215)
MATLABcode:
clear all;
syms t
s=tf('s')
f1 = (sin(2*t))^2
L1=laplace(f1)
226


% f2 = (cos(2*t))^2 = 1-(sin(2*t))^2 ===> L(f2)=1/s-L(f1) ===>
L2= 1/s - 8/s/(s^2+16)
f3 = (cos(2*t))^2
L3=laplace(f3)
'verified as L2 equals L3'
2
MATLABsolutionfor L sin 2t is: ^ `
8/s/(s^2+16)
2
^ `
2
Calculating L cos 2t basedon L sin 2t ^ `
^ `
L cos 2 2t =(s^^3+8s)/(s^4+16s^2)
2
^
verifying L cos 2t : `
(8+s^2)/s/(s^2+16)
216)(a) (b) (c)
5 4s 1 4
G ( s ) G ( s ) G ( s )
s 5 2
s 2
4 s2 2
s 4s 8
(d) (e)
f
1 1
G ( s ) 2
s 4
G ( s) e kT ( s 5 )
1 e
T ( s 5 )

k 0
227


217)Note:%section (e) requires assignment of T and a numerical loop calculation
MATLABcode:
clear all;
syms t u
f1 = 5*t*exp(-5*t)
L1=laplace(f1)
f2 = t*sin(2*t)+exp(-2*t)
L2=laplace(f2)
f3 = 2*exp(-2*t)*sin(2*t)
L3=laplace(f3)
f4 = sin(2*t)*cos(2*t)
L4=laplace(f4)
%section (e) requires assignment of T and a numerical loop calculation
(a) g (t ) 5te 5t u s (t )

Answer:5/(s+5)^2
(b) g ( t ) ( t sin 2t e 2t )us ( t )
Answer:4*s/(s^2+4)^2+1/(s+2)
(c) g ( t ) 2e 2t sin 2t u s (t )
Answer:4/(s^2+4*s+8)
228


(d) g ( t ) sin 2t cos 2t u s (t )
Answer:2/(s^2+16)
f
(e) g ( t ) e 5 kT
G ( t kT ) whereG(t)=unitimpulsefunction
k 0
%section (e) requires assignment of T and a numerical loop calculation
218(a)
g (t ) u s (t ) 2u s (t 1) 2u s ( t 2) 2u s (t 3)
s
1 e
1 2e s 2e 2 s 2e 3s
1
G(s)

s
s 1 e
s

gT (t ) u s (t ) 2u s (t 1) u s (t 2) 0dtd2
1 2e s e 2 s 1 e s
1 1 2
GT ( s )
s s
f f s
1 1 e
g ( t ) gT ( t 2 k )u s ( t 2 k ) G( s) s (1 e
s 2 2 ks
) e
s(1 e
s
)

k 0 k 0
(b)
g (t ) 2tu s (t ) 4(t 0.5)u s (t 0.5) 4(t 1)u s (t 1) 4(t 1.5)u s (t 1.5)
0.5 s

2 1 e
1 2e
2 0.5 s s 1.5 s
G ( s ) 2e 2e
s 1 e
2 2 0.5 s
s
gT ( t ) 2tu s ( t ) 4( t 0.5)u s ( t 0.5) 2( t 1)u s ( t 1) 0 d t d 1
1 2e0.5 s e s 1 e0.5 s
2 2 2
GT ( s ) 2 2

s s
f f 0.5s
2 1 e
s2
2
g (t ) g T (t k )u s (t k ) G ( s) 1 e
0.5 s 2
e
ks
s 1 e
k 0 k 0
2 0.5 s

219)
g ( t ) ( t 1)u s ( t ) ( t 1)u s ( t 1) 2u s ( t 1) ( t 2 )u s ( t 2) ( t 3)u s ( t 3) u s ( t 3)
229


1 e s e 2 s e 3s s 1 2e s e 3s
1 1
G ( s ) 2
s
2-20)

2-21)

2-22)

230


223
MATLABcode:
clear all;
syms t u s x1 x2 Fs
f1 = exp(-2*t)
L1=laplace(f1)/(s^2+5*s+4);
Eq2=solve('s*x1=1+x2','s*x2=-2*x1-3*x2+1','x1','x2')
f2_x1=Eq2.x1
f2_x2=Eq2.x2
f3=solve('(s^3-s+2*s^2+s+2)*Fs=-1+2-(1/(1+s))','Fs')
HereisthesolutionprovidedbyMATLAB:
Part(a):F(s)=1/(s+2)/(s^2+5*s+4)
Part(b):X1(s)=(4+s)/(2+3*s+s^2)
X2(s)=(s2)/(2+3*s+s^2)
Part(c):F(s)=s/(1+s)/(s^3+2*s^2+2)
231


224)
MATLABcode:

clear all;
syms s Fs
f3=solve('s^2*Fs-Fs=1/(s-1)','Fs')
Answer from MATLAB: Y(s)=1/(s-1)/(s^2-1)
225)
MATLABcode:
clear all;
syms s CA1 CA2 CA3
v1=1000;
v2=1500;
v3=100;
k1=0.1
k2=0.2
k3=0.4
f1='s*CA1=1/v1*(1000+100*CA2-1100*CA1-k1*v1*CA1)'
f2='s*CA2=1/v2*(1100*CA1-1100*CA2-k2*v2*CA2)'
f3='s*CA3=1/v3*(1000*CA2-1000*CA3-k3*v3*CA3)'
Sol=solve(f1,f2,f3,'CA1','CA2','CA3')
CA1=Sol.CA1
CA3=Sol.CA2
CA4=Sol.CA3
232


SolutionfromMATLAB:
CA1(s)=
1000*(s*v2+1100+k2*v2)/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+
1100*k1*v1+k1*v1*k2*v2)
CA3(s)=
1100000/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+1100*k1*v1+k1*
v1*k2*v2)
CA4(s)=
1100000000/(1100000000+1100000*s*v3+1000*s*v1*k2*v2+1100000*s*v1+1000*k1*v1*s*v2+1000*k1*v1*k
2*v2+1100*s*v1*k3*v3+1100*s*v2*k3*v3+1100*k2*v2*s*v3+1100*k2*v2*k3*v3+1100*k1*v1*s*v3+1100*k1
*v1*k3*v3+1100000*k1*v1+1000*s^2*v1*v2+1100000*s*v2+1100000*k2*v2+1100000*k3*v3+s^3*v1*v2*v3+
1100*s^2*v1*v3+1100*s^2*v2*v3+s^2*v1*v2*k3*v3+s^2*v1*k2*v2*v3+s*v1*k2*v2*k3*v3+k1*v1*s^2*v2*v3
+k1*v1*s*v2*k3*v3+k1*v1*k2*v2*s*v3+k1*v1*k2*v2*k3*v3)
2-26) (a)
1 1 1 1 1 2t 1 3t
G( s) g (t ) e e t t 0
3s 2( s 2) 3( s 3) 3 2 3
(b)
2.5 5 2.5 t t 3t

G( s) 2
g (t ) 2.5e 5te 2.5e t t 0
s 1 ( s 1) s3
(c)
G(s) 50
s

s 1
20

30 s 20
s 4
2 e
s
g (t ) >50 20e (t 1) 30 cos 2(t 1) 5 sin 2(t 1) @ us (t 1)
(d)
1 s 1 1 1 s
G( s) 2
2
2
TakingtheinverseLaplacetransform,
s s s2 s s s2 s s2
g (t ) 1 1.069e
0.5t
>sin 1.323t sin 1.323t 69.3o @ 1 e
0.5t
1.447 sin 1.323t cos1.323t t t 0
2 t
(e) g (t ) 0.5t e t t 0
(f)Try using MATLAB
>> b=num*2
233


b=
2 2 2
>>num =
1 1 1
>> denom1=[1 1]
denom1 =
1 1
>> denom2=[1 5 5]
denom2 =
1 5 5
>> num*2
ans =
2 2 2
>> denom=conv([1 0],conv(denom1,denom2))
denom =
1 6 10 5 0
>> b=num*2
b=
2 2 2
>> a=denom
a=
1 6 10 5 0
>> [r, p, k] = residue(b,a)
r=
-0.9889
234


2.5889
-2.0000
0.4000
p=
-3.6180
-1.3820
-1.0000
k=[]
If there are no multiple roots, then
The number of poles n is
b r1 r r
2 ... n k
a s p1 s p2 s pn
In this case, p1 and k are zero. Hence,
0.4 0.9889 2.5889 2

G ( s)
s s 3.6180 s 1.3820 s 1
g (t ) 0.4 0.9889e 3.618t 1.3820e 2.5889t 2e t

(g)

(h)

235


(i)

227
MATLABcode:

clear all;
syms s
f1=1/(s*(s+2)*(s+3))
F1=ilaplace(f1)
f2=10/((s+1)^2*(s+3))
F2=ilaplace(f2)
f3=10*(s+2)/(s*(s^2+4)*(s+1))*exp(-s)
F3=ilaplace(f3)
f4=2*(s+1)/(s*(s^2+s+2))
F4=ilaplace(f4)
f5=1/(s+1)^3
F5=ilaplace(f5)
f6=2*(s^2+s+1)/(s*(s+1.5)*(s^2+5*s+5))
F6=ilaplace(f6)
s=tf('s')
f7=(2+2*s*pade(exp(-1*s),1)+4*pade(exp(-2*s),1))/(s^2+3*s+2) %using Pade command

for exponential term
236


[num,den]=tfdata(f7,'v') %extracting the polynomial values
syms s
f7n=(-2*s^3+6*s+12)/(s^4+6*s^3+13*s^2+12*s+4) %generating sumbolic function for

ilaplace
F7=ilaplace(f7n)
f8=(2*s+1)/(s^3+6*s^2+11*s+6)
F8=ilaplace(f8)
f9=(3*s^3+10^s^2+8*s+5)/(s^4+5*s^3+7*s^2+5*s+6)
F9=ilaplace(f9)
SolutionfromMATLABfortheInverseLaplacetransforms:
1
Part(a): G ( s)
s( s 2)( s 3)
G(t)=1/2*exp(2*t)+1/3*exp(3*t)+1/6
Tosimplify:
symst
digits(3)
vpa(1/2*exp(2*t)+1/3*exp(3*t)+1/6)
ans=.500*exp(2.*t)+.333*exp(3.*t)+.167
10
Part(b): G ( s)
( s 1) 2 ( s 3)
G(t)=5/2*exp(3*t)+5/2*exp(t)*(1+2*t)
237


100( s 2)
Part(c): G( s) e s
s( s 2 4 )( s 1)
G(t)=Step(t1)*(4*cos(t1)^2+2*sin(t1)*cos(t1)+4*exp(1/2*t+1/2)*cosh(1/2*t1/2)4*exp(t+1)cos(2*t2)
2*sin(2*t2)+5)
2( s 1)
Part(d): G ( s)
s( s 2 s 2 )
G(t)=1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t))
Tosimplify:
symst
digits(3)
vpa(1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t)))
ans=1.+.143*exp(.500*t)*(7.*cos(1.32*t)+7.95*sin(1.32*t))
1
Part(e): G ( s)
( s 1) 3
G(t)=1/2*t^2*exp(t)
2( s 2 s 1)
Part(f): G( s)
. )( s 2 5s 5)
s( s 15
G(t)=4/15+28/3*exp(3/2*t)16/5*exp(5/2*t)*(3*cosh(1/2*t*5^(1/2))+5^(1/2)*sinh(1/2*t*5^(1/2)))
2 2 se s 4e 2 s
Part(g):G ( s )
s 2 3s 2
238


G(t)=2*exp(2*t)*(7+8*t)+8*exp(t)*(2+t)
2s 1
Part(h): G ( s)
s 6 s 2 11s 6
3
G(t)=1/2*exp(t)+3*exp(2*t)5/2*exp(3*t)
3s 3 10 s 2 8s 5
Part(i): G ( s)
s 4 5 s 3 7 s 2 5s 6
G(t)= 7*exp(2*t)+10*exp(3*t)
1/10*ilaplace(10^(2*s)/(s^2+1)*s,s,t)+1/10*ilaplace(10^(2*s)/(s^2+1),s,t)+1/10*sin(t)*(10+dirac(t)*(exp(
3*t)+2*exp(2*t)))
239


2-28)

a)

b)

2-29) (a) (b)

Y (s) 3s 1 Y (s) 5
3 2
4 2

R( s) s 2 s 5s 6 R( s) s 10 s s 5
(c) (d)
s
Y (s) s ( s 2) Y (s) 1 2e
4 3 2
2

R( s) s 10 s 2 s s 2 R( s) 2s s 5
e)

By using Laplace transform, we have:

As , then
240


Then:

f) By using Laplace transform we have:

As a result:

230)
AftertakingtheLaplacetransform,theequationwassolvedintermsofY(s),andconsecutivelywasdividedby
inputR(s)toobtainY(s)/R(s):
MATLABcode:
clear all;
syms Ys Rs s
sol1=solve('s^3*Ys+2*s^2*Ys+5*s*Ys+6*Ys=3*s*Rs+Rs','Ys')
Ys_Rs1=sol1/Rs
sol2=solve('s^4*Ys+10*s^2*Ys+s*Ys+5*Ys=5*Rs','Ys')
Ys_Rs2=sol2/Rs
sol3=solve('s^3*Ys+10*s^2*Ys+2*s*Ys+2*Ys/s=s*Rs+2*Rs','Ys')
Ys_Rs3=sol3/Rs
sol4=solve('2*s^2*Ys+s*Ys+5*Ys=2*Rs*exp(-1*s)','Ys')
Ys_Rs4=sol4/Rs
241


%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
MATLABAnswers:
Part(a): Y(s)/R(s)=(3*s+1)/(5*s+6+s^3+2*s^2);
Part(b): Y(s)/R(s)=5/(10*s^2+s+5+s^4)
Part(c): Y(s)/R(s)=(s+2)*s/(2*s^2+2+s^4+10*s^3)
Part(d): Y(s)/R(s)=2*exp(s)/(2*s^2+s+5)
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
231
MATLABcode:
clear all;
s=tf('s')
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
242


%Part d
Eq=5*(pade(exp(-2*s),1))/(s^2+s+1); %Pade approximation oreder 1 used
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
Thesolutionsarepresentedintheformoftwovectors,randp,whereforeachcase,thepartialfraction
expansionisequalto:
243


b( s ) r1 r r
2 ... n
a( s) s p1 s p 2 s pn
Followingarerandpvectorsforeachpart:
Part(a):
r=0.6944
0.9375
0.2431
0.4167
p=6.0000
4.0000
0
0
Part(b):
r=0.2500
0.25000.0000i
0.2500+0.0000i
0.2500
p=2.0000
1.0000+1.0000i
244


1.00001.0000i
0
Part(c):
r=0.1500
1.2500
1.4000
2.0000
p=5
1
0
0
Part(d):
r=10.0000
5.00000.0000i
5.0000+0.0000i
p=1.0000
0.5000+0.8660i
0.50000.8660i
245


Part(e):
r=110.9400
110.9400
100.0000
p=4.3028
0.6972
0
Part(f):
r=0.2400+0.3200i
0.24000.3200i
4.4800
1.6000
4.0000
p=0.0000+1.0000i
0.00001.0000i
0.5000
0.5000
0
246


Part(g):
r=0.1000+0.0500i
0.10000.0500i
1.1000+0.3000i
1.10000.3000i
p=0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
Part(h):
r=5.0000
1.0000
9.0000
2.0000
1.0000
p=2.0000
1.0000
1.0000
0
0
247


232)
MATLABcode:
clear all;
syms s
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
ilaplace(Eq)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
ilaplace(Eq)
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
ilaplace(Eq)
%Part d
exp_term=(-s+1)/(s+1) %pade approcimation
Eq=5*exp_term/((s+1)*(s^2+s+1));
ilaplace(Eq)
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
ilaplace(Eq)
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
ilaplace(Eq)
248


%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
ilaplace(Eq)
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
ilaplace(Eq)
MATLABAnswers:
Part(a):
G(t)=15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t
Tosimplify:
symst
digits(3)
vpa(15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t)
ans=.938*exp(4.*t)+.694*exp(6.*t)+.243+.417*tPart(b):
G(t)=1/4*exp(2*t)+1/41/2*exp(t)*cos(t)
Part(c):
G(t)=5/4*exp(t)7/5+3/20*exp(5*t)+2*t
249


Part(d):
G(t)=5*exp(1/2*t)*(cos(1/2*3^(1/2)*t)+3^(1/2)*sin(1/2*3^(1/2)*t))+5*(1+2*t)*exp(t)
Part(e):
G(t)=100800/13*exp(5/2*t)*13^(1/2)*sinh(1/2*t*13^(1/2))
Part(f):
G(t)=4+12/25*cos(t)16/25*sin(t)8/25*exp(1/2*t)*(5*t+14)
Part(g):
G(t)=1/5*cos(2*t)1/10*sin(2*t)+1/5*(11*cos(t)3*sin(t))*exp(t)
Part(h):
G(t)=2+t+5*exp(2*t)+(1+9*t)*exp(t)
250


2-33)(a)Polesareat s 0, 15
. j16583
. , 15
. j16583
. Onepolesats=0.Marginallystable.
(b)Polesareat s 5, j 2 , j 2 Twopoleson jZ axis.Marginallystable.
(c)Polesareat s 0.8688, 0.4344 j 2.3593, 0.4344 j 2.3593TwopolesinRHP.Unstable.
(d)Polesareat s 5, 1 j , 1 j AllpolesintheLHP.Stable.
(e)Polesareat s 13387
. , 16634
. j 2.164, 16634
. j 2.164 TwopolesinRHP.Unstable.
(f)Polesareat s 22.8487 r j 22.6376, 213487

. r j 22.6023 TwopolesinRHP.Unstable.
2-34) Find the Characteristic equations and then use the roots command.
(a)
p= [ 1 3 5 0]
sr = roots(p)
p=
1 3 5 0
sr =
-1.5000 + 1.6583i
-1.5000 - 1.6583i
(b) p=conv([1 5],[1 0 2])
sr = roots(p)
p=
1 5 2 10
251


sr =
-5.0000
0.0000 + 1.4142i
0.0000 - 1.4142i
(c)
>> roots([1 5 5])
ans =
-3.6180
-1.3820
(d) roots(conv([1 5],[1 2 2]))
ans =
-5.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
(e) roots([1 -2 3 10])
ans =
1.6694 + 2.1640i
1.6694 - 2.1640i
-1.3387
252


(f) roots([1 3 50 1 10^6])
-22.8487 +22.6376i
-22.8487 -22.6376i
21.3487 +22.6023i
21.3487 -22.6023i
Alternatively
Problem234
MATLABcode:
% Question 2-34,
clear all;
s=tf('s')
%Part a
Eq=10*(s+2)/(s^3+3*s^2+5*s);
roots(den)
%Part b
Eq=(s-1)/((s+5)*(s^2+2));
roots(den)
%Part c
Eq=1/(s^3+5*s+5);
roots(den)
253


%Part d
Eq=100*(s-1)/((s+5)*(s^2+2*s+2));
roots(den)
%Part e
Eq=100/(s^3-2*s^2+3*s+10);
roots(den)
%Part f
Eq=10*(s+12.5)/(s^4+3*s^3+50*s^2+s+10^6);
roots(den)
MATLABanswer:
Part(a)

0
1.5000+1.6583i
1.50001.6583i
Part(b)

5.0000
254


0.0000+1.4142i
0.00001.4142i
Part(c)

0.4344+2.3593i
0.43442.3593i
0.8688
Part(d)

5.0000
1.0000+1.0000i
1.00001.0000i
Part(e)

1.6694+2.1640i
1.66942.1640i
1.3387
Part(f)

255


22.8487+22.6376i
22.848722.6376i
21.3487+22.6023i
21.348722.6023i
2-35)
(a) s 3 25 s 2 10 s 450 0 Roots: 25.31, 0.1537 j 4.214, 0.1537 4.214
RouthTabulation:
3
s 1 10
2
s 25 450
250 450 Twosignchangesinthefirstcolumn.TworootsinRHP.
1
s 8 0
25
0
s 450
3 2
(b) s 25 s 10 s 50 0 Roots: 24.6769, 0.1616 j1.4142, 0.1616 j1.4142
RouthTabulation:
3
s 1 10
2
s 25 50
250 50 Nosignchangesinthefirstcolumn.NorootsinRHP.
1
s 8 0
25
0
s 50
(c) s 3 25 s 2 250 s 10 0 Roots: 0.0402, 12.48 j 9.6566, j 9.6566

RouthTabulation:
256


3
s 1 250
2
s 25 10
6250 10 Nosignchangesinthefirstcolumn.NorootsinRHP.
1
s 249.6 0
25
0
s 10
4 3 2
(d) 2 s 10 s 5.5 s 5.5 s 10 0 Roots: 4.466, 1116
. , 0.2888 j 0.9611, 0.2888 j 0.9611

RouthTabulation:
4
s 2 5.5 10
3
s 10 5.5
2 55 11
s 4.4 10
10
1 24.2 100
s 75.8
4.4
0
s 10
Twosignchangesinthefirstcolumn.TworootsinRHP.
(e) s 6 2 s 5 8 s 4 15 s 3 20 s 2 16 s 16 0 Roots: 1.222 r j 0.8169, 0.0447 r j1153

. , 0.1776 r j 2.352

RouthTabulation:
6
s 1 8 20 16
5
s 2 15 16
16 15 40 16
4
s 0.5 12
2 2
3
s 33 48
257


2 396 24
s 11.27 16
33
1 5411
. 528
s 116
. 0
11.27
0
s 0
Foursignchangesinthefirstcolumn.FourrootsinRHP.
4 3 2
(f) s 2 s 10 s 20 s 5 0 Roots: 0.29, 1788
. , 0.039 j 3105
. , 0.039 j 3105
.

RouthTabulation:
4
s 1 10 5
3
s 2 20
20 20
2
s 0 5
2
2
s H 5 Replace 0 in last row by H
1 20H 10 10
s #
H H Twosignchangesinfirstcolumn.TworootsinRHP.
0
s 5
(g)
s8 1 8 20 16 0
s7 2 12 16 0 0
s6 2 12 16 0 0
s5 0 0 0 0 0

258


s5 12 60 64 0
s4 2 0 0

s3 28 64 0 0
s2 0.759 0 0 0
s1 28 0
s0 0
2-36) Use MATLAB roots command
a) roots([1 25 10 450])
ans =
-25.3075
0.1537 + 4.2140i
0.1537 - 4.2140i
b) roots([1 25 10 50])
ans =
-24.6769
-0.1616 + 1.4142i
-0.1616 - 1.4142i
c) roots([1 25 250 10])
ans =
-12.4799 + 9.6566i
-12.4799 - 9.6566i
259


-0.0402
d) roots([2 10 5.5 5.5 10])
ans =
-4.4660
-1.1116
0.2888 + 0.9611i
0.2888 - 0.9611i
e) roots([1 2 8 15 20 16 16])
ans =
0.1776 + 2.3520i
0.1776 - 2.3520i
-1.2224 + 0.8169i
-1.2224 - 0.8169i
0.0447 + 1.1526i
0.0447 - 1.1526i
f) roots([1 2 10 20 5])
ans =
0.0390 + 3.1052i
0.0390 - 3.1052i
-1.7881
-0.2900
g) roots([1 2 8 12 20 16 16])
260


ans =
0.0000 + 2.0000i
0.0000 - 2.0000i
-1.0000 + 1.0000i
-1.0000 - 1.0000i
0.0000 + 1.4142i
0.0000 - 1.4142i
AlternativelyusetheapproachinthisChaptersSection214:
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys

4. ThenpressthetransferfunctionSymbolicbutton
261


5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH =
[ 1, 10]
[ 25, 450]
[ -8, 0]
[ 450, 0]
Two sign changes in the first column. Two roots in RHP=> UNSTABLE
2-37) Use the MATLAB roots command same as in the previous problem.
262


2-38) To solve using MATLAB, set the value of K in an iterative process and find the roots such that at
least one root changes sign from negative to positive. Then increase resolution if desired.
Example: in this case 0<K<12 ( increase resolution by changing the loop to: for K=11:.1:12)
forK=0:12
K
roots([1251520K])
end
K=
ans =
-24.4193
-0.2904 + 0.8572i
-0.2904 - 0.8572i
K=
ans =
263


-24.4192
-0.2645 + 0.8485i
-0.2645 - 0.8485i
-0.0518
K=
ans =
-24.4191
-0.2369 + 0.8419i
-0.2369 - 0.8419i
-0.1071
K=
264


ans =
-24.4191
-0.2081 + 0.8379i
-0.2081 - 0.8379i
-0.1648
K=
ans =
-24.4190
-0.1787 + 0.8369i
-0.1787 - 0.8369i
-0.2237
K=
265


ans =
-24.4189
-0.1496 + 0.8390i
-0.1496 - 0.8390i
-0.2819
K=
ans =
-24.4188
-0.1215 + 0.8438i
-0.1215 - 0.8438i
-0.3381
K=
266


ans =
-24.4188
-0.0951 + 0.8508i
-0.0951 - 0.8508i
-0.3911
K=
ans =
-24.4187
-0.0704 + 0.8595i
-0.0704 - 0.8595i
-0.4406
K=
267


9
ans =
-24.4186
-0.0475 + 0.8692i
-0.0475 - 0.8692i
-0.4864
K=
10
ans =
-24.4186
-0.0263 + 0.8796i
-0.0263 - 0.8796i
-0.5288
K=
268


11
ans =
-24.4185
-0.0067 + 0.8905i
-0.0067 - 0.8905i
-0.5681
K=
12
ans =
-24.4184
0.0115 + 0.9015i
0.0115 - 0.9015i
-0.6046
AlternativelyusetheapproachinthisChaptersSection214:
269


1. ActivateMATLAB
3. Typein
Acsys

4. ThenpressthetransferfunctionSymbolicbutton
270


button.
RH=

[1,15,k]
[25,20,0]
[71/5,k,0]
[125/71*k+20,0,0]
[k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.
271


AlternativeProblem236
UsingACSYStoolbarunderTransferFunctionSymbolic,theRouthHurwitzoptioncanbeusedtogenerateRH
matrixbasedondenominatorpolynhomial.Thesystemisstableifandonlyifthefirstcolumnofthismatrix
containsNOnegativevalues.
MATLABcode:tocalculatethenumberofrighthandsidepoles
%Part a
den_a=[1 25 10 450]
roots(den_a)
%Part b
den_b=[1 25 10 50]
roots(den_b)
%Part c
den_c=[1 25 250 10]
roots(den_c)
%Part d
den_d=[2 10 5.5 5.5 10]
roots(den_d)
%Part e
den_e=[1 2 8 15 20 16 16]
roots(den_e)
%Part f
den_f=[1 2 10 20 5]
roots(den_f)
272


%Part g
den_g=[1 2 8 12 20 16 16 0 0]
roots(den_g)
usingACSYS,thedenominatorpolynomialcanbeinserted,andbyclickingontheRouthHurwitzbutton,theR
HchartcanbeobservedinthemainMATLABcommandwindow:
Part(a):forthetransferfunctioninpart(a),thischartis:
RHchart=
[1,10]
[25,450]
[8,0]
[450,0]
Unstablesystemdueto8onthe3rdrow.
2complexconjugatepolesonrighthandside.Allthepolesare:
25.3075
0.1537+4.2140iand0.15374.2140i
273


Part(b):
RHchart:
[1,10]
[25,50]
[8,0]
[50,0]
Stablesystem>>Norighthandsidepole
Part(c):
274


RHchart:
[1,250]
[25,10]
[1248/5,0]
[10,0]
Part(d):
RHchart:
[2,11/2,10]
[10,11/2,0]
[22/5,10,0]
[379/22,0,0]
[10,0,0]
Unstablesystemdueto379/22onthe4throw.
4.4660
1.1116
0.2888+0.9611i
0.28880.9611i
275


Part(e):
RHchart:
[1,8,20,16]
[2,15,16,0]
[1/2,12,16,0]
[33,48,0,0]
[124/11,16,0,0]
[36/31,0,0,0]
[16,0,0,0]
Unstablesystemdueto33and36/31onthe4thand6throw.
0.1776+2.3520i
0.17762.3520i
1.2224+0.8169i
1.22240.8169i
0.0447+1.1526i
0.04471.1526i
Part(f):
RHchart:
[1,10,5]
[2,20,0]
276


[eps,5,0]
[(10+20*eps)/eps,0,0]
[5,0,0]
Unstablesystemdueto((10+20*eps)/eps)onthe4th.
2complexconjugatepolesslightlyonrighthandside.Allthepolesare:
0.0390+3.1052i
0.03903.1052i
1.7881
0.2900
Part(g):
RHchart:
[1,8,20,16,0]
[2,12,16,0,0]
[2,12,16,0,0]
[12,48,32,0,0]
[4,32/3,0,0,0]
[16,32,0,0,0]
[8/3,0,0,0,0]
[32,0,0,0,0]
[0,0,0,0,0]
277


6poleswtzerorealpart:
0
0
0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
0.0000+1.4142i
0.00001.4142i
278


(a) s 4 25 s 3 15 s 2 20 s K 0
RouthTabulation:
4
s 1 15 K
3
s 25 20
2 375 20
s 14.2 K
25
1 284 25 K
s 20 176
. K 20 176
. K ! 0 or K 1136
.
14.2
0
s K K!0
Thus,thesystemisstablefor0<K<11.36.WhenK=11.36,thesystemismarginallystable.The
2 2
auxiliaryequationis A( s ) 14.2 s 11.36 0. ThesolutionofA(s)=0is s 0.8. The
frequencyofoscillationis0.894rad/sec.
4 3 2
(b) s Ks 2 s ( K 1) s 10 0
RouthTabulation:
4
s 1 2 10
3
s K K 1 K!0
2 2K K 1 K 1
s 10 K !1
K K
2
1 9 K 1 2
s 9K 1 ! 0
K 1
0
s 10

2 2
Theconditionsforstabilityare:K>0,K>1,and 9 K 1 ! 0 .Since K isalwayspositive,the
lastconditioncannotbemetbyanyrealvalueofK.Thus,thesystemisunstableforallvaluesofK.
279


3 2
(c) s ( K 2 ) s 2 Ks 10 0
RouthTabulation:
3
s 1 2K
2
s K2 10 K ! 2
2
2 K 4 K 10
1 2
s K 2K 5 ! 0
K2
0
s 10

2
Theconditionsforstabilityare:K>2and K 2 K 5 ! 0 or(K+3.4495)(K1.4495)>0,
orK>1.4495.Thus,theconditionforstabilityisK>1.4495.WhenK=1.4495thesystemis
2 2
marginallystable.Theauxiliaryequationis A( s ) 3.4495 s 10 0. Thesolutionis s 2.899 .
Thefrequencyofoscillationis1.7026rad/sec.
3 2
(d) s 20 s 5 s 10 K 0
RouthTabulation:
3
s 1 5
2
s 20 10 K
100 10 K
1
s 5 0.5K 5 0.5K ! 0 or K 10
20
0
s 10 K K!0
Theconditionsforstabilityare:K>0andK<10.Thus,0<K<10.WhenK=10,thesystemis
2
marginallystable.Theauxiliaryequationis A( s ) 20 s 100 0. Thesolutionoftheauxiliary
2
equationis s 5. Thefrequencyofoscillationis2.236rad/sec.
280


4 3 2
(e) s Ks 5 s 10 s 10 K 0
RouthTabulation:
4
s 1 5 10 K
3
s K 10 K!0
2 5 K 10
s 10 K 5K 10 ! 0 or K ! 2
K
50 K 100 2
10 K 3
1 K 50 K 100 10 K 3
s 5 K 10 K ! 0
5K 10 5 K 10
K
0
s 10 K K!0
3
Theconditionsforstabilityare:K>0,K>2,and 5 K 10 K ! 0.
UseMatlabtosolveforkfromlastcondition
>>symsk
>>kval=solve(5*k10+k^3,k);
>>eval(kval)
kval=
1.4233
0.7117+2.5533i
0.71172.5533i
SoK>1.4233.
Thus,theconditionsforstabilityis:K>2
281


4 3 2
(f) s 12.5 s s 5 s K 0
RouthTabulation:
4
s 1 1 K
3
s 12.5 5
2 12.5 5
s 0.6 K
12.5
1 3 12.5 K
s 5 20.83 K 5 20.83 K ! 0 or K 0.24
0.6
0
s K K!0
Theconditionforstabilityis0<K<0.24.WhenK=0.24thesystemismarginallystable.Theauxiliary
2 2
equationis A( s ) 0.6 s 0.24 0. Thesolutionoftheauxiliaryequationis s 0.4. Thefrequencyof
oscillationis0.632rad/sec.
2-39)
3 2
Thecharacteristicequationis Ts ( 2T 1) s ( 2 K ) s 5 K 0
RouthTabulation:
3
s T K2 T !0

2
s 2T 1 5K T ! 1 / 2
1 ( 2T 1)( K 2 ) 5 KT
s K (1 3T ) 4T 2 ! 0
2T 1
0
s 5K K!0

4T 2
Theconditionsforstabilityare: T>0,K>0,and K .Theregionsofstabilityinthe
3T 1
282


TversusKparameterplaneisshownbelow.

240UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys
283


4. ThenpressthetransferfunctionSymbolicbutton.
284


button.
RH=
[1,50000,24*k]
[600,k,80*k]
[1/600*k+50000,358/15*k,0]
[(35680*k1/600*k^2)/(1/600*k+50000),80*k,0]
[24*k*(k^221622400*k+5000000000000)/(k30000000)/(35680*k1/600*k^2)*(1/600*k+50000),
0,0]
[80*k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.
(a)Characteristicequation: s 5 600 s 4 50000 s 3 Ks 2 24 Ks 80 K 0
RouthTabulation:
5
s 1 50000 24 K
4
s 600 K 80 K
7
3 3 u 10 K 14320 K 7
s K 3 u 10
600 600
2
2 21408000 K K
s 7
80 K K 21408000
3 u 10 K
16 11 2
1 7.2 u 10 3113256
. u 10 K 14400 K 2 7 12
s K 2.162 u 10 K 5 u 10 0
600(21408000 K )
0
s 80 K K!0
285


Conditionsforstability:
3 7
Fromthe s row: K 3 u 10
2 7
Fromthe s row: K 2.1408 u 10
1 2 7 12 5 7
Fromthe s row: K 2.162 u 10 K 5 u 10 0 or ( K 2.34 u 10 )( K 2.1386 u 10 ) 0
5 7
Thus, 2.34 u 10 K 2.1386 u 10
0
Fromthe s row: K>0
5 7
Thus,thefinalconditionforstabilityis: 2.34 u 10 K 2.1386 u 10
5
When K 2.34 u 10 Z 10.6 rad/sec.
7
When K 2.1386 u 10 Z 188.59 rad/sec.
(b)Characteristicequation: s 3 ( K 2 ) s 2 30 Ks 200 K 0

Routhtabulation:
3
s 1 30 K
2
s K2 200 K K ! 2
2
1 30 K 140 K
s K ! 4.6667
K2
0
s 200 K K!0
StabilityCondition:K>4.6667
2 2
WhenK=4.6667,theauxiliaryequationis A( s ) 6.6667 s 933.333 0 .Thesolutionis s 140.
3 2
(c)Characteristicequation: s 30 s 200 s K 0

286


Routhtabulation:
3
s 1 200
2
s 30 K
6000 K
1
s K 6000
30
0
s K K!0
StabililtyCondition: 0 K 6000
2 2
WhenK=6000,theauxiliaryequationis A( s ) 30 s 6000 0. Thesolutionis s 200.
3 2
(d)Characteristicequation: s 2 s ( K 3) s K 1 0
Routhtabulation:
3
s 1 K3
2
s 2 K +1
K 5
1
s K ! 5
30
0
s K +1 K ! 1
Stabilitycondition: K>1.WhenK=1thezeroelementoccursinthefirstelementofthe
0
s row.Thus,thereisnoauxiliaryequation.WhenK=1,thesystemismarginallystable,andone
ofthethreecharacteristicequationrootsisats=0.Thereisnooscillation.Thesystemresponse
wouldincreasemonotonically.
287


242Stateequation: Openloopsystem: x ( t ) Ax ( t ) Bu ( t )
1 2 0
A 10 0 B 1

Closedloopsystem: x ( t ) ( A BK )x ( t )
1 2
A BK 10 k k 2

1
Characteristicequationoftheclosedloopsystem:
s 1 2
sI A BK s k 2 1 s 20 2k1 k 2
2
0
10 k1 s k2
Stabilityrequirements:
k 2 1 ! 0 or k 2 ! 1
20 2k1 k 2 ! 0 or k 2 20 2k1
Parameterplane:

243)Characteristicequationofclosedloopsystem:
s 1 0
sI A BK 1 s k 3 3 s k 2 4 s k1
3 2
0 s 0
k1 k2 4 s k3 3

288


RouthTabulation:
k2 4
3
s 1
k3 3 k 3 +3>0 or k 3 ! 3
2
s k1
k 3 k 2 4 k1
s
1 3
k 3 k 4 k ! 0
k3 3
3 2 1
k !0
0
s k 1 1
StabilityRequirements:
k3 ! 3, k1 ! 0, k 3
3 k 2 4 k1 ! 0
244(a)SinceAisadiagonalmatrixwithdistincteigenvalues,thestatesaredecoupledfromeachother.The
secondrowofBiszero;thus,thesecondstatevariable, x 2 isuncontrollable.Sincetheuncontrollable
statehastheeigenvalueat3whichisstable,andtheunstablestate x3 withtheeigenvalueat2is
controllable,thesystemisstabilizable.
(b)Sincetheuncontrollablestate x1hasanunstableeigenvalueat1,thesystemisnostabilizable.
2-45) a)

If , then or

If , then . As a result:

289


b

As a result:
Y ( s) G ( s) H (s) ( K p K d s)
X (s) (1 G ( s ) H ( s )) ((W s 1)( s 2 g / l ) K p K d s )
( K p K d s)
(W s (W ( g / l ) 1) s 2 K d s g / l K p )
3

c) lets choose .

UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys
290


291


button.
RH =
[ 1/10, kd]
[ eps, kp-10]
[ (-1/10*kp+1+kd*eps)/eps, 0]
[ kp-10, 0]
For the choice of g/l or W the system will be unstable. The quantity W g/l must be >1.
Increase W g/l to 1.1 and repeat the process.
292


d) Use the ACSYS toolbox as in section 2-14 to find the inverse Laplace transform. Then plot
the time response by selecting the parameter values. Or use toolbox 2-6-1.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys

293


5. EnterthecharacteristicequationinthedenominatorandpresstheInverseLaplaceTransform
pushbutton.
----------------------------------------------------------------
Inverse Laplace Transform
----------------------------------------------------------------
294


G(s) =
[ kd kp ]
[------------------------ ------------------------------]
[ 3 3 ]
[1/10 s + s kd + kp - 10 1/10 s + s kd + kp - 10]
G(s) factored:
[ kd kp ]
[10 -------------------------- 10 --------------------------]
[ 3 3 ]
[ s + 10 s kd + 10 kp - 100 s + 10 s kd + 10 kp - 100]
Inverse Laplace Transform:
g(t) =
matrix([[10*kd*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd
+10*kp-
100)),10*kp*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd+1
0*kp-100))]])
While MATLAB is having a hard time with this problem, it is easy to see the solution will be unstable
for all values of Kp and Kd. Stability of a linear system is independent of its initial conditions. For
different values of g/l and , you may solve the problem similarly assign all values (including Kp and
Kd) and then find the inverse Laplace transform of the system. Find the time response and apply the
initial conditions.
Lets chose g/l=1 and keep =0.1, take Kd=1 and Kp=10.
295


Y (s) G (s) H (s) ( K p K d s)
X (s) (1 G ( s ) H ( s )) ((W s 1)( s 2 g / l ) K p K d s )
(10 s ) (10 s )
(0.1s (0.1(1) 1) s 2 s 1 10)
3
(0.1s 0.9 s 2 s 9)
3
Using ACSYS:
RH =
[ 1/10, 1]
[ 9/10, 9]
[ 9/5, 0]
[ 9, 0]
Hence the system is stable
----------------------------------------------------------------
Inverse Laplace Transform
----------------------------------------------------------------
G(s) =
s + 10
-------------------------
3 2
1/10 s + 9/10 s + s + 9
296


G factored:
Zero/pole/gain:
10 (s+10)
-----------------
(s+9) (s^2 + 10)
Inverse Laplace Transform:
g(t) = -10989/100000*exp(-
2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/25000
0000*exp(-
2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*ex
p(-9*t)
Use this MATLAB code to plot the time response:
fori=1:1000
t=0.1*i;
tf(i)=10989/100000*exp(
2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/250
000000*exp(
2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*e
xp(9*t);
end
figure(3)
plot(1:1000,tf)
297


252)USEMATLAB
symst
f=5+2*exp(2*t)*sin(2*t+pi/4)4*exp(2*t)*cos(2*tpi/2)+3*exp(4*t)
F=laplace(f)
cltF=F/(1+F)
f=
5+2*exp(2*t)*sin(2*t+1/4*pi)4*exp(2*t)*sin(2*t)+3*exp(4*t)
F=
(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)
cltF=
298


(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)/(1+(8*s^3
+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4))
symss
cltFsimp=simplify(cltF)
NexttypethedenominatorintoACSYSRouthHurwitzprogram.
char=collect(s^4+16*s^3+68*s^2+144*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)
char=
160+s^4+(16+2^(1/2))*s^3+(8*2^(1/2)+68)*s^2+(16*2^(1/2)+144)*s
>>eval(char)
ans=
160+s^4+4901665356903357/281474976710656*s^3+2790603031573437/35184372088832*s^2+293
1340519928765/17592186044416*s
>>sym2poly(ans)
ans=
1.000017.414279.3137166.6274160.0000
HencetheCharacteristicequationis:
' s 4 17.4142 s 3 79.3137 s 2 166.6274 s 160
USEACSYSRouthHurwitztoolasdescribedinpreviousproblemsandthisChapterssection214.
RH=
[1,5581205465083989*2^(46),160]
[87071/5000,5862680441794645*2^(45),0]
[427334336632381556219/6127076924293382144,160,0]
299


[238083438912827127943602680401244833403/1879436288300987963959490983755776000,
0,0]
[160,0,0]
Thefirstcolumnisallpositive,andthesystemisSTABLE.
Fortheothersection
symss
G=(s+1)/(s*(s+2)*(s^2+2*s+2))
g=ilaplace(G)
G=
(s+1)/s/(s+2)/(s^2+2*s+2)
g=
1/41/2*exp(t)*cos(t)+1/4*exp(2*t)
cltG=G/(1+G)
cltG=
(s+1)/s/(s+2)/(s^2+2*s+2)/(1+(s+1)/s/(s+2)/(s^2+2*s+2))
cltGsimp=simplify(cltG)
cltGsimp=
(s+1)/(s^4+4*s^3+6*s^2+5*s+1)
NexttypethedenominatorintoACSYSRouthHurwitzprogram.
2100


RH=
[1,6,1]
[4,5,0]
[19/4,1,0]
[79/19,0,0]
[1,0,0]
STABLE
2101


Chapter 3__________________________________________________________________________

3-1) a)

b)

c)

d) Feedback ratio =

e)

3-2)
Characteristic equation:
31


3-3)
G 1
1 G1 H 1
H2
G2
G1
1 G1 H 1
G1G2 H2
G3
1 G1 H 1 G2
32


3-4)
G2
1 G 2 G3 H 3
+ G2
X G1 G3 Y
1 G2G3 H 3 G2 H 2
-
H1
33

A Chapter3Solution
ns Golnarraghi,Kuo

+ G1G2 G3
X Y
1 G 2 G3 H 3 G 2 H 2
-
H1
G3

3
3-5)
34


3-6) MATLAB
symss
G=[2/(s*(s+2)),10;5/s,1/(s+1)]
H=[1,0;0,1]
A=eye(2)+G*H
B=inv(A)
Clp=simplify(B*G)
G=
[ 2/s/(s+2), 10]
[ 5/s, 1/(s+1)]
H=
1 0
0 1
A=
[ 1+2/s/(s+2), 10]
[ 5/s, 1+1/(s+1)]
B=
[ s*(s+2)/(s^2-48*s-48), -10/(s^2-48*s-48)*(s+1)*s]
[ -5/(s^2-48*s-48)*(s+1), (s^2+2*s+2)*(s+1)/(s+2)/(s^2-48*s-48)]
Clp =
[ -2*(24+25*s)/(s^2-48*s-48), 10/(s^2-48*s-48)*(s+1)*s]
[ 5/(s^2-48*s-48)*(s+1), -(49*s^2+148*s+98)/(s+2)/(s^2-48*s-48)]
35

A Chapter3Solution
ns Golnarraghi,Kuo

3-7)
3-8)
36

A Chapter3Solution
ns Golnarraghi,Kuo

3-9)
3
3-10)
3
3-11)
37

A Chapter3Solution
ns Golnarraghi,Kuo

3-12)
3-13)
symst
f=100*(10.33*exp(6*t)0
0.7*exp(10*t))
F=laplace(f)
symss
F=eval(F)
Gc=F*s
M=30000
symsK
Olp=simplify(KK*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*KKt))
s=0
Ess=eval(Clp)

f=
10030*exp(6 6*t)70*exp(10*t)

F=
80*(11*s+75)/s/(s+6)/(s+110)

ans=
38

A Chapter3Solution
ns Golnarraghi,Kuo

(880*s+6000)/s/(s+6)/(s+110)

Gc=
(880*s+6000)/(s+6)/(s+100)

M=
30000

Olp=
1/375*K*(11**s+75)/s/(s+66)/(s+10)

Kt=
0.1500

Clp=
2
20/3*K*(11*s s+75)/(2500*s^3+40000*ss^2+150000*ss+11*K*s+75*K)

s
s=
0

E
Ess=
2
20/3
3
3-14)
39


3-15)
1 1
Note: If G(s)=g(t),then {easG(s)}=u(ta)g(ta)
symsts
f=100*(10.3*exp(6*(t0.5)))
F=laplace(f)*exp(0.5*s)
F=eval(F)
Gc=F*s
M=30000
symsK
Olp=simplify(K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*Kt))
s=0
Ess=eval(Clp)
digits(2)
Fsimp=simplify(expand(vpa(F)))
Gcsimp=simplify(expand(vpa(Gc)))
Olpsimp=simplify(expand(vpa(Olp)))
Clpsimp=simplify(expand(vpa(Clp)))

f=
10030*exp(6*t+3)

F=
(100/s30*exp(3)/(s+6))*exp(1/2*s)

F=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)

Gc=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)*s

M=
30000

Olp=
1/131941395333120000*K*(2210309116549883*s2638827906662400)/s/(s+6)*exp(1/2*s)

Kt=
0.1500

Clp=
310

A Chapter3Solution
ns Golnarraghi,Kuo

2
20/3*K*(2210 03091165498 883*s263882 279066624000)*exp(1/2*s)/(87960930 022208000000*s^2
5
52776558133 324800000*s+ +2210309116 6549883*K*eexp(1/2*s)*s2638827906 6662400*K*exxp(1/2*s))

s=
0

Ess=
2
20/3

Fsimp=
.10e3*exp(.550*s)*(5.*s6
6.)/s/(s+6.)

Gcsimp=
.10e3*exp(.550*s)*(5.*s6
6.)/(s+6.)

Olpsimp=
.10e2*K*exp p(.50*s)*(17
7.*s20.)/s/(s++6.)

Clpsimp=
5
5.*K*exp(.500*s)*(15.*s1
17.)/(.44e4*ss^2.26e5*s+1
11.*K*exp(.550*s)*s13.*K
K*exp(.50*s)))
3-16)
311


3-17)
3-18)

0.5
u1 0.5 z1
1
3
0.5
1/s -1 1/s 1/s x1 0.5
-6
0.5 0.5 x3 x2 0.5
1 -5
1.5 1
u2 0.5 0.5
-0.5 z2
312


3-19)

B1
B0 1/s 1 1/s
u y
x
-A1
-A0
3-20)
313

A Chapter3Solution
ns Golnarraghi,Kuo

3
3-21)
3
3-22)
314

A Chapter3Solution
ns Golnarraghi,Kuo

3-23)
315

A Chapter3Solution
ns Golnarraghi,Kuo

3-24)
3
3-25)
3
3-26)
3
3-27)
316

A Chapter3Solution
ns Golnarraghi,Kuo

3-28)
317

A Chapter3Solution
ns Golnarraghi,Kuo

3-29)
318

A Chapter3Solution
ns Golnarraghi,Kuo

3-30) Use Masonss formula:
3-31) MATLAB
symssK
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=simmplify(G/(1+G*H))
Yn=ilapplace(YN/s)

G=
100/(ss+1)/(s+5)

g=
25*exxp(t)+5*expp(5*t)+20

H=
K/s
319


YN=

100*s/(s^3+6*s^2+5*s+100*K)

ApplyRouthHurwitzwithinSymbolictoolofACSYS(seechapter3)

RH=

[1,5]
[6,100*k]
[50/3*k+5,0]
[100*k,0]
Stabilityrequires:0<k<3/10.

320

A Chapter3Solution
ns Golnarraghi,Kuo

332)

321

A Chapter3Solution
ns Golnarraghi,Kuo

333)M
MATLABsolu
utionsarein
n334.

334)M
MATLAB
clear all
p = [1
1 5 6 10] % Define polynomial
p s^3+5*s^2
2+6*s+10=0
roots(p)
G=tf(1
1,p)
step(G
G)

322


p=
15610

ans=
4.1337
0.4331+1.4938i
0.43311.4938i
Transferfunction:
1

s^3+5s^2+6s+10

323


Alternatively:
clear all
syms s
G=1/( s^3 + 5*s^2 + 6*s + 10)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^3+5*s^2+6*s+10)
y =
1/10+1/5660*sum((39*_alpha^2-91+160*_alpha)*exp(_alpha*t),_alpha =
RootOf(_Z^3+5*_Z^2+6*_Z+10))
s =
0
yfv =
0.1000

ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 5 6 10 0] % Define polynomial s*(s^3+5*s^2+6*s+10)=0
[r,p,k]=residue(B,A)
B =
1
A =
1 5 6 10 0
r =
-0.0152
-0.0424 + 0.0333i
-0.0424 - 0.0333i
0.1000
p =
-4.1337
-0.4331 + 1.4938i
-0.4331 - 1.4938i
0
k =
[]
1 0.0152 0.0424 0.0333i 0.0424 - 0.0333i
SopartialfractionofYis:
s s 4.1337 s 0.4331 + 1.4938i s 0.4331 - 1.4938i
324

A Chapter3Solution
ns Golnarraghi,Kuo

335)M
MATLABsolu
utionsarein
n336.

325


336)
clear all
p = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
roots(p)
G=tf(1,p)
step(G)
p =
1 4 3 5 1
ans =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
Transfer function:
1
-----------------------------
s^4 + 4 s^3 + 3 s^2 + 5 s + 1
326


Alternatively:
clear all
syms s t
G=1/(s^4+4*s^3+3*s^2+5*s+1)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^4+4*s^3+3*s^2+5*s+1)
y =
1-
1/14863*sum((3955*_alpha^3+16873+14656*_alpha^2+7281*_alpha)*exp(_alpha*t),_alp
ha = RootOf(_Z^4+4*_Z^3+3*_Z^2+5*_Z+1))
s =
0
yfv =
1
ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
B =
1
A =
1 4 3 5 1
r =
-0.0235
-0.1068 + 0.0255i
-0.1068 - 0.0255i
0.2372
p =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
k =
[]
327

A Chapter3Solution
ns Golnarraghi,Kuo

3-37)
3-38) MATLAB
M
Use TFFcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windoow).
TFcal
328


Alternatively use toolboxes 3-3-1 and 3-3-2

clear all
syms s
G1=100
G2=(s+1)/(s+2)
G3=10/s/(s+20)
G4=(101*s^3+2122*s^2+2040*s)/10/(s+1)
H1=1
H2=1
simplify(G1*G2*G3/(1+G1*G2*H1+G1*G2*H2+G1*G2*G3))
G1 =
100
G2 =
(s+1)/(s+2)
G3 =
10/s/(s+20)
G4 =
(101/10*s^3+1061/5*s^2+204*s)/(s+1)
H1 =
1
H2 =
1
ans =
1000*(s+1)/(201*s^3+4222*s^2+5040*s+1000)
clear all
TF=tf([1000 1000],[201 4222 5040 1000])
step(TF)
329


3-39)
clear all
syms s
P1 = 2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6 % Define polynomial
P2 = s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16 % Define polynomial
solve(P1, s)
solve(P2, s)
collect(P2-P1)
collect(P2+P1)
collect((P1-P2)*P1)
P1 =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
P2 =
s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16
ans =
330


-1
-3
i*2^(1/2)
-i*2^(1/2)
-1/4+1/4*i*7^(1/2)
-1/4-1/4*i*7^(1/2)
ans =
-2
-4
i
-i
-1+i
-1-i
ans =
-s^6-s^5+8*s^4+11*s^3+13*s^2+14*s+10
ans =
3*s^6+17*s^5+38*s^4+61*s^3+63*s^2+42*s+22
ans =
-60+2*s^12+11*s^11+8*s^10-54*s^9-195*s^8-471*s^7-796*s^6-1006*s^5-1027*s^4-
848*s^3-524*s^2-224*s
Alternative:
clear all
P1 = [2 9 15 25 25 14 6] % Define polynomial
roots(P1)
P2 = [1 8 23 36 38 28 16] % Define polynomial
roots(P2)
P1 =
2 9 15 25 25 14 6
ans =
-3.0000
-0.0000 + 1.4142i
-0.0000 - 1.4142i
-1.0000
-0.2500 + 0.6614i
-0.2500 - 0.6614i
331


P2 =
1 8 23 36 38 28 16
ans =
-4.0000
-2.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
0.0000 + 1.0000i
0.0000 - 1.0000i
3-40)
clear all
syms s
P6 = (s+1)*(s^2+2)*(s+3)*(2*s^2+s+1) % Define polynomial
P7 = (s^2+1)*(s+2)*(s+4)*(s^2+s+1) % Define polynomial
digits(2)
vpa(solve(P6, s))
vpa(solve(P7, s))
collect(P6)
collect(P7)
P6 =
(s+3)*(s+1)*(2*s^2+s+1)*(s^2+2)
P7 =
(s^2+1)*(s+2)*(s+4)*(s^2+s+1)
ans = -1.
-3.
1.4*i
-1.4*i
-.25+.65*i
-.25-.65*i
ans = -2.
-4.
i
-1.*i
-.50+.85*i
-.50-.85*i
ans =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
ans =
8+s^6+7*s^5+16*s^4+21*s^3+23*s^2+14*s
332


341)
UseToolbox251tofindthepartialfractions
clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
B =
1 15 56 70 108 80
A =
2 9 26 45 46 40 0
r =
-1.0600 - 1.7467i
-1.0600 + 1.7467i
0.9600
-0.1700 + 0.7262i
-0.1700 - 0.7262i
2.0000
p =
-1.0000 + 2.0000i
-1.0000 - 2.0000i
-2.0000
-0.2500 + 1.3919i
-0.2500 - 1.3919i
0
k =
[]
333


342)Usetoolbox332

clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
G1=tf(B,A)
YR1=G1/(1+G1)
pole(YR1)
B=
115567010880
A=
29264546400
Transferfunction:
s^5+15s^4+56s^3+70s^2+108s+80

2s^6+9s^5+26s^4+45s^3+46s^2+40s
Transferfunction:
2s^11+39s^10+273s^9+1079s^8+3023s^7+6202s^6+9854s^5+12400s^4
+11368s^3+8000s^2+3200s

4s^12+38s^11+224s^10+921s^9+2749s^8+6351s^7+11339s^6+16074s^5
+18116s^4+15048s^3+9600s^2+3200s
ans=
0
0.7852+3.2346i
0.78523.2346i
2.5822
1.0000+2.0000i
1.00002.0000i
2.0000
0.0340+1.3390i
0.03401.3390i
0.2500+1.3919i
0.25001.3919i
0.7794
C= [1 12 47 60]
D= [4 28 83 135 126 62 12]
G2=tf(D,C)
YR2=G2/(1+G2)
pole(YR2)
C =
1 12 47 60
334


D =
4 28 83 135 126 62 12
Transfer function:
4 s^6 + 28 s^5 + 83 s^4 + 135 s^3 + 126 s^2 + 62 s + 12
-------------------------------------------------------
s^3 + 12 s^2 + 47 s + 60
Transfer function:
4 s^9+76 s^8+607 s^7+2687 s^6+7327 s^5+12899 s^4+14778 s^3+10618 s^2

+ 4284 s + 720
-------------------------------------------------------------------------------
4 s^9+76 s^8+607 s^7+2688 s^6+7351 s^5+13137 s^4+16026 s^3+14267 s^2+9924
s+4320
ans =
-5.0000
-4.0000
0.0716 + 0.9974i
0.0716 - 0.9974i
-1.4265 + 1.3355i
-1.4265 - 1.3355i
-3.0000
-2.1451 + 0.3366i
-2.1451 - 0.3366i
3-43) Use Toolbox 3-3-1

G3=G1+G2
G4=G1-G2
G5=G4/G3
G6=G4/(G1*G2)
G3=G1+G2
G4=G1-G2
G5=G4/G3
G6=G4/(G1*G2)
Transfer function:
8 s^12 + 92 s^11 + 522 s^10 + 1925 s^9 + 5070 s^8 + 9978 s^7 + 15154 s^6 +
18427 s^5
+ 18778 s^4 + 16458 s^3 + 13268 s^2 + 10720 s +

4800
335


-------------------------------------------------------------------------------
2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-8 s^12 - 92 s^11 - 522 s^10 - 1925 s^9 - 5068 s^8 - 9924 s^7 - 14588 s^6
- 15413 s^5 - 9818 s^4 - 406 s^3 + 7204 s^2 + 9760 s +

4800
-------------------------------------------------------------------------------
2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 -

1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +

4.57e007 s^2
+
1.152e007 s
-------------------------------------------------------------------------------
16 s^21 + 448 s^20 + 5904 s^19 + 49252 s^18 + 294265 s^17 + 1.346e006 s^16
+ 4.909e006 s^15 + 1.465e007 s^14 + 3.643e007 s^13 + 7.648e007 s^12
+ 1.369e008 s^11 + 2.105e008 s^10 + 2.803e008 s^9 + 3.26e008 s^8 +

3.343e008 s^7
+ 3.054e008 s^6 + 2.493e008 s^5 + 1.788e008 s^4 + 1.072e008 s^3 +

4.8e007 s^2
336


+
1.152e007 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 -

1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +

4.57e007 s^2
+
1.152e007 s
-------------------------------------------------------------------------------
8 s^20 + 308 s^19 + 5270 s^18 + 54111 s^17 + 379254 s^16 + 1.955e006 s^15
+ 7.778e006 s^14 + 2.471e007 s^13 + 6.416e007 s^12 + 1.383e008 s^11
+ 2.504e008 s^10 + 3.822e008 s^9 + 4.919e008 s^8 + 5.305e008 s^7 +

4.73e008 s^6
+ 3.404e008 s^5 + 1.899e008 s^4 + 7.643e007 s^3 + 1.947e007 s^2 +

2.304e006 s
337

Chapter 4__________________________________________________________________________
4-1) When the mass is added to spring, then the spring will stretch from position O to position L.
The total potential energy is:

where y is a displacement from equilibrium position L.
The gravitational energy is:
The kinetic energy of the mass-spring system is calculated by:

As we know that , then

By differentiating from above equation, we have:

since KL = mg, therefore:

As cannot be zero because of vibration, then
41

4-2)
KU
KL

4-3) a) Rotational kinetic energy:

Translational kinetic energy:

Relation between translational displacement and rotational displacement:

Potential energy:

As we know , then:
42


By differentiating, we have:

Since cannot be zero, then

b)
c)

where at the maximum energy.

Then:

Or:
43

J
d) G (s)
(ms K )
2
% select values of m, J and K

%Step input
K=10;
J=10;
M=1;
G=tf([10],[1 0 10])
step(G,10)
xlabel( 'Time(sec)');
ylabel('Amplitude');
Transferfunction:
10

s^2+10
44

AutomaticConttrolSystems,9thEdition Chapteer4Solutionss Golnarraghi,Kuo
4-44)
(a)Forceequaations:
dy1 dy2 K y y
2
d y1 dy1
f (t ) M1 B1 B3 1 2
dt
2
dt dt dt

dy dy
d
2
d y2 dy
B3 1 2 K y1 y2 M 2 B2 2
dt ddt dt
2
dt
Rearraangetheequattionsasfollows:
2
d y1 B B3 dy1 B3 dyy 2 K f
2
1
y 1
y2
dt M1 dt M 1 dt
d M1 M1

2
d y2 B3 dy1 B B3 dy2 K
2
2
y1
y2
dt M 2 dt M2 dtt M2
(i)Staatediagram:SSince y1 y 2 appearsasone
a unit,theminimumnumberofintegratorsisthree.
45

dy 2 dy1
Stateequations:Definethestatevariablesas x1 y1 y 2 , x 2 , x3 .
dt dt
dx1 dx2 K B B3 B3 dx3 K B3 B B3 1

x2 x3 x1 2
x2 x3 x1 x2 1
x3 f
dt dt M2 M2 M2 dt M1 M1 M1 M
dy 2 dy1
(ii)Statevariables: x1 y 2 , x 2 , x3 y1 , x 4 .
dt dt
Stateequations:
dx1 dx 2 K B2 B3 K B3
x2 x1 x2 x3 x4
dt dt M2 M2 M2 M2
dx3 dx 4 K B3 K B1 B3 1
x4 x1 x2 x3 x4 f
dt dt M1 M1 M1 M1 M1
Statediagram:
Transferfunctions:
M 2 s B2 B3 s K
2
Y1 ( s )
F (s) ^
s M 1 M 2 s > B1 B3 M 2 B2 B3 M 1 @ s > K M 1 M 2 B1 B2 B2 B3 B1 B3 @ s B1 B2 K
3 2
`

Y2 ( s ) B3 s K
F (s) ^
s M 1 M 2 s > B1 B3 M 2 B2 B3 M 1 @ s > K M 1 M 2 B1 B2 B2 B3 B1 B3 @ s B1 B2 K
3 2
`
(b)Forceequations:
46

2
d y1 B B2 dy1 B2 dy 2 1 dy2 dy1 K
2
1
f y2
dt M dt M dt M dt dt B2
(i)Statediagram:

Definetheoutputs
oftheintegrators
asstatevariables,
dy1
x1 y 2 , x 2
dt
.

Stateequations:
dx1 K dx 2 K B1 1
x1 x 2 x1 x2 f
dt B2 dt M M M
dy1
(ii)Stateequations:Statevariables: x1 y2 , x2 y1 , x3 .
dt
dx1 K dx 2 dx3 K B1 1
x1 x3 x3 x1 x3 f
dt B2 dt dt M M M

Transferfunctions:
Y1 ( s) B2 s K Y2 ( s ) B2

s MB2 s B1 B2 KM s B1 B2 K MB2 s ( B1 B2 KM ) s ( B1 B2 ) K
2 2
F (s) F (s)
(c)Forceequations:
dy1 dy2 1
2
d y2 B B2 dy2 B1 dy2 B1 dy1 K
f 2
1
y2
dt dt B1 dt M dt M dt M dt M
(i)Statediagram:
47


Stateequatio
ons:Definetheeoutputsofintegratorsassttatevariables.
dx1 dxx 2 K B2 1
x2 x1 x2 f
dt d
dt M M M
dy 2
(ii)Stateequations:statevariaables: x1 y1 , x 2 y 2 , x3 .
dt
dx1 1 dx 2 dxx3 K B2 1
x3 f x3 x2 x3 f
dt B1 dt d
dt M M M
Statediagram
m:
Transferfuncctions:
Ms B1 B2 s K
2
Y1 ( s ) Y2 ( s ) 1

F (s)
B1 s Ms B2 s K
2
F (s) Ms B2 s K
2
4-55)
48

(a)Forceequaations:
2
1 d y2 B dy 2 K1 K 2 K2
y1 ( f Mg ) y 2 2
y2 y1
K2 dt M dt M M
Staatediagram:

Staateequations:
Deffinethestate
varriablesas:
dy 2
x1 y 2 , x 2
d
dt
.

dx1 d 2
dx K1 B 1
x2 x1 x2 ( f Mg )
dtt dt M M M
Transferfunction
ns:
2
Y1 ( s ) s Bs K1 K 2 Y2 ( s ) 1
2 2

F ( s) K 2 ( Ms Bs K1 ) F ( s) Mss Bs K1
(b)Forcceequations:
dy1 dy2 K1 y y B2 y y B2 dy2

2
dy1 1 dy 2 K1 d y2 B1
> f (t ) Mg @ y y2 1 2 1 2
M dt dt M
1 2
dt B1 dt B1 dt M M dt
Stattediagram:(W
Withminimumnumberofinttegrators)
49

ToobtainthetranssferfunctionsY1 ( s ) / F ( s ) andY2 ( s ) / F ( s ), weneedtoredefinethesttatevariablesaas:
x1 y2 , x2 dy 2 / dtt , and x3 y1 .
Stattediagram:
Transferfuncctions:
Ms B1 B2 s K1 Bs K1
2
Y1 ( s ) Y2 ( s )

F (s) s
2
> MB
M s B B
1 1 2
MK1 @ F (s) s
2
> MB
M s B B
1 1 2
MK1 @
4-66) a)
y1
y2
K ( y1 y 2 )
m K ( y1 y 2 ) M F
Pmgy 2 PMgy1
b) From Newttons Law:
If y1 and y2 are considerred as a posiition and v1 and

a v2 as vellocity variabbles

Then:

The output equation cann be the veloocity of the engine,

e whicch means
410

c)

Obtaining requires solving above equation with respect to Y2(s)

From the first equation:
Substituting into the second equation:
By solving above equation:

d)

4-7)(a)Forceequations:
dy1 dy2 dy1 dy2 M d y2 B dy2

2
f (t ) K h y1 y2 Bh K h y1 y 2 Bh
dt dt dt dt 2 t
dt dt
dy 2
(b)Statevariables: x1 y1 y 2 , x 2
dt
411

Stateequations:
dx1 Kh 1 dx 2 Bt 1
x1 f (t ) x2 f (t )
dt Bh Bh dt M M
4-8)
D2
D1
For the left pendulum:
For the right pendulum, we can write the same equation:

since the angles are small:

4-9) a)
412

Fy
T m
x(t) Fx
mg
M
f
T
b) If we consider the coordinate of centre of gravity of mass m as (xg, yg),
Then and
From force balance, we have:

From the torque balance, we have:

Where:

Substituting these equation:

4-10) a)
413

Fy1 Fy 2
Fx1 Fx 2
m1 g
m2 g
T1 T2
b) Kinetic energy
(i) For lower pendulum:

For upper pendulum:

For the cart:

(ii) Potential energy:
For lower pendulum:
For upper pendulum:
For the cart:
(iii) Total kinetic energy:
Total potential energy:
414

The Lagrangian equation of motion is:
Substituting T and U into the Lagrangian equation of motion gives:

4-11) a) From the Lagrangian equation of motion:

b) As:

Then
If we linearize the equation about beam angle = 0, then sin

and sin

Then:

415

c) Considering

Then the state-space equation is described as:
mgd
d) G ( s)
( s L( J / r 2 m))
2
clear all
% select values of m, d, r, and J
%Step input
g=10;
J=10;
M=1;
D=0.5;
R=1;
L=5;
G=tf([M*g*D],[L*(J/R^2+M) 0 0])
step(G,10)
Transfer function:
5
------
55 s^2
416

4-12) If the aircraft is at a constant altitude and velocity, and also the change in pitch angle does not
change the speed, then from longitudinal equation, the motion in vertical plane can be written as:

Where u is axial velocity, is vertical velocity, q is pitch rate, and is pitch angle.
Converting the Cartesian components with polar inertial components and replace x, y, z by T, D,
and L. Then we have:
Where = is an attack angle, V is velocity, and is flight path angle.
417

It should be mentioned that T, D, L and M are function of variables and V.
Refer to the aircraft dynamics textbooks, the state equations can be written as:
b) The Laplace transform of the system is:

By using Laplace transform, we have:

From equation (1):

Substituting in equation (2) and solving for q(s):
Substituting above expression in equation (3) gives:
If we consider , then
By using Laplace transform:

Which gives:
418

For plotting
g state flow diagram, equation
u (4) muust be rewritten as:

or

S the state flow diagram

So, m will plotteed as:
ml 1/Ms 1 1/s
u y
x
-B/M
-K
Also look at seection 4-11
4-113)(a)Torqueequation: Stated
diagram:
2
d T B dT 1
2
T (t )
dt J dt J
Stateequations:
dx1 dx 2 B 1
x2 x2 T
dt dt J J
Transsferfunction:
4( s ) 1

T ( s) s( Js B )
(b)Torqueequations:
d T1 dT 2
2
K 1
2
T 1
T2 T K T 1 T 2 B
dt J J dt
Statediagram:(minimumnumbeerofintegratorrs)
419

Stateequations:
dx1 K dx 2 K 1
x1 x 2 x1 T
dt B dt J J
dT 1
Stateequations:Let x1 T 2 , x2 T 1, and x3 .
dt
dx1 K K dx 2 dx3 K K 1
x1 x2 x3 x1 x2 T
dt B B dt dt J J J
Statediagram:
Tran
nsferfunctionss:
41 ( s ) B K
Bs 42 ( s) K

T (s)
s BJs JKs BK
2
T (s)
s BJs JK
Ks BK
2

(c)Torqqueequationss:
d T1 d T2
2 2
T (t ) J1 2
K T 1 T 2 K T 1 T 2 J2 2
dt dt
Stattediagram:
420

dT 2 dT 1
eequations:sttatevariables:: x1
State T 2 , x2 , x3 T 1, x 4 .
dt d
dt
dx1 dx 2 K K d 3
dx d 4
dx K K 1
x2 x1 x3 x4 x1 x3 T
dt dt J2 J2 dt dt J1 J1 J1
nsferfunctionss:
Tran
41 ( s ) J2s K 42 ( s)
2
K

s J 1 J 2 s K J 1 J 2 s J 1 J 2 s K J 1 J 2
2 2 2 2
T (s) T (s)
(d)Torqueequationss:
d Tm d T1 d T2
2 2 2
T (t ) Jm 2
K1 T m T 1 K 2 T m T 2 K1 T m T 1 J1 2
K 2 T m T 2 J2 2

dt dt dt

421

Statediiagram:

dT 1 dT m dT 2
ons: x1
Stateequatio T m T 1, x2 , x3 , x4 T m T 2 , x5 .
dtt dt dt
dx1 dx 2 K1 dx3 K1 K2 1 dx 4 dx5 K2

x 2 x3 x1 x1 x4 T x3 x5 x4
dt dt J1 dt Jm Jm Jm dt dtt J2
Transferfuncctions:
41 ( s ) K1 ( J 2 s K 2 )
2
s s K1 J 2 J m K 2 J 1 J m K1 J 1 J 2 K 2 J 1 J 2 s K1 K 2 J m J 1 J 2
2 4 2
T (s)

42 (s) K 2 ( J 1 s K1 )
2
s s K1 J 2 J m K 2 J 1 J m K1 J 1 J 2 K 2 J 1 J 2 s K1 K 2 J m J 1 J 2
2 4 2
T (s)
(e)Torqqueequationss:
d 2T m K1 K2 1 d T1
2
K1 B1 dT 1 d T2
2
K2 B2 dT 2

2
T m T1 T m T 2 T 2
T m
T1 2
T m
T1
dt Jm Jm Jm d
dt J1 J 1 dt dt J2 J 2 dt
Statediagram
m:
422

dT 1 dT m dT 2
SStatevariabless: x1 T m T 1, x2 , x3 , x4 T m T 2 , x5 .
dt dt dt
Stateequatio
ons:
dx1 dx 2 K1 B dx3 K1 K2 1 dx4 dx5 K2 B2
x 2 x3 x1 1 x 2 x1 x4 T x3 x 5 x4 x5
dt dt J1 J1 dt Jm Jm Jm dt dt J2 J2
Transferfuncctions:

41 ( s )
K1 J 2 s B2 s K 2
2
42 (s)
K 2 J 1 s B1 s K1
2

T (s) '(s) T (s) '(s)
'( s) s { J 1 J 2 J m s J m B1 B2 s > K1 J 2 K 2 J 1 J m K1 K 2 J 1 J 2 B1 B2 J m @ s
2 4 3 2

> B1 K 2 B2 K1 J m B1 K 2 J 2 B2 K1 J 1 @ s K1 K 2 J m J 1 J 2 }
4-114)
d T1 d T3
2 2
N1 N3 N1
Tm (t ) Jm 2
T1 T1 T2 T3 T4 T4 JL 2
T2 T3 T2 T1
dt N2 N4 dt N2
(a))
N1 N 3 N3 N3 d T3
2
d T1
2
N1 N 3 N1 N 3 d 2T 1
2
T3 T1 T2 T4 JL Tm Jm T4 Jm JL 2
N 2 N 4 dt
2 2
N2 N4 N4 N4 dt dt N2 N4
423

(b)
d T1 d T2 d T3
2 2 2
N1 N3
Tm Jm 2
T1 T2 J2 2
T3 T4 J 3
JL 2
T1 T2 T3 T4
dt dt dt N2 N4

d T2 d T2 d T3
2 2 2
N1 N1 N 3 N3 N3
T2 T1 T3 T1 T2 J2 2
T4 J2 2
J 3
JL 2
N2 N2 N4 dt N4 dt N4 dt
d T1
2
N1 d T2
2
N3 d T3
2
N1
2
N1 N 3
2
d 2T1
Tm (t ) J m J2 J 3
J4 2
J
m 2 J
3 L dt 2
J J
N2 dt N2 N2 N4
2 2
dt dt N4
4-15)(a)
2 2
d Tm d TL N1
Tm Jm 2
T1 T2 JL 2
TL T1 T2 nT2 T m N1 T L N 2
dt dt N2
d Tm d TL J m nJ D nT nTm n TL
2 2 2
Tm Jm nJ L nTL L
Thus, D L
n
L L
Jm n JL
2 2 2
dt dt
wD L J mTL Jm
Set
wn
0. T m
2 nTL J m n J L 2 nJ L nTm n J L
2
2
0 Or, n
2
n 0
J LTm JL

2 2 2
J mTL J mTL 4 J m J LTm
Optimalgearratio: n wherethe+signhasbeenchosen.
2 J LTm 2 J LTm
(b)When TL 0 ,theoptimalgearratiois

n Jm / J L
4-16)(a)Torqueequationaboutthemotorshaft: Relationbetweenlinearandrotationaldisplacements:
2 2
d Tm 2 d Tm dT m
Tm Jm 2
Mr 2
Bm y rT m
dt dt dt
(b)TakingtheLaplacetransformoftheequationsinpart(a),withzeroinitialconditions,wehave
Tm ( s ) J m
Mr
2
s 4 2
m
( s ) Bm s4 m ( s ) Y (s) r4m (s)
424

Transfferfunction:
Y ( s) r

Tm ( s )
s J m Mr
r
s B m

4-117)(a)
d Tm
2
Tm Jm 2
r T1 T2 T1 K 2 rT m rT p K 2 rT m y T2 K1 y rT m
dt
d Tm
2 2 2
d y d y
T1 T2 M 2
us, Tm
Thu Jm 2
r K1 K 2 rT m y M 2
K 1
K 2 rT m y
dt dtt dt
(c)Stateequations:
dx1 dx2 K1 K 2 dx3 r K1 K 2 1

rx3 x2 x1 x1 Tm
dt dt M dt Jm Jm
(d)Transferfunction:
Y ( s) r K1 K 2

s J m Ms K1 K 2 J m rM
2 2
Tm ( s )
(e)Charaacteristicequaation:
s
2
J m Ms 2 K1 K 2 J m rM 0
4-118) (a)Systeemequations:
425

dZ m dia
Tm K i ia J m
JL BmZ m ea Ra ia La K bZ m y nT m y y t TD
dt dt
d
TD (sec) e r b b Ks y Ea ( s ) KGc ( s ) E ( s )
V
Blockkdiagram:
(b)Forw
wardpathtransferfunction
n:
TD s
Y (s) KK i nGc ( s )e

E (s) s ^ Ra La s > J m J L s Bm @ K b K i `
Clossedlooptranssferfunction:
TD s
Y ( s) KK
K i nGc ( s )e

s Ra La s > J m J L s Bm @ K b K i s KGc ( s ) K i ne
TD s
R(s)
4-119) (a)Torquueequations:
d Tm dT m d TL dT L
2 2
Tm (t ) Jm 2
Bm K T m T L K T m T L JL 2
BL
dt dt dt dt

Statediagram:
426

(b)Transsferfunctions:
4 L ( s) 4m (s) J L s BL s K
2
K
'(s) s J m J L s Bm J L BL J m s KJ m KJ L Bm BL s Bm K
3 2
Tm ( s ) '(s) Tm ( s ) '( s)
(c)Charaacteristicequaation: '( s ) 0
Tm
dystateperforrmance: Tm ( t )
(d)Stead Tm constant.
t Tm ( s ) .
s
J L s BL s K
2
1
lim Z m (t ) lim s: m ( s ) lim
J m J L s Bm J L BL J m s KJ
K m KJ L Bm BL s Bm K
3 2
t of s o0 s o0 Bm
Thuss,inthesteadyystate,Z m Z L .
(e)TheesteadystatevvaluesofZ m and
a Z L donotdependon J m and J L .
4-220)(a)Torqqueequation:(AbouttheceenterofgravityyC)
2
d T
J 2
Ts d 2 sin G Fd d1 Fa d1 JD D 1 K F d1T sin G # G
dt
2 2
d T d T
Thuss, J 2
Ts d 2G K F d1T J 2
K F d1T Ts d 2G
dt dt
2
(b) Js 4 ( s ) K F d14 ( s ) Ts d 2 ' ( s )
(c)With
hCandPintercchanged,thetorqueequationaboutCis:
dT dT
2 2
Ts d1 d 2 G FD d 2 J 2
Ts d1 d 2 G K F d 2T J 2

dt dt
427

4( s ) Ts d1 d 2
Js 4 ( s ) K F d 2 4 ( s ) Ts d1 d 2 ' ( s )
2

'(s) Js K F d 2
2
4-21)(a)Nonlineardifferentialequations:
dx ( t ) dv ( t )
v(t ) k ( v ) g ( x ) f (t ) Bv ( t ) f ( t )
dt dt
e( t ) e( t 0
With Ra 0 ,I ( t ) K f i f (t ) K f i f (t ) K f ia ( t ) Then, ia ( t )
Kb v ( t ) Kb K f v ( t )
2
Ki e ( t ) dv ( t ) Ki 2
f ( t ) KiI ( t )ia ( t ) 2 2
. Thus, Bv ( t ) 2 2
e (t )
Kb K f v (t ) dt Kb K f v (t )
(b)Stateequations: ia ( t ) asinput.
dx ( t ) dv ( t ) 2
v (t ) Bv ( t ) Ki K f ia ( t )
dt dt
(c)Stateequations:I ( t ) asinput.
2 I (t )
f (t ) K i K f ia ( t ) ia ( t ) i f (t )
Kf

dx ( t ) dv ( t ) Ki 2
v (t ) Bv ( t ) I (t )
dt dt Kf
428

4-22) Define as the angle between mass m and the horizontal axis (positive in c..c.w. direction):
=t ym
Use Newtons second law:
m(
y
ym ) Fm
( M m)
y Fm By Ky

ym eZ 2 sin Zt
My By Ky meZ 2 sin Zt
Where M is the Mass of the overall block system. M-m is the mass of the block alone.
Y meZ 2
G ( s)
R Ms 2 Bs K
Zero i.c. and input r (t ) sin Zt
Note T Zt . So in case of a step response as asked in the question, is a step input and angle increases
with time i.e. it is a ramp function. Hence, ym is a sinusoidal function, where the Laplace transform of a
Z
sine function is sin(Zt )
s Z2
2
Pick values of the parameters and run MATLAB. See toolbox 5-8-2
clear all
m=20.5 %kg
M=60 %kg
K=100000 %N/m
Om=157 %rad/s
B=60 %N-m/s
e=0.15 %m
G=tf([m*e*Om^2],[M B K])
t=0:0.01:1;
u=1*sin(Om*t);
lsim(G,u,t)
429

m =
20.5000
M =
60
K =
100000
Om =
157
B =
60
e =
0.1500
Transfer function:
7.58e004
----------------------
60 s^2 + 60 s + 100000
430

4-23) a) summation of vertical forces gives:

If we consider and , then:

The state-space model is:

b)

By applying Laplace transform for equations (1) and (2), we obtain:
Which gives:

and

Therefore:
4-24) a) Summation of vertical forces gives:
Consider and , then
431

So, the state-space model of the system is:

b) The Laplace transform of the system is defined by:

where
as a result:

Substituting into above equation:
4-25) a) According to the circuit:

By using Laplace transform we have:
432


From above equations:

Substituting V1(s) and V2(s) into preceding equations, we obtain:
b) Measuring Vout requires a load resistor, which means:
i1 i2 RL
Vin VC1 VC 2
Then we have:
When

If RL >>R, then
433

By using Laplace transform we have:
Therefore:

can be obtained by substituting above expressions into the first equation of the state variables

of the system.
4-26) a) The charge q is related to the voltage across the plate:
The force fv produced by electric field is:

Since the electric force is opposes the motion of the plates, then the equation of the motion is written
as:
The equations for the electric circuit are:

As we know, and , then:

434


Since , then :

b) As then
If

Then the transfer function is:
435

If

Then the transfer function is:
4-27) a) The free body diagram is:
where F is required force for holding the core in the equilibrium point against magnetic
field
b) The current of inductor, i, and the force, F, are function of flux, , and displacement, x.
Also, we know that

436

The total magnetic field is:

where W is a function of electrical and mechanical power exerted to the inductor, so:

As v = , then:

c) Changing the flux requires a sinusoidal movement, and then we can conclude that:
if the inductance is changing relatively, then L(x) = Lx, where L is constant.
Also, the current is changing with the rate of changes in displacement. It means:
So:

Substituting these equations into the state-space equations gives:

Therefore:

437

4-28) a) The free body diagram is:
where F is the external force required for holding the plate in the equilibrium point against the
electrical field.
b) The voltage of capacitors, , and the force, , are function of charge, , and displacement, .
Also, we know

The total electrical force between plates is:

Where W is a function of electrical and mechanical power exerted to the capacitor, so:

As , then:

c) The same as Problem 4.28,

Consider:

Then solve the equations.
438

4-29) According to the circuit:

or
As an op-amp is modeled with the following equation:

Then:
4-30) a) Positive feedback ratio:

b) Negative feedback ratio:

c) According to the circuit:

Therefore:
439

As

then:
which gives:
It is stable when which means:
4-31) a) If the drop voltage of Rin is called v1
Then:

Also:

Then:
Substituting this expression into the above equation gives:
As a result:
440

Or

b) If the dropped voltage across resistor Rf is called vf, then

As a result:

Substituting into the second equation gives:
or
As a result:

4-32) The heat flow-in changes with respect to the electric power as:

where R is the resistor of the heater.
The heat flow-out can be defined as:
where Kf is the heat flow coefficient between actuator and air, T1 and T2 are temperature of
actuator and ambient.
441

Since the temperature changes with the differences in heat flows:
where C is the thermal capacitor.
The displacement of actuator is changing proportionally with the temperature differences:
If we consider the T2 is a constant for using inside a room, then

Therefore:

By linearizing the right hand side of the equation around point

Or

If we consider the right hand side of the above equation as two inputs to the system as:
and or , then:
4-33) Due to insulation, there is no heat flow through the walls. The heat flow through the sides is:
442


Where T1 and T2 are the temperature at the surface of each cylinder.
As , then from equation (1) and (2), we obtain:

The conduction or convection at:

The thermal capacitance dynamics gives:

Where
According to the equation (7) and (8), T1 and Tf are state variables.
Substituting equation (3), (4), (5) and (6) into equation (7) and (8) gives the model of the system.
4-34) As heat transfer from power supply to enclosure by radiation and conduction, then:

443

Also the enclosure loses heat to the air through its top. So:

Where

And Ct is the convective heat transfer coefficient and At is the surface area of the enclosure.
The changes if the temperature of heat sink is supposed to be zero, then:

Therefore where , as a result:

According to the equations (1) and (4), Tp and Te are state variables. The state model of the system
is given by substituting equations (2), (3), and (6) into these equations give.
4-35) If the temperature of fluid B and A at the entrance and exit are supposed to be and , and
TAN and TAX, respectively. Then:

The thermal fluid capacitance gives:

From thermal conductivity:

444

Where Ci and Co arre convectivve heat transffer coefficiennt of the inner and outerr tube; Ai andd Ao are
the surfface of innerr and outer tuube; Ri and Ro are the raadius of inneer and outer tube.
t
Substittuting equations (1), (2), and (5) intoo equations (3) and (4) giives the statee model of thhe
system
m.
4-336)(a)Blockkdiagram:
(b)Transferfunction:
W D s
:( s ) K1 K 4 e

Js JK L B s K 2 B K 3 K 4 e
W D s
D ( s)
2
(c)Characteristicequattion:
Js JK L B s K 2 B K 3 K 4 e
2 W D s
0
(d)Transferfunction:
:( s ) K1 K 4 2 W D s
#
D (s) '( s)
Charaacteristicequaation:
' ( s ) # J W D s 2 J JK 2W D BW D s 2 JK 2 2 B W D K 2 B W D K 3 K 4 s 2 K 2 B K 3 K 4
3 2
0
4-337) The tottal potential energy is:

The tottal kinetic en
nergy is:
445

Therefore:

As a result:

So, the natural frequency of the system is calculated by:

Also, by assuming and substituting into yields the same result

when calculated for maximum displacement.
4-38) If the height of the reservoir, the surge tank and the storage tank are assumed to be H, h1 and h2,
then potential energy of reservoir and storage tank are:
For the pipeline we have:

The surge tank dynamics can be written as:

At the turbine generator, we have:
where I is a known input and Q2-v is the fluid flow transfer between point 2 and valve. The
behaviour of the valve in this system can be written as:
446

Regarding Newtons Law:
According to above equations, it is concluded that Q and h1 are state variables of the system.
The state equations can be rewritten by substituting P2, Pv, Ps and Q2-v from other equations.
4-39)
If the beam rotate around small angle of , then
where A and E are cross sectional area and elasticity of the cable; H is the distance between point
O and the bottom of well, and y is the displacement.
On the other hand, Newtons Law gives:
447

Pa AZ
Bv 2
Pb AZ
where B is the viscous friction coefficient, Aw is the cross sectional area of the well; P1 and P2 are
pressures above and below the mass m.
The dynamic for the well can be written as two pipes separating by mass m:
Pb AZ
Ps AZ
Q
Q y
Ff
Pa AZ P1 AZ
a b)
Where D is the distance between point O and ground, Ps is the pressure at the surface and known.
If the diameter of the well is assumed to be r, the Ff for the laminar flow is

Therefore:
448

The state variables of the system are , v, y, Q, Q1.
4-40) For the hydraulic amplifier, we have:

As a result

where N is a constant and A is the cross sectional area.
For the walking beam:
For the spring:
The angular velocity of the lever is assumed as:

The moments of inertia of the lever are calculated as:
where L is the length of lever and r is the offset from the center of rotation.
According to the equation of angular motion:
449

Also:

Due to force balance, we can write:

Therefore can be calculated form above equations.

On the other hand, , and and , the dynamic of the system is:

where B is the viscous friction coefficient, and n1 and n2 are constant.
The state variables of the systems are ,yp, and 2.
450

4-41) If the capacitances of the tanks are assumed to be C1 and C2 respectively, then
Therefore:

Asa result:

4-42) The equation of motion is:
Considering gives:
or
4-43)(a)Blockdiagram:
451

(b)Transfferfunction:
TAO ( s ) KM KR 3.51

Tr ( s ) 1 W s 1 W s K
c s m
KR 20 s 122 s 4.51
2
4-444)
Sysstemequations:
d Tm dT m d TL dT L
2 2
Tm (t ) Jm 2
Bm K T m T L K T m T L JL 2
Bp
dt dt dt d
dt
ET L
uation: eo
Outputequ
20S
Statediiagram:
Transferr
fun
nction:

4L (s) K
s J m J L s Bm J L B p J m s J m K J L K Bm B p s Bm K
3 2
Tm ( s )
Eo ( s ) KE / 20S
s J m J L s Bm J L B p J m s J m K J L K Bm B p s Bm K
3 2
Tm ( s )
4-445)(a)Statteequations:
dT L dZ L K2 K2 dT t dZ t K1 K1
ZL Tm TL Zt Tm Tt
dt dtt JL JL dt dtt Jt Jt
452

dT m dZ m Bm K K2 K1 K2 1
Zm Zm 1
Tm Tt TL Tm
dt dtt Jm Jm Jm Jm Jm
(b)Stateddiagram:

(c)Transfferfunctions:

4 L (s)
K 2 J t s K1
2
4t ( s)
K1 J L s K 2
2
4m (s) J t J L s K1 J L K 2 J t s K1 K 2
4 2

Tm ( s ) '(s) Tm ( s ) '(s) Tm ( s ) '(s)
'( s) s[ J m J L s Bm J L J t s K1 J L J t K 2 J L J t K1 J m J L K 2 J m J t s
5 4 3

Bm J L K1 K 2 s K1 K 2 J L J t J m s Bm K1 K 2 ]
2
0
(d)Charaacteristicequattion: ' s)
'( 0 .
4-446)
(a)Transfferfunction:
Ec ( s ) 1 R2 Cs
G(s)
E (s) 1 R1 R2 Cs
(b)Blockdiagram:
453

(c)Forwardpathtransferfunction:
:m (s) K 1 R2 Cs

E (s) >1 R 1
R2 Cs @ K b K i Ra J L s
(d)Closedlooptransferfunction:
:m (s) K I K 1 R2 Cs

Fr ( s ) >1 R 1
R2 Cs @ K b K i Ra J L s K I KK e N 1 R2 Cs
Ec ( s ) 1 R Cs
(e) Gc ( s ) 2

E (s) R1Cs

Forwardpathtransferfunction:
:m (s) K 1 R2 Cs

E (s) R1Cs K b K i Ra J L s
Closedlooptransferfunction:
:m (s) K I K 1 R2 Cs

Fr ( s ) R1Cs K b K i Ra J L s K I KK e N 1 R2 Cs
Ke 36 pulses / rev 36 / 2S pulses / rad 5.73 pulses / rad.

(f) f r 120 pulses / sec Zm 200 RPM 200(2S / 60 ) rad / sec
fZ NK eZ m 120 pulses / sec N ( 36 / 2S ) 200(2S / 60 ) 120 N pulses / sec
Thus,N=1.ForZ m 1800 RPM, 120 N ( 36 / 2S )1800(2S / 60) 1080 N . Thus, N 9.
4-47) If the incremental encoder provides a pulse at every edge transition in the two signals of channels
A and B, then the output frequency is increased to four times of input frequency.
4-48)(a)
1 K H (s) K1 H i (s)
1 K1 H e ( s ) 1 i H e (s)
:m (s) B Js Ra La s B Js Ra La s
# 0
TL ( s ) Zr 0
'( s) '(s)
Thus,
454

H i (s) H i (s)
H e (s) Ra La s
Ra La s H e (s)
K1 K i
:m ( s) R a
La s B Js
(b)
:r (s) TL 0
'( s)
K1 K b K1 H i ( s ) K1 K i K b H e ( s )
'(s) 1 K1 H e ( s )
R a
La s B Js Ra La s R a
La s ( B Js

K1 K b K1 K i
1
R a
La s B Js R a
La s B Js
:m (s) K1 K i 1
#
:r ( s) TL 0
R a
La s B Js K i K b K1 K i K b H e ( s ) Kb H e (s)
4-49)(a)Causeandeffectequations: Te T r To e K sT e ea Ke
dia Ra 1
ia e a
eb Tm K i ia
dt La La
d Tm Bm dT m
2
1 nK L Tm
2
Tm nT m
To T2 T2 nT m
dt J m dt J Jm n
d To
2
KL
2
T 2
To
dt JL
Statevariables: x1 T o , x2 Z o , x3 T m , x4 Z m , x5 ia
Stateequations:
dx1 dx 2 KL nK L dx3
x2 x1 x3 x4
dt dt JL JL dt

2
dx 4 nK L n KL Bm Ki dx5 KK s Kb Ra KK s
x1 x3 x4 x5 x1 x4 x5 Tr
dt Jm Jm Jm Jm dt La La La La
(b)Statediagram:
455

(c)Forw
wardpathtran
nsferfunction:
4o ( s) KK s K i nK L
4 e ( s )
4 3

s J m J L La s J L Ra J m Bm J m Bm La s n K L La J L K L J m La Bm Ra J L s
2
2
n R K J
2
a L L
Ra K L J m Bm K L La s K i K b K L Ra Bm K L
Clossedlooptranssferfunction:
4o ( s) KK s K i nK L
4 r ( s )
5 4

J m J L La s J L Ra J m Bm J m Bm La s n K L La J L K L J m La Bm Ra J L s
2
3
n R K J
2
a L L
Ra K L J m Bm K L La s K i K b K L Ra Bm K L s nKK s K i K L
2
2
(d) K L f, T o T2 nT m . J L is reflected to motor side so J T J m n J L .

Staateequations::
dZ m Bm Ki dT m dia Ra KK s KK s Kb
Zm ia Zm ia Tr nT m Zm
dtt JT JT dt dt La La La La
Statediagram:
456

Forrwardpathtraansferfunction
n:
4o ( s ) KK s K i n

4e ( s) s J T La s Ra J T Bm La s Ra Bm K i K b
2
Closedlooptranssferfunction:
4o ( s) KK s K i n

4r (s) J T La s Ra J T Bm La s Ra Bm K i K b s KK s K i n
3 2
Frompaart(c),when K L f, all the terms withoutt K L in 4 o ( s ) / 4 e ( s ) and 4 o ( s ) / 4 r ( s ) cann be neglectedd.
Thesam
meresultsasab
boveareobtained.
4-550)(a)Systemequations:
dv dia dis dis dia

f K i ia MT BT v ea Ra ia La Las Las eb 0 Rs is Ls Las Las
dt dt dt dt dt
(b)TaketheLaplacetraansformonbo
othsidesoftheelastthreeequ
uations,withzeroinitialcond
ditions,wehavve
Ki I a ( s) M T
s BT V ( s ) Ea ( s ) >R L
a a
Las s @ I a ( s ) Las sI s ( s ) K bV ( s )

0 Las sI a ( s ) > Rs s Ls Las @ I s ( s )
Rearrrangingtheseequations,weeget
Ki V (s) Ki
V (s) I a (s) Y (s) I a (s)
M T s BT s s M T s BT

1 Las s
I a (s) >E ( s ) Las sI s ( s ) K bV ( s ) @ I s (s) I a (s)
Ra La Las s Ra La Las s
a

Blockd
diagram:
457

(c)Trannsferfunction::
Y (s) K i > Rs Ls Las s @

s > Ra La Las s @ > Rs Ls Las s @ M T s BT K i K b > Rs La Las s @ Las s M s BT
2 2
Ea ( s ) T
4-551) (a)Causeeandeffecteqquations:
ea eb
Te Tr TL e K sT e Ks 1 V/rrad ea Ke ia
Ra

dZ m 1 Bm KL dZ L KL
Tm K i ia Tm Z T m
TL T m
TL eb K bZ m
dt
d Jm Jm Jm dt JL
15.5
Kb 15.5 V / KRPM 0.148 V / rad / sec
1000 u 2S / 60
Statteequations:
dT L dZ L KL KL dT m dZ m Bm KL 1 Ki
ZL Tm TL Zm Zm TL KK Ts e
K bZ m
dt dt JL JL dt dt Jm Jm J m Ra
(b)Stattediagram:
(c)Forw
wardpathtran
nsferfunction:
K i KK
Ks KL
G(ss )
s J m J L Ra s Bm Ra K i K b J L s Ra K L J L J m s K L Bm Ra K i K b
3 2
458

J m Ra J L 0.03 u 115
. u 0.05 0.001725 Bm Ra J L 10 u 115
. u 0.05 0.575 Ki Kb J L 21 u 0.148 u 0.05 0.1554
Ra K L J L . u 50000 u 0.05
115 2875 Ra K L J m . u 50000 u 0.03 1725
115 Ki KK s K L 21 u 1 u 50000 K 1050000 K
K L Bm Ra K i K b 50000(10 u 1.15 21 u 0.148) 730400
608.7 u 10 K
6
G(s)

s s 423.42 s 2.6667 u 10 s 4.2342 u 10
3 2 6 8

(d)Closedlooptransferfunction:
4L (s) G(s) K i KK s K L
M ( s )
4r ( s) 1 G(s) J m J L Ra s Bm Ra K i K b J L s Ra K L J L J m s K L Bm Ra K i K b s K i KK s K L
4 3 2
8
6.087 u 10 K
M ( s) 4 3 6 2 8 8

s 423.42 s 2.6667 u 10 s 4.2342 u 10 s 6.087 u 10 K
Characteristicequationroots:
K 1 K 2738 K 5476
s 1.45 s r j1000 s 405 r j1223.4

s 159.88 s 2117
. r j1273.5 s 617.22 r j1275
s 13105
. r j1614.6
4-52)(a)Nonlineardifferentialequations:
dx ( t ) dv ( t )
v(t ) k ( v ) g ( x ) f (t ) Bv ( t ) f ( t )
dt dt
e( t ) e( t 0
With Ra 0 ,I ( t ) K f i f (t ) K f i f (t ) K f ia ( t ) Then, ia ( t )
Kb v ( t ) Kb K f v ( t )
2
Ki e ( t ) dv ( t ) Ki 2
f ( t ) KiI ( t )ia ( t ) 2 2
. Thus, Bv ( t ) 2 2
e (t )
Kb K f v (t ) dt Kb K f v (t )
(b)Stateequations: ia ( t ) asinput.
dx ( t ) dv ( t ) 2
v (t ) Bv ( t ) Ki K f ia ( t )
dt dt
(c)Stateequations:I ( t ) asinput.
459

2 I (t )
f (t ) K i K f ia ( t ) ia ( t ) i f (t )
Kf

dx ( t ) dv ( t ) Ki 2
v (t ) Bv ( t ) I (t )
dt dt Kf
4-553)(a)Diffeerentialequations:
d Tm dT m dT m dT L
2
K i ia Jm Bm K T m T L B
dt
2
dt dt
d dt
dT m dT L J d T L B dT L
2
K T m T L B L 2 TL
dt dt
L
dt dt
(b)TaketheLaplacetraansformoftheedifferentialeq
quationswithzeroinitialcon
nditions,wegeet
Ki I a ( s) J m
2

s Bm s Bs K 4 m ( s ) Bs K 4 L ( s )

Bs K 4 m
( s ) Bs K 4 L ( s ) J s L
2

BL s4 L ( s ) TL ( s)
s
a 4 L ( s ) fromthelasttwo
Solvingfor 4 m ( s ) and oequations,weehave
Ki Bs K
4m (s) I a (s) 4 L (s)
J m s Bm B s K J m s Bm B s K
2 2

Bss K TL ( s )
4 L (s) 4m (s)
J L s BL B s K J L s BL B s K
2 2
Signaalflowgraph:
460

(c)Transfermatrix:
4m (s) 1 K i J L s 2 BL B s K Bs K I a (s)
4 (s)
L 'o (s) K i Bs K J m s Bm B s K TL ( s )
2
' o ( s ) J L J m s > J L Bm B J m BL B @ s > BL Bm BL BM B J m J L K @ s K BL B s

3 3 2
4-54) As can be estimated by:

Therefore:
As a result:

Poles:

zeros:

4-55) By approximating :

a)

Therefore:

461

b)

4-56) MATLAB
clearall
L=1
T=0.1
G1=tf([1/21],conv([0.11],[1/21]))
figure(1)
step(G1)
G2=tf([1144],conv(conv([12],[12]),conv([11],[11])))
figure(2)
step(G2)

L=
1

T=
0.1000

Transferfunction:
0.5s+1

0.05s^2+0.6s+1

Transferfunction:
s^3s^2+4s+4

s^4+6s^3+13s^2+12s+4
462

L
4-57) 423(a)Differentialequations: L ( y )
y
d L ( y )i ( t ) dL( y ) dy ( t ) L di ( t ) L dy ( t ) L di ( t )
e ( t ) Ri ( t ) Ri ( t ) i ( t ) Ri ( t ) 2
i(t )
dt dy dt y dt y dt y dt
2 2
Ki ( t ) di ( t ) dy ( t ) d y(t )
My ( t ) Mg 2
At equilibrium, 0, 0, 2
0
y (t ) dt dt dt
463

Eeq dy eq Eeq K
Thus, ieq 0 yeq
R dt R Mg
dy
(b)Definethestatevariablesas x1 i, x 2 y, and x3 .
dt
Eeq Eeq K
Then, x1eq x 2eq x3eq 0
R R Mg
Thedifferentialequationsarewritteninstateequationform:
2
dx1 R x1 x3 x2 dx 2 dx3 K x1
x1 x 2 e f1 x3 f2 g 2
f3
dt L x2 L dt dt M x2
(c)Linearization:
wf1 R x3eq Eeq K wf1 R x1 x3 Eeq wf1 x1eq Mg
x 2eq x1eq 2
0
wx1 L x 2eq L Mg wx 2 L x2 L wx 3 x 2eq K
wf1 x 2 eq 1 K Eeq wf 2 wf 2 wf 2 wf 2
0 0 1 0
we L L Mg R wx1 wx 2 wx 3 we
2
wf 3 2 K x1eq 2 Rg wf 3 2 K x1eq 2 Rg Mg wf 3
2
3
0
wx1 M x 2 eq Eeq wx 2 M x 2eq Eeq K we

Thelinearizedstateequationsabouttheequilibriumpointarewrittenas: 'x A 'x B 'e
Eeq K Mg Eeq K
0
L Mg K
RL Mg
A

0 0 0 B

0

2 Rg 2 Rg Mg 0
E 0
eq
Eeq K
4-58)
(a)Differentialequations:
2 2
d y1 ( t ) dy1 ( t ) Ki ( t ) 2 1
M1 2
M1 g B 2
Ki ( t ) 2

dt dt y1 ( t ) y 2 ( t ) y1 ( t )
464

2 2
d y2 (t ) 2 dy 2 ( t ) Ki ( t )
M2 2
M2 g B 2

dt dt y 2 ( t ) y1 ( t )
dy1 dy 2
Definethestatevariablesas x1 y1 , x 2 , x3 y2 , x4 .
dt dt
Thestateequationsare:
2 2 2
dx1 dx2 Ki Ki dx3 dx4 Ki
x2 M1 M 1 g Bx2 x4 M2 M 2 g Bx4
dt dt x1
2
x 3
x1
2
dt dt x 3
x1
2
dx1 dx 2 dx3 dx 4
Atequilibrium, 0, 0, 0, 0. Thus, x 2eq 0 and x 4 eq 0.
dt dt dt dt
2 2 2
KI KI KI
M1g 0 M2g 0
X1
2
X 3
X1
2
X 3
X1
2
SolvingforI,with X 1 1,wehave
M1 M 2 g
1/ 2
M M2
1/ 2
Y2 X3 1 1 I
M2 K
(b)Nonlinearstateequations:
2 2
dx1 dx2 B K Ki dx3 dx4 B Ki
g x2 i g x4
2
x2 x4
M 1 x3 x1 M 2 x3 x1
2 2 2
dt dt M1 M 1 x1 dt dt M2

(c)Linearization:
w f1 w f1 w f1 w f1 w f1
0 0 0 0 0
w x1 w x2 w x3 w x4 wi

w f2 w f2 w f2 2 KI w f2
2 2 2
2 KI 2 KI B
0
w x1 M1 ( X 3 X1 ) w x2 w x3 M1 X 3 X1 w x4
3 3 3
M 1 x1 M1
w f2 2 KI 1 1 w f3 w f3 w f3 w f3 w f3
2 2
0 0 0 1 0
wi M1 X1 X 3 X1 w x1 w x2 w x3 w x4 wi
w f4 2 KI w f4 w f4 w f4 w f4 2 KI
2 2
2 KI B
0
w x1 M 2 X 3 X1 w x2 w x3 M 2 X 3 X1 w x4 wi M 2 X 3 X1
3 3 2
M2
Linearizedstateequations: M1 2, M 2 1, g 32.2, B 0.1, K 1.
465

1/ 2
32.2(1 2) X 1
I 96.6 X 1 9.8285 X 1 X1 1

1
1 9.8285
X 3 1
1 2 X1 2.732 X 1 Y2 2.732 X 3 X1 1.732
0 1 0 0

2 KI 1 B 2 KI 0 0
2 2
1 0
0
1
3 115.2 0.05 18.59 0
M1 X1 X 3 X1
3
M1 M1 X 3 X1
3

A

0 0 0 1 0 0 0 1

2 KI B 37.18 0 37.18 0.1
2 2
2 KI
0
M 2 X 3 X1 M 2 X 3 X1 M 2
3 3
0

2 KI 1 1 0
M 1 X 12 X 3 X 1 2 6.552
B

0 0

2 KI 6.552

M 2 X 3 X1
2
4-59) a)
F3
T
F1 F2
b) The equation of the translational motion is:
466


The equation of rotational motion is:

where

Also, the relation between rotational and translational motion defines:

Therefore, substituting above expression into the first equation gives:

The resulted state space equations are:

c) According to generalized elements:

1) Viscous friction can be replaced by a resistor where R = B

2) Spring can be replaced by a capacitor where

3) Mass M and m can be replaced by two inductors where and . Then the
angular velocity is measured as a voltage of the inductor L2

4) The gear will be replaced by a transformer with the ratio of

5) The term Mg is also replaced by an input voltage of
467

4-60) As the base is not moving then the model can be reduced to:
Therefore:

1) As , they can be replaced by a inductor with L = m

2) Friction B can be replaced by a resistor where R = B

3) Spring can be replaced by a capacitor where

4) The force F is replaced by a current source where Is = F
4-61)
V2

468

4-62) Recall Eq. (4-324)
Z (s) 1
Y( s ) s 2]Z n s Z n 2
2
Z 1,
Set Y( s ) impulse , pick n for simplicity.
9 1
clear all
G=tf([-1],[1 2 1])
figure(1)
impulse(G)
Transfer function:
-1
-------------
s^2 + 2 s + 1
469

4-63)
Use Eq. (4-329).
Kmr
Ra
Z (s) Va ( s )
La 2 K m Kb
s 1 ( Js Bs K ) s
Ra Ra
La
s 1 r
Ra mrY( s )
La 2 K m Kb
s 1 ( Js Bs K ) s
Ra Ra
La
For =0 (very small) the format of the equation is similar to Eq. (4-324), and we expect the same
Ra
Kmr
Ra
response for the disturbance input. Except, Z ( s ) Va ( s ) can be used to reduce the
K K
( Js Bs K ) m b s
2
Ra
effects of disturbance. See Chapter 6.
470

Chapter 5
51(a)] t 0.707 Z n t 2 rad / sec (b) 0 d ] d 0.707 Z n d 2 rad / sec

(c)] d 0.5 1 d Z n d 5 rad / sec (d) 0.5 d ] d 0.707 Z n d 0.5 rad / sec

52(a)Type0 (b)Type0(c)Type1(d)Type2(e)Type3(f)Type3
(g) type 2 (h) type 1

2
53(a) K p lim G ( s ) 1000 Kv lim sG ( s ) 0 Ka lim s G ( s ) 0
so 0 so 0 so 0

2
(b) K p lim G ( s ) f Kv lim sG ( s ) 1 Ka lim s G ( s ) 0
so 0 so 0 so 0
51


2
(c) K p lim G ( s ) f Kv lim sG ( s ) K Ka lim s G ( s ) 0
so 0 so 0 so 0

2
(d) K p lim G ( s ) f Kv lim sG ( s ) f Ka lim s G ( s ) 1
so 0 so 0 so 0

2
(e) K p lim G ( s ) f Kv lim sG ( s ) 1 Ka lim s G ( s ) 0
so 0 so 0 so 0
2
(f) K p lim G ( s ) f Kv lim sG ( s ) f Ka lim s G ( s ) K
so 0 so 0 so 0
54(a)Input ErrorConstants SteadystateError
________________________________________________________________________________
u s ( t ) K p 1000 1 1001
tu s ( t ) K v 0 f
f
2
t us (t ) / 2 K a 0
(b) Input ErrorConstants SteadystateError
________________________________________________________________________________
u s ( t ) K p f 0
tu s ( t ) K v 1 1
f
2
t us (t ) / 2 K a 0
(c)Input ErrorConstants SteadystateError
________________________________________________________________________________
u s ( t ) K p f 0
52

tu s ( t ) K v K 1/ K
f
2
t us (t ) / 2 K a 0
TheaboveresultsarevalidifthevalueofKcorrespondstoastableclosedloopsystem.
(d)Theclosedloopsystemisunstable.Itismeaninglesstoconductasteadystateerroranalysis.
(e) Input ErrorConstants SteadystateError
________________________________________________________________________________
u s ( t ) Kp f 0
tu s ( t ) Kv 1 1
f
2
t us (t ) / 2 Ka 0
(f) Input ErrorConstants SteadystateError
________________________________________________________________________________
u s ( t ) Kp f 0
tu s ( t ) K v f 0
2
t us (t ) / 2 K a K 1/ K
TheclosedloopsystemisstableforallpositivevaluesofK.Thustheaboveresultsarevalid.
G( s) s 1
55(a) K H H ( 0 ) 1 M ( s) 3 2

1 G( s) H ( s) s 2 s 3s 3
a0 3, a1 3, a2 2, b0 1, b1 1.
UnitstepInput:
1 b0 K H 2
ess 1 a
KH

0 3
53

Unitrampinput:
a0 b0 K H 3 1 2 z 0. Thus e ss f.

UnitparabolicInput:
a0 b0 K H 2 z 0 and a1 b1 K H 1 z 0. Thus e ss f.
(b) K H H ( 0) 5
G( s) 1
M ( s) 2
a0 5, a1 5, b0 1, b1 0.
1 G( s) H ( s) s 5s 5
UnitstepInput:
1 b0 K H 1 5
ess 1 a 5 1 5 0
KH 0
UnitrampInput:
i 0: a0 b0 K H 0 i 1: a1 b1 K H 5 z 0
a1 b1 K H 5 1
e ss
a0 K H 25 5
UnitparabolicInput:
e ss f
(c) K H H ( 0 ) 1 / 5
G( s) s5
M ( s ) 4 3 2
Thesystemisstable.
1 G( s) H ( s) s 15s 50 s s 1
a0 1, a1 1, a2 50, a3 15, b0 5, b1 1
UnitstepInput:
1 b0 K H 5 / 5
ess 1 a 5 1 1 0
KH 0
UnitrampInput:
54

i 0: a0 b0 K H 0 i 1: a1 b1 K H 4 / 5 z 0
a1 b1 K H 1 1/ 5
e ss 4
a0 K H 1/ 5
UnitparabolicInput:
e ss f
(d) K H H ( 0 ) 10
G( s) 1
M ( s ) 3 2
Thesystemisstable.
1 G( s) H ( s) s 12 s 5 s 10
a0 10, a1 5, a2 12, b0 1, b1 0, b2 0
UnitstepInput:
1 b0 K H 1 10
ess 1 a 10 1 10 0
KH 0
UnitrampInput:
i 0: a0 b0 K H 0 i 1: a1 b1 K H 5 z 0
a1 b1 K H 5
e ss 0.05
a0 K H 100
UnitparabolicInput:
e ss f
s4
56(a) M ( s ) 4 3 2
K H 1 Thesystemisstable.
s 16 s 48 s 4 s 4
a0 4, a1 4, a2 48, a3 16, b0 4, b1 1, b2 0, b3 0
UnitstepInput:
1 b0 K H 4
ess 1 a 1 4 0
KH 0
Unitrampinput:
i 0: a0 b0 K H 0 i 1: a1 b1 K H 4 1 3 z 0
55

a1 b1 K H 4 1 3
e ss
a0 K H 4 4
UnitparabolicInput:
e ss f
K ( s 3)
(b) M ( s ) 3 2
KH 1 Thesystemisstablefor K ! 0.
s 3s ( K 2) s 3K
a0 3 K , a1 K 2, a2 3, b0 3 K , b1 K
UnitstepInput:
1 b0 K H 3K
ess 1 a 1 3K 0
KH 0
UnitrampInput:
i 0: a0 b0 K H 0 i 1: a1 b1 K H K 2 K 2 z 0
a1 b1 K H K 2 K 2
e ss
a0 K H 3K 3K
UnitparabolicInput:
e ss f
TheaboveresultsarevalidforK>0.
s5 10 s H ( s)
(c) M ( s ) 4 3 2
H ( s) KH lim 2
s 15 s 50 s 10 s s5 so 0 s
a0 0, a1 10, a2 50, a3 15, b0 5, b1 1
UnitstepInput:
1 a2 b1 K H 1 50 1 u 2
ess a
KH
2 10 2.4
1
UnitrampInput:
56

e ss f
UnitparabolicInput:
e ss f
K ( s 5)
(d) M ( s ) 4 3 2
KH 1 Thesystemisstablefor0<K<204.
s 17 s 60 s 5 Ks 5 K
a0 5 K , a1 5 K , a2 60, a3 17, b0 5K , b1 K

UnitstepInput:
b0 K H 5 K
1
ess 1 a 1 5K 0
KH 0
UnitrampInput:
i 0: a0 b0 K H 0 i 1: a1 b1 K H 5K K 4K z 0
a1 b1 K H 5K K 4
e ss
a0 K H 5K 5
UnitparabolicInput:
e ss f

Theresultsarevalidfor0<K<204.
57

5-7)
Type of the system is zero
Pole: s = -2.2013 + 1.8773i, s = -2.2013 - 1.8773i, and s = -0.5974
Zero: s = -1
5-8)
5( s 1)
s ( s 2)( s 3)

a) Position error:

b) Velocity error:

c) Acceleration error:
5-9) a) Steady state error for unit step input:

Referring to the result of problem 5-8,
b) Steady state error for ramp input:

58


Regarding the result of problem 5-8,

c) Steady state error for parabolic input:

Regarding the result of problem 5-8,
5-10)
4( s 1)
s 2 ( s 2)

a) Step error constant:

b) Ramp error constant:

c) Parabolic error constant:

5-11)

where x1 is a unit step input, x2 is a ramp input, and x3 is a unit parabola input. Since the system
is linear, then the effect of X(s) is the summation of effect of each individual input.

That is:

So:

59

5-12) The step input response of the system is:
Therefore:

The rise time is the time that unit step response value reaches from 0.1 to 0.9. Then:

It is obvious that tr > 0, then:

As |k| < 1, then

Therefore or
which yields:
513)
Y ( s) KG p ( s ) 20 s 100 K
G( s) Type1system.
E ( s) 1 Kt G p ( s ) 20 s(1 0.2 s 100 Kt )
5K
Errorconstants: Kp f, K v , Ka 0
1 100 Kt
1
(a) r ( t ) u s ( t ): e ss 0
1 K p
1 1 100 Kt
(b) r ( t ) tu s ( t ): e ss
Kv 5K
1
(c) r ( t ) t 2u s ( t ) / 2:e ss f
Ka
510

514
100 Y ( s) KG p ( s )
G p ( s) G( s)
(1 0.1s )(1 0.5s ) E ( s) 20 s 1 Kt G p ( s )
100 K
G( s)
20 s (1 0.1s )(1 0.5 s ) 100 Kt
5K
Errorconstants: Kp f, K v , Ka 0
1 100 Kt
1
(a) r ( t ) u s ( t ): e ss 0
1 K p
1 1 100 Kt
(b) r ( t ) tu s ( t ): e ss
Kv 5K
1
(c) r ( t ) t 2u s ( t ) / 2:e ss f
Ka
Sincethesystemisofthethirdorder,thevaluesofKand Kt mustbeconstrainedsothatthesystemis
stable.Thecharacteristicequationis
s 12 s 20 2000 K t s 100 K
3 2
0
RouthTabulation:
3
s 1 20 2000 Kt
2
s 12 100 K
240 24000 Kt 100 K
1
s
12
0
s 100 K
1 100 K t 1
StabilityConditions: K>0 12 1 100 K t 5 K ! 0 or !
5K 12
Thus,theminimumsteadystateerrorthatcanbeobtainedwithaunitrampinputis1/12.

511

515(a)FromFigure3P29,
K1 K 2 K i K b KK1 K i K t
1
4o ( s) Ra La s R
a
La s Bt J t s

4r (s) K1 K 2 K i K b KK1 K i K t KK s K1 K i N
1
Ra La s Ra
La s Bt J t s s Ra La s Bt J t s
4o (s) s > Ra La s Bt J t s K1 K 2 Bt J t s K i K b KK1 K i K t @

4r (s) La J t s La Bt Ra J t K1 K 2 J t s Ra Bt K i K b KK i K1 K t K1 K 2 Bt s KK s K1 K i N
3 2
1
T r ( t ) u s ( t ), 4 r ( s ) lim s4 e ( s ) 0
s so 0
Providedthatallthepolesof s4 e ( s ) areallinthelefthalfsplane.
2
(b)Foraunitrampinput, 4 r ( s ) 1 / s .
Ra Bt K1 K 2 Bt Ki Kb KK1 Ki Kt
e ss lim T e ( t ) lim s4 e ( s )
t of so 0 KK s K1 Ki N
ifthelimitisvalid.

512

516(a)Forwardpathtransferfunction:[n(t)=0]:
K (1 0.02 s )
Y ( s) s ( s 25)
2
K (1 0.02 s )
G (s) Type1system.
E (s)
1 2
KK t s
s s 25s KK t
2

s ( s 25)
1
ErrorConstants: Kp f, Kv , Ka 0
Kt
1 1
Foraunitrampinput, r ( t ) tu s ( t ), R( s ) 2
, e ss lim e( t ) lim sE ( s ) Kt
s t of so 0 Kv
RouthTabulation:
KK t 0.02 K
3
s 1
2
s 25 K

1 25 K K t 0.02 K
s
25
0
s K
StabilityConditions: K !0 25 K t 0.02 K ! 0 or K t ! 0.02
(b)Withr(t)=0, n( t ) u s ( t ), N ( s ) 1 / s.
SystemTransferFunctionwithN(s)asInput:
K
s ( s 25)
2
Y (s) K

K (1 0.02 s ) s 25 s K K t 0.02 s K
3 2
N (s) KK t s
1 2 2
s ( s 25) s ( s 25)
SteadyStateOutputdueton(t):
y ss lim y ( t ) lim sY ( s ) 1 ifthelimitisvalid.

t of so 0
513

517YoumayuseMATLABinallRouthHurwitzcalculations.
1. ActivateMATLAB
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
5. ThenpresstheRouthHurwitzbutton
6. ForexamplelookatbelowFigures

514

(a) n( t ) 0, r ( t ) tu s ( t ).
ForwardpathTransferfunction:
Y (s) K ( s D )( s 3)
G(s) Type1system.
E ( s) n 0
s s 1
2

Ramperrorconstant: Kv lim sG ( s ) 3 K D
so 0
1 1
Steadystateerror: e ss
Kv 3Kv
3 2
Characteristicequation: s Ks [ K ( 3 D ) 1] s 3DK 0
RouthTabulation:
3
s 1 3 K DK 1
2
s K 3DK
K ( 3 K DK 1) 3DK
1
s
K
0
s 3DK
1 3K
3 K DK 1 3D ! 0 or K!
StabilityConditions: 3D
DK ! 0
(b)Whenr(t)=0, n( t ) u s ( t ), N ( s ) 1 / s.
K ( s 3)
Y (s) s 1
2
Ks ( s 3)
TransferFunctionbetweenn(t)andy(t):
N (s) K ( s D )( s 3) s Ks [ K ( s D ) 1]s 3D K
3 2
r 0
1

s s 1
2

SteadyStateOutputdueton(t):
y ss lim y ( t ) lim sY ( s ) 0 ifthelimitisvalid.

t of so 0

515

518
S]
2
1]
Percent maximum overshoot = 0.25 e
Thus
S] 1 ]
2
ln 0.25 1.386 S ]
2 2

1.922 1 ]
2

Solvingfor] fromthelastequation,wehave] =0.404.
S S
Peak Time t max 0.01 sec.Thus,Z n 343.4 rad / sec
2 2
Z n 1 ] 0.01 1 ( 0.404)
TransferFunctionoftheSecondorderPrototypeSystem:
2
Y ( s) Zn 117916
2 2 2

R( s ) s 2]Z n s Z n s 277.3s 117916

516

ExtendedMATLABsolutionsofproblemssimilarto519527appearlater
one.g.558
519ClosedLoopTransferFunction: Characteristicequation:
Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
Forasecondorderprototypesystem,whenthemaximumovershootis4.3%,] 0.707.
Zn 25 K , 2]Z n 5 500 Kt 1.414 25 K
RiseTime:
2
1 0.4167] 2.917] 2.164
tr 0.2 sec Thus Zn 10.82 rad / sec
Zn Zn
2
Zn (10.82)
2
10.3
Thus, K 4.68 5 500 Kt 1.414Z n 15.3 Thus Kt 0.0206
25 25 500
With K 4.68 and Kt 0.0206, the system transfer function is
Y ( s) 117
2

R( s ) s 15.3s 117
UnitstepResponse:

y=0.1att=0.047sec.
y=0.9att=0.244sec.
tr 0.244 0.047 0.197 sec.

y max 0.0432 ( 4.32% max. overshoot)
517

520ClosedloopTransferFunction: CharacteristicEquation:
Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
S]
WhenMaximumovershoot=10%, ln 0.1 2.3 S ]
2 2

5.3 1 ]
2

1]
2
Solvingfor] ,weget] =0.59.
TheNaturalundampedfrequencyisZ n 25K Thus, 5+ 500 Kt 2]Z n . Z n

118
RiseTime:
2
1 0.4167] 2.917] 17696
.
tr 0.1 sec. Thus Z n 17.7 rad / sec
Zn Zn
2
Zn 15.88
K 12.58 Thus Kt 0.0318
25 500
WithK=12.58and Kt 0.0318, thesystemtransferfunctionis
Y ( s) 313
2

R( s ) s 20.88 s 314.5
UnitstepResponse:
y=0.1whent=0.028sec.
t r 0.131 0.028 0.103 sec.

y max 11
. (10% max. overshoot )
518

521 ClosedLoopTransferFunction: CharacteristicEquation:
Y ( s) 25 K
s 5 500 K t s 25 K
2
2
0
R( s ) s ( 5 500 Kt ) s 25 K
S]
WhenMaximumovershoot=20%, ln 0.2 1.61 S ]
2 2

2.59 1 ]
2

1]
2
Solvingfor] ,weget] 0.456.
TheNaturalundampedfrequencyZ n 25 K 5 500 Kt 2]Z n 0.912Z n
RiseTime:
2
1 0.4167] 2.917] 1.4165 1.4165
tr 0.05 sec. Thus, Z n 28.33
Zn Zn 0.05
2
Zn
K 32.1 5 500 Kt 0.912Z n 25.84 Thus, Kt 0.0417
25
WithK=32.1and Kt 0.0417, thesystemtransferfunctionis
Y ( s) 802.59
2

R( s ) s 25.84 s 802.59
UnitstepResponse:
tr 0.072 0.0178 0.0542 sec.
y max 1.2 ( 20% max. overshoot )
519

522ClosedLoopTransferFunction: CharacteristicEquation:
Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
2
. 0.125] 0.469]
11
Delaytime t d # 0.1 sec.
Zn
1.423
WhenMaximumovershoot=4.3%,] 0.707. td 0.1 sec. ThusZ n 14.23rad/sec.
Zn
Zn
2 2
14.23 5 500 K t 2]Z n 1.414Z n
1512
.
K 8.1 20.12 Thus Kt 0.0302
5 5 500
WithK=20.12and Kt 0.0302 ,thesystemtransferfunctionis
Y ( s) 202.5
2

R( s ) s 20.1s 202.5
UnitStepResponse:
Wheny=0.5,t=0.1005sec.
Thus, t d 0.1005 sec.

y max 1043
. ( 4.3% max. overshoot )

520

Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
2
. 0.125] 0.469]
11 1337
. .
1337
Delaytime t d # 0.05 Thus,Z n 26.74
Zn Zn 0.05
Zn
2 2
26.74 5 500 Kt 2]Z n 2 u 0.59 u 26.74
K 28.6 3155
. Thus Kt 0.0531
5 5
WithK=28.6and Kt 0.0531, the system transfer function is
Y ( s) 715
2

R( s ) s 3155
. s 715
UnitStepResponse:
Thus, t d 0.0505sec.
y max 11007
. (10.07% max. overshoot )

521

Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
ForMaximumovershoot=0.2,] 0.456 .
2
. 0.125] 0.469]
11 1.2545
Delaytime t d 0.01sec.
Zn Zn
Zn
2
1.2545 15737.7
NaturalUndampedFrequencyZ n 125.45rad/sec.Thus, K 629.5
0.01 5 25
5 500 Kt 2]Z n 2 u 0.456 u 125.45 114.41 Thus, Kt 0.2188
WithK=629.5and Kt 0.2188 ,thesystemtransferfunctionis
Y ( s) 15737.7
2

R( s ) s 114.41s 15737.7
UnitstepResponse:
Thus, t d 0.0101sec.
y max 1.2 ( 20% max. overshoot )
522

Y (s) 25 K
s 5 5000 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
] 0.6 2]Z n 5 500 Kt 1.2Z n
3.2 3.2 3.2

Settlingtime t s # 0.1sec.Thus,Z n 53.33 rad / sec
]Z n 0.6Z n 0.06
2
1.2Z n 5 Zn
Kt 0.118 K 113.76
500 25
SystemTransferFunction:
Y ( s) 2844
2

R( s ) s 64 s 2844
UnitstepResponse:
y(t)reaches1.00andneverexceedsthis
valueatt=0.098sec.
Thus, t s 0.098 sec.

523

526(a)ClosedLoopTransferFunction: CharacteristicEquation:
Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
Formaximumovershoot=0.1,] 0.59. 5 500 Kt 2]Z n 2 u 0.59Z n . Z n

118
3.2 3.2 3.2

Settlingtime: t s 0.05 sec. Zn 108.47
]Z n 0.59Z n 0.05 u 0.59
2
. Zn 5
118 Zn
Kt 0.246 K 470.63
500 25
Y ( s) 11765.74
2

R( s ) s 128 s 11765.74
UnitStepResponse:
y(t)reaches1.05andneverexceeds
thisvalueatt=0.048sec.
Thus, t s 0.048 sec.
(b)Formaximumovershoot=0.2,] 0.456. 5 500 Kt 2]Z n 0.912Z n
3.2 3.2 3.2

Settlingtime t s 0.01 sec. Z n 701.75 rad / sec
]Z n 0.456Z n 0.456 u 0.01
0.912Z n 5
Kt 1.27
500
Y ( s) 492453
2

R( s ) s 640 s 492453
UnitStepResponse:
524


y(t)reaches1.05andnever
exceedsthisvalueatt=0.0074sec.
Thus, t s 0.0074 sec. Thisisless
thanthecalculatedvalueof0.01sec.

525

Y (s) 25 K
s 5 500 K t s 25 K
2
0
s 5 500 K t s 25 K
2
R(s)
4.5] 3.1815
Dampingratio] 0.707. Settlingtime t s 0.1sec. Thus,Z n 31815
. rad/sec.
Zn Zn
2
Zn
5 500 Kt 2]Z n 44.986 Thus, Kt 0.08 K 40.488
2]
Y ( s) 1012.2
2

R( s ) s 44.986 s 1012.2
UnitStepResponse:Theunitstepresponsereaches0.95att=0.092sec.whichisthemeasured t s .

526

528(a)When] 0.5 ,therisetimeis
2
1 0.4167] 2.917] 1521
.
tr # 1 sec.ThusZ n 1.521rad/sec.
Zn Zn
Thesecondordertermofthecharacteristicequationiswritten
2 2 2
s 2]Z n s Z n s 1521
. s 2.313 0
3 2
Thecharacteristicequationofthesystemis s ( a 30 ) s 30 as K 0
2
Dividingthecharacteristicequationby s 1521
. s 2.313, wehave

Forzeroremainders, 28.48 a 45.63 Thus, a . K

16 65.874 2.313a 69.58
ForwardPathTransferFunction:
69.58
G( s)
s( s 16
. )( s 30)
UnitStepResponse:
y=0.9whent=1.43sec.

RiseTime:
tr 1.43 0.355 1075

. sec.
527


(b)Thesystemistype1.
(i)Foraunitstepinput, e ss 0.
K 60.58 1
(ii)Foraunitrampinput, K v lim sG ( s ) 1.45 e ss 0.69
so 0 30 a 30 u 16
. Kv
529(a)CharacteristicEquation:
3 2
s 3 s ( 2 K ) s K 0
ApplytheRouthHurwitzcriteriontofindtherangeofKforstability.
RouthTabulation:
3
s 1 2 K
2
s 3 K
6 4K
1
s
3
0
s K
StabilityCondition: 1.5<K<0ThissimplifiesthesearchforKfortwoequalroots.
WhenK=0.27806,thecharacteristicequationrootsare:0.347,
0.347,and2.3054.
(b)UnitStepResponse:(K=0.27806)

528

(c)UnitStepResponse(K=1)

Thestepresponsesin(a)and(b)allhaveanegativeundershootforsmallvaluesoft.Thisisduetothe
zeroofG(s)thatliesintherighthalfsplane.

529

530(a)Thestateequationsoftheclosedloopsystemare:
dx1 dx 2
x1 5x 2 6 x1 k1 x1 k 2 x 2 r
dt dt
Thecharacteristicequationoftheclosedloopsystemis
s 1 5
' s 1 k 2 s 30 5k1 k 2
2
0
6 k1 s k2
2
ForZ n 10 rad / sec, 30 5k1 k 2 Zn 100. Thus 5k1 k 2 70
k2
(b)For] 0.707, 2]Z n 1 k2 . Thus Z n 1 .
1.414
1 k 2
Zn 30 5k1 k 2 59 10 k1
2 2 2
Thus k2
2
(c)ForZ n 10 rad / sec and ] 0.707,
5k1 k 2 100 and 1 k 2 2]Z n 14.14 Thus k 2 1314

.
Solvingfor k1 , we have k1 1137

. .
(d)Theclosedlooptransferfunctionis
Y (s) 5 5

s k 2 1 s 30 5k1 k 2 s 14.14 s 100
2 2
R(s)
5
Foraunitstepinput, lim y ( t ) lim sY ( s ) 0.05
t of so 0 100
(e)Forzerosteadystateerrorduetoaunitstepinput,
30 5k1 k 2 5 Thus 5k1 k 2 25
530

ParameterPlane k1versus k 2 :
531(a)ClosedLoopTransferFunction (b)CharacteristicEquation:
Y (s) 100 K P K D s 2
s 100 K D s 100 K P 0
s 100 K D s 100 K P
2
R(s)
Thesystemisstablefor K P ! 0 and K D ! 0.
(b)For] 1, 2]Z n 100 K D .
Zn 10 K P Thus 2Z n 100 K D 20 K P KD 0.2 K P
(c)Seeparameterplaneinpart(g).
531

(d)Seeparameterplaneinpart(g).
2
(e)Parabolicerrorconstant K a 1000 sec
lim100 K P K D s
2
Ka lim s G ( s ) 100 K P 1000 Thus K P 10
so0 s o0
(f)NaturalundampedfrequencyZ n 50 rad/sec.
Zn 10 K P 50 Thus KP 25
(g)When K P 0,
100 K D s 100 K D
G( s) 2
(polezerocancellation)
s s

532

532(a)ForwardpathTransferFunction:
Y (s) KK i 10 K
G ( s )
E (s) s > Js (1 Ts ) K i K t @
s 0.001s 0.01s 10 K t
2

K 1 Kt
When r ( t ) tu s ( t ), Kv lim sG ( s ) e ss
so 0 Kt Kv K
(b)Whenr(t)=0
Y (s) 1 Ts 1 0.1s

Td ( s ) s > Js (1 Ts ) K i K t @ KK i
s 0.001s 0.01s 10 K t 10 K
2

1 1
For Td ( s ) lim y ( t ) lim sY ( s ) ifthesystemisstable.
s t of so 0 10 K
(c)Thecharacteristicequationoftheclosedloopsystemis
3 2
0.001s 0.01s 0.1s 10 K 0
ThesystemisunstableforK>0.1.SowecansetKtojustlessthan0.1.Then,theminimumvalueof
thesteadystatevalueofy(t)is
1
1
10 K K 0.1

However,withthisvalueofK,thesystemresponsewillbeveryoscillatory.Themaximumovershoot
willbenearly100%.
(d)ForK=0.1,thecharacteristicequationis
3 2 3 2 4
0.001s 0.01s 10 Kt s 1 0 or s 10 s 10 Kt s 1000 0
533

Forthetwocomplexrootstohaverealpartsof2/5.weletthecharacteristicequationbewrittenas

s a s 5s b
2
0 or s ( s 5) s (5a b) s ab
3 2
0
4
Then, a 5 10 a 5 ab 1000 b 200 5a b 10 Kt Kt 0.0225
Thethreerootsare: s a 5 s a 5 s 2.5 r j13.92

5-33) Rise time:

Peak time:

Maximum overshoot:

Settling time:

534

5-34)
K
s ( Js a KK f )

= 0.456

n = 0.353

535

5-35) a)

Substituting into equation (2) gives:

Since the system is multi input and multi output, there are 4 transfer functions as:

To find the unit step response of the system, lets consider

By looking at the Laplace transform function table:
where
b)
536

Therefore:

As a result:

which means:

The unit step response is:

Therefore as a result:

where n = 1 and n = 1 / 2
c)
Therefore:

As a result, the step response of the system is:
By looking up at the Laplace transfer function table:
537


where n = 1, and 2 n = 1 = 1 / 2

where = cos-1 (2 2 -1) = cos-1(0.5), therefore,
5-36) MATLAB CODE

(a)
clear all
Amat=[-1 -1;6.5 0]
Bmat=[1 1;1 0]
Cmat=[1 0;0 1]
Dmat=[0 0;0 0]
disp(' State-Space Model is:')
Statemodel=ss(Amat,Bmat,Cmat,Dmat)
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial:')
chareq=poly(Amat);
%p = poly(A) where A is an n-by-n matrix returns an n+1 element

%row vector whose elements are the coefficients of the characteristic
%polynomialdet(sI-A). The coefficients are ordered in descending powers.
[mchareq,nchareq]=size(chareq);
syms 's';
poly2sym(chareq,s)
disp(' Equivalent Transfer Function Model is:')
Hmat=Cmat*inv(s*eye(2)-Amat)*Bmat+Dmat
Since the system is multi input and multi output, there are 4 transfer functions as:
To find the unit step response of the system, lets consider
538

Lets obtain this term and find Y2(s) time response for a step input.
H22=Hmat(2,2)
ilaplace(H22/s)
Pretty(H22)
H22poly=tf([13/2],chareq)
step(H22poly)
H22 =
13/(2*s^2+2*s+13)
ans =
1-1/5*exp(-1/2*t)*(5*cos(5/2*t)+sin(5/2*t))
13
---------------
2
2 s + 2 s + 13
Transfer function:
6.5
-------------
s^2 + s + 6.5
To find the step response H11, H12, and H21 follow the same procedure.
Other parts are the same.
539

5-37) Impulse response:

a) and , therefore,

b)

c)

-1
where = cos
5-38) Use the approach in 5-36 except:

H22=Hmat(2,2)
ilaplace(H22)
Pretty(H22)
H22poly=tf([13/2],chareq)
impulse(H22poly)
H22 =
13/(2*s^2+2*s+13)
ans =
13/5*exp(-1/2*t)*sin(5/2*t)
13
---------------
2
2 s + 2 s + 13
Transfer function:
6.5
-------------
s^2 + s + 6.5
540

Other parts are the same.
5-39) a) The displacement of the bar is:
Then the equation of motion is:

As x is a function of and changing with time, then

If is small enough, then sin
and cos
1. Therefore, the equation of motion is
rewritten as:
541

(b) To find the unit step response, you can use the symbolic approach shown in Toolbox 2-1-1:
clear all
%s=tf(s);
syms s B L K
Theta=B*s/s/L/(B*s+K)
ilaplace(Theta)
Theta =
B/L/(B*s+K)
ans =
1/L*exp(-K*t/B)
Alternatively, assign values to B L K and find the step response see solution to problem 5-36.
540(a) Kt 10000 oz - in / rad
TheForwardPathTransferFunction:
9 u 10 K
12
G(s)

s s 5000 s 1.067 u 10 s 50.5 u 10 s 5.724 u 10
4 3 7 2 9 12

9 u 10 K
12
s ( s 116)( s 4883)( s 41.68 j 3178.3)( s 41.68 j 3178.3)
RouthTabulation:
5 7 12
s 1 1.067 u 10 5.724 u 10
4 9 12
s 5000 50.5 u 10 9 u 10 K

3 5 12 9
s 5.7 u 10 5.72 u 10 18
. u 10 K 0
2 8 7 12
s 2.895 u 10 1579
. u 10 K 9 u 10 K
13 12 9 2
1 16.6 u 10 8.473 u 10 K 2.8422 u 10 K
s
29 1579
. K
0 12
s 9 u 10 K
542


1 2
Fromthe s row,theconditionofstabilityis165710 8473 K 2.8422 K ! 0
2
or K 298114
. K 58303.427 0 or ( K 19.43)( K 3000.57 ) 0
StabilityCondition: 0<K<3000.56
ThecriticalvalueofKforstabilityis3000.56.WiththisvalueofK,therootsofthecharacteristic
equationare: 4916.9,41.57+j3113.3,41.57+j3113.3,j752.68,andj752.68
(b) K L 1000 ozin/rad.Theforwardpathtransferfunctionis
9 u 10 K
11
G(s)

s s 5000 s 1.582 u 10 s 5.05 u 10 s 5.724 u 10
4 3 6 2 9 11

9 u 10 K
11
s (1 116.06)( s 4882.8)( s 56.248 j1005)( s 56.248 j1005)
(c)CharacteristicEquationoftheClosedLoopSystem:
5 4 6 3 9 2 11 11
s 5000 s 1.582 u 10 s 5.05 u 10 s 5.724 u 10 s 9 u 10 K 0

RouthTabulation:
5 6 11
s 1 1.582 u 10 5.724 u 10
4 9 11
s 5000 5.05 u 10 9 u 10 K

3 5 11 8
s 5.72 u 10 5.724 u 10 18
. u 10 K 0
2 7 6 11
s 4.6503 u 10 15734
. u 10 K 9 u 10 K
18 15 14 2
1 26.618 u 10 377.43 u 10 K 2.832 u 10 K
s 7 6
4.6503 u 10 15734
. u 10 K
0 11
s 9 u 10 K
543

1 4 2
Fromthe s row,theconditionofstabilityis 26.618 u 10 3774.3 K 2.832 K ! 0
2
Or, K 1332.73 K 93990 0 or ( K 1400 )( K 67.14 ) 0
StabilityCondition: 0<K<1400
ThecriticalvalueofKforstabilityis1400.WiththisvalueofK,thecharacteristicequationrootare:
4885.1,57.465+j676,57.465j676,j748.44,andj748.44
(c) K L f.
ForwardPathTransferFunction:
nK s K i K
Jm n JL
2
G(s) JT
s La J T s Ra J T Rm La s Ra Bm K i K b
2
891100 K 891100 K

s s 5000 s 566700
2
s ( s 116)( s 4884)
CharacteristicEquationoftheClosedLoopSystem:

3 2
s 5000 s 566700 s 891100 K 0

RouthTabulation:
3
s 1 566700
2
s 5000 891100 K

1
s 566700 178.22 K
0
s 8991100 K
1
Fromthe s row,theconditionofKforstabilityis566700178.22K>0.
544

StabilityCondition: 0<K<3179.78
ThecriticalvalueofKforstabilityis3179.78.WithK=3179.78,thecharacteristicequationrootsare
5000,j752.79,andj752.79.
Whenthemotorshaftisflexible, K L isfinite,twooftheopenlooppolesarecomplex.Astheshaft
becomesstiffer, K L increases,andtheimaginarypartsoftheopenlooppolesalsoincrease.When
K L f ,theshaftisrigid,thepolesoftheforwardpathtransferfunctionareallreal.Similareffects
areobservedfortherootsofthecharacteristicequationwithrespecttothevalueof K L .
541(a)
100( s 2 )
Gc ( s ) 1 G( s) 2
Kp lim G ( s ) 200
s 1 so 0
Whend(t)=0,thesteadystateerrorduetoaunitstepinputis
1 1 1
e ss 0.005025
1 K p 1 200 199
(b)
s D 100( s 2)( s D )
Gc ( s ) G(s) Kp f ess 0
s
s s 1
2

(c)
D 5 maximum overshoot = 5.6%
D = 50 maximum overshoot = 22%
D = 500 maximum overshoot = 54.6%
545

AsthevalueofD increases,themaximumovershootincreasesbecausethedampingeffectofthe
zeroat s D becomeslesseffective.
UnitStepResponses:
1
(d) r ( t ) 0 and Gc ( s ) 1. d ( t ) us (t ) D( s )
s
SystemTransferFunction:(r=0)
Y ( s) 100( s 2)
3 2

D( s ) r 0
s 100 s (199 100D ) s 200D
OutputDuetoUnitStepInput:
100( s 2 )
Y ( s)
3 2
s s 100 s (199 100D ) s 200D
200 1
y ss lim y ( t ) lim sY ( s )
t of so 0 200D D
(e) r ( t ) 0, d ( t ) us (t )
s D
Gc ( s )
s
546

SystemTransferFunction[r(t)=0]
Y ( s) 100 s( s 20 1
3 2
D( s )
D( s ) r 0
s 100 s (199 100D ) s 200D s

y ss lim y ( t ) lim sY ( s ) 0
t of so 0
(f)
Y ( s) 100 s( s 2 )
D 5 3 2
D( s ) r 0
s 100 s 699 s 1000
Y ( s) 100 s( s 2)
D 50 3 2

D( s ) r 0
s 100 s 5199 s 10000
Y ( s) 100 s( s 2)
D 5000 3 2
D( s ) r 0
s 100 s 50199 s 100000

UnitStepResponses:
(g)AsthevalueofD increases,theoutputresponsey(t)duetor(t)becomesmoreoscillatory,andthe
overshootislarger.AsthevalueofD increases,theamplitudeoftheoutputresponsey(t)duetod(t)
becomessmallerandmoreoscillatory.
547

542(a)ForwardPathTransferfunction: CharacteristicEquation:
H ( s) 10 N N 2
G ( s ) # s s N 0
E ( s) s( s 1)( s 10) s( s 1)

N=1:CharacteristicEquation: s s 1 0
2
] 0.5 Zn 1rad/sec.
S]
1]
2
S
Maximum overshoot = e 0.163 (16.3%)Peaktime t max 3.628 sec.
2
Z n 1 ]
2
N=10:CharacteristicEquation: s s 10 0 ] 0.158 Zn 10 rad/sec.
S]
1]
2
S
Maximumovershoot e 0.605 (60.5%)Peaktime t max .
1006 sec.
2
Z n 1 ]
(b)UnitStepResponse:N=1

548


SecondorderSystem ThirdorderSystem
Maximumovershoot 0.163 0.206
Peaktime 3.628sec. 3.628sec.
UnitStepResponse:N=10
SecondorderSystem ThirdorderSystem
Maximumovershoot 0.605 0.926
Peaktime 1.006sec. 1.13sec.

549

543UnitStepResponses:
When Tz issmall,theeffectislowerovershootduetoimproveddamping.WhenTz isverylarge,the
overshootbecomesverylargeduetothederivativeeffect.Tz improvestherisetime,since1 Tz s isa
derivativecontrolorahighpassfilter.
550

544UnitStepResponses
1
Theeffectofaddingthepoleat s toG(s)istoincreasetherisetimeandtheovershoot.Thesystemis
Tp
lessstable.WhenT p ! 0.707 ,theclosedloopsystemisstable.

551

5-45) You may use the ACSYS software developed for this book. For description refer to Chapter 9. We
use a MATLAB code similar to toolbox 2-2-1 and those in Chapter 5 to solve this problem.
(a) Using Toolbox 5-9-3

clear all
num = [];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
t=0:0.001:15;
step(G,t);
hold on;
for Tz=[1 5 20];
t=0:0.001:15;
num = [-1/Tz];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
step(G,t);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
1
------------------
s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+1)
------------------
s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.2)
------------------
s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.05)
------------------
s (s+0.55) (s+1.5)
552

(b)
clear all
for Tz=[0 1 5 20];
t=0:0.001:15;
num = [Tz 1];
den = [1 2 2];
G=tf(num,den)
step(G,t);
hold on;
end
ylabel('y(t)')
Transfer function:
1
-------------
s^2 + 2 s + 2
Transfer function:
s + 1
-------------
s^2 + 2 s + 2
Transfer function:
5 s + 1
-------------
s^2 + 2 s + 2
553

Transfer function:
20 s + 1
-------------
s^2 + 2 s + 2
Follow the same procedure for other parts.
5-46) Since the system is linear we use superposition to find Y, for inputs X and D
First, consider D = 0
kK
Js a
Kf
Then

554

Kk
s ( Js a KK f k )

According to above block diagram:
Now consider X = 0, then:
k
K Kf
1
Js a s
Accordingly,

and

In this case, E(s) = D-KY(s)

555

Now the steady state error can be easily calculated by:

(c) The overall response is obtained through superposition
Y ( s) Y ( s) D 0 Y (s) X 0
y (t ) y (t ) d (t ) 0 y (t ) x (t ) 0

MATLAB
clear all
syms s K k J a Kf
X=1/s;
D=1/s^2
Y=K*k*X/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)*D/(s*(J*s+a)+k*(Kf+s)*K)
ilaplace(Y)
D =
1/s^2
Y =
K*k/s/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)/s^2/(s*(J*s+a)+k*(Kf+s)*K)
ans =
1+t/K+1/k/K^2/Kf/(a^2+2*a*K*k+K^2*k^2-
4*J*K*k*Kf)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2))*exp(-
1/2*(a+K*k)/J*t)*(a^2+a*K*k-2*J*K*k*Kf)-cosh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^2-
4*J*K*k)^(1/2))*exp(-1/2*(a+K*k*Kf)/J*t)-(a+K*k*Kf)/(a^2+2*a*K*k*Kf+K^2*k^2*Kf^2-
4*J*K*k)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^2-4*J*K*k)^(1/2))*exp(-
1/2*(a+K*k*Kf)/J*t)+1/k/K^2/Kf*a*(-1+exp(-
1/2*(a+K*k)/J*t)*cosh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2)))
556

f
5-47)(a)Findthe e(t )dt whene(t)istheerrorintheunitstepresponse.
0
f
Asthesystemisstablethen 0
e(t )dt willconvergetoaconstantvalue:
f E ( s)
0
e(t )dt lim s
s o0 s
lim E ( s )
s o0
Y ( s) G ( s) ( A1 s 1)( A2 s 1)...( An s 1)
ndm
X ( s) 1 G ( s) ( B1 s 1)( B2 s 1)...( Bm s 1)
Try to relate this to Equation (5-40).
G ( s) 1
E s X ( s) Y ( s) X (s) X (s) X (s)
1 G ( s) 1 G (s)
( A1s 1)( A2 s 1)...( An s 1) ( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
1 X (s) X (s)
( B1s 1)( B2 s 1)...( Bm s 1) ( B1s 1)( B2 s 1)...( Bm s 1)
1 ( B s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
lim E ( s ) lim 1
s o0 s o0 s
( B1s 1)( B2 s 1)...( Bm s 1)
B1 B2 Bm A1 A2 An
( B1s 1)( B2 s 1)...( Bm s 1)

G ( s) 1
( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
( A1s 1)( A2 s 1)...( An s 1)
G ( s)
( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
1 ( A s 1)( A2 s 1)...( An s 1)
ess lim s 1 1 0
s o0 s ( B1s 1)( B2 s 1)...( Bm s 1)
557

1 1
(b)Calculate
K lim sG ( s )
so 0
Recall
G ( s) 1
E s X ( s) Y ( s) X ( s) X (s) X (s)
1 G(s) 1 G(s)
Hence

1 1 1 1
lim E s lim X ( s ) lim lim
s o0 s o0 1 G ( s ) s o 0 s sG ( s ) s o0 sG ( s ) Kv
Ramp Error Constant
558

5-48)
Comparing with the second order prototype system and matching denominators:

Let = 0.4 and n = 80
Then

clear all
p=29;
K=56.25;
num = [10 10*K];
den = [1 35+p 25*p+10*K];
G=tf(num,den)
step(G);
ylabel('y(t)')
Transfer function:
10 s + 562.5
-----------------
s^2 + 64 s + 1288
559

5-49) According to the maximum overshoot:

which should be less than t, then

or

jZ
S /t
Zn 1 [ 2
S /t Zn 1 [ 2
560

5-50) Using a 2nd order prototype system format, from Figure 5-15, n is the radial distance from the
complex conjugate roots to the origin of the s-plane, then n with respect to the origin of the
shown region is n
3.6.
Therefore the natural frequency range in the region shown is around 2.6 n 4.6
On the other hand, the damping ratio at the two dashed radial lines is obtained from:

The approximation from the figure gives:
Therefore 0.56 0.91
b)
As Kp=2, then:
If the roots of the characteristic equations are assumed to be lied in the centre of the shown
region:
Comparing with the characteristic equation:

c) The characteristic equation
is a second order polynomial with two roots. These two roots can be determined by two terms
2(p+KKp) and KKpKI which includes four parameters. Regardless of the p and Kp values, we can
always choose K and so that to place the roots in a desired location.
561


5-51) a)

By substituting the values:

b) Speed of the motor is

(c)

d)

As a result:

e) As , then, = 0.404

According to the transfer function, , then
where K<0.0845

f) As , then ,

as , therefore;
562

g) MATLAB
clear all
for K=[0.5 1 2];
t=0:0.001:15;
num = [0.2*K];
den = [1 0.109 0.2*K];
G=tf(num,den)
step(G,t);
hold on;
end
ylabel('y(t)')
Transfer function:
0.1
-------------------
s^2 + 0.109 s + 0.1
Transfer function:
0.2
-------------------
s^2 + 0.109 s + 0.2
Transfer function:
0.4
-------------------
s^2 + 0.109 s + 0.4
563

Rise time decreases with K increasing.
Overshoot increases with K.
564


5-52) , therefore, = 0.59

As , then,

Therefore:
If p is a non-dominant pole; therefore comparing both sides of above equation and:
If we consider p = 10a (non-dominant pole), = 0.6 and n = 4, then:

clear all
K=160;
a=8.3;
b=89.8;
p=83;
num = [K K*a];
den = [1 3+b 3*b+K K*a];
G=tf(num,den)
step(G);
ylabel('y(t)')
Transfer function:
160 s + 1328
-------------------------------
s^3 + 92.8 s^2 + 429.4 s + 1328
565

Both Overshoot and settling time values are met. No need to adjust parameters.
5-53) For the controller and the plant to be in series and using a unity feedback loop we have:
MATLAB
USE toolbox 5-8-3
clearall
num=[123];
denom=[3+sqrt(940)3sqrt(940)0.02+sqrt(.004.07)0.02sqrt(.004.07)10];
G=zpk(num,denom,60)
rlocus(G)

Zero/pole/gain:
60(s+1)(s+2)(s+3)

(s+10)(s^2+0.04s+0.0664)(s^2+6s+40)
566


Notethesystemhastwodominantcomplexpolesclosetotheimaginaryaxis.Letszoomintherootlocusdiagramand
usethecursortofindtheparametervalues.
567


AsshownforK=0.933thedominantclosedlooppolesareat0.46j0.626ANDOVERSHOOTIS
ALMOST10%.

IncreasingKwillpushthepolesclosertowardslessdominantzerosandpoles.Asaprocessthedesignprocessbecomesless
trivialandmoredifficult.

Toconfirmuse
M=feedback(G*.933,1)%Seetoolbox542
step(M)
Zero/pole/gain:
55.98(s+3)(s+2)(s+1)
(s+7.048)(s^2+0.9195s+0.603)(s^2+8.072s+85.29)
568


Toreducerisetime,thepoleshavetomovetolefttomakethesecondarypolesmoredominant.As
aresultthelittlebumpinthelefthandsideoftheabovegraphshouldrise.TryK=3:

>>M=feedback(G*3,1)

Zero/pole/gain:
180(s+3)(s+2)(s+1)

(s+5.01)(s^2+1.655s+1.058)(s^2+9.375s+208.9)

>>step(M)
**Try a higher K value, but looking at the root locus and the time plots, it appears that the
overshoot and rise time criteria will never be met simultaneously.
569


K=5
M=feedback(G*5,1) %See toolbox 5-4-2

step(M)
Zero/pole/gain:
300 (s+3) (s+2) (s+1)
---------------------------------------------------------
(s+4.434) (s^2 + 1.958s + 1.252) (s^2 + 9.648s + 329.1)
570

571

5-54) ForwardpathTransferFunction:
M ( s) K
G( s) 3 2

1 M ( s) s ( 20 a ) s ( 200 20a ) s 200a K
Fortype1system, 200a K 0 ThusK=200a
Ramperrorconstant:
K 200 a
K v lim sG ( s ) 5 Thusa=10 K=2000
so 0 200 20a 200 20 a
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
>>solve(5*200+5*20*a200a)
ans=
10
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i
Theforwardpathtransferfunctionis Thecontrollertransferfunctionis
572

G ( s )
2000
Gc ( s )
G(s)
20 s 10 s 100
2

s s 30 s 400
2
Gp (s) s 2
30 s 400
Themaximumovershootoftheunitstepresponseis0percent.
MATLAB
clear all
K=2000;
a=10;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
ylabel('y(t)')
Zero/pole/gain:
2000
-------------------------
(s+10) (s^2 + 20s + 200)
Clearly PO=0.
573

5-55)
ForwardpathTransferFunction:
M ( s) K
G( s) 3 2

1 M ( s) s ( 20 a ) s ( 200 20a ) s 200a K
Fortype1system, 200a K 0 ThusK=200a
Ramperrorconstant:
K 200 a
K v lim sG ( s ) 9 Thusa=90 K=18000
so 0 200 20a 200 20 a
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
solve(9*200+9*20*a200*a)
ans=
90
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i
Theforwardpathtransferfunctionis Thecontrollertransferfunctionis
574

G ( s )
18000
Gc ( s )
G(s)
180 s 10 s 100
2

s s 110 s 2000
2
Gp ( s) s 110s 2000
2
Themaximumovershootoftheunitstepresponseis4.3percent.
Fromtheexpressionfortheramperrorconstant,weseethatasaorKgoestoinfinity, Kv approaches10.
Thusthemaximumvalueof Kv thatcanberealizedis10.ThedifficultieswithverylargevaluesofKand
aarethatahighgainamplifierisneededandunrealisticcircuitparametersareneededforthecontroller.
clear all
K=18000;
a=90;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
ylabel('y(t)')
Zero/pole/gain:
18000
-------------------------
(s+90) (s^2 + 20s + 200)
PO is less than 4.
575

5-56)(a)RamperrorConstant:
MATLAB
clearall
symssKpKdkv
Gnum=(Kp+Kd*s)*1000
Gden=(s*(s+10))
G=Gnum/Gden
Kv=s*G
s=0
eval(Kv)

Gnum=
1000*Kp+1000*Kd*s

Gden=
s*(s+10)

G=
(1000*Kp+1000*Kd*s)/s/(s+10)

Kv=
(1000*Kp+1000*Kd*s)/(s+10)

s=
0

ans=
100*Kp
1000 K P K D s 1000 K P
Kv lim s 100 K P 1000 Thus KP 10
s o0 s ( s 10) 10
Kp=10
clears
symss
Mnum=(Kp+Kd*s)*1000/s/(s+10)
Mden=1+(Kp+Kd*s)*1000/s/(s+10)
576

Kp=
10
Mnum=
(10000+1000*Kd*s)/s/(s+10)
Mden=
1+(10000+1000*Kd*s)/s/(s+10)
ans=
(s^2+10*s+10000+1000*Kd*s)/s/(s+10)
s 10 1000 K D s 1000 K P
2
CharacteristicEquation: 0
Matchwitha2ndorderprototypesystem
Z n 1000 K P 10000 100 rad/sec 2]Z n 10 1000 K D 2 u 0.5 u 100 100
solve(10+1000*Kd100)
ans=
9/100
90
Thus KD 0.09
1000
Usethesameprocedureforotherparts.
(b)For K v 1000 and ] 0.707 ,andfrompart(a),Z n 100 rad/sec,
131.4
2]Z n 10 1000 K D 2 u 0.707 u 100 141.4 Thus KD 0.1314
1000
(c)For K v 1000 and ] = 1.0 ,andfrompart(a),Z n 100 rad/sec,
190
2]Z n 10 1000 K D 2 u 1 u 100 200 Thus KD 0.19
1000
577

5-57)Theramperrorconstant:
1000 K P K D s
Kv lim s 100 K P 10, 000 Thus K P 100
s o0 s ( s 10)
1000 100 K D s
Theforwardpathtransferfunctionis: G(s)
s ( s 10)
clear all
for KD=0.2:0.2:1.0;
num = [-100/KD];
den = [0 -10];
G=zpk(num,den,1000);
M=feedback(G,1)
step(M);
hold on;
end
ylabel('y(t)')
Zero/pole/gain:
1000(s+500)
(s^2+1010s+5e005)
Zero/pole/gain:
1000(s+250)
(s+434.1)(s+575.9)
Zero/pole/gain:
1000(s+166.7)
(s+207.7)(s+802.3)
578

Zero/pole/gain:
1000(s+125)
(s+144.4)(s+865.6)
Zero/pole/gain:
1000(s+100)
(s+111.3)(s+898.7)

UsethecursortoobtainthePOandtrvalues.
ForpartbthemaximumvalueofKDresultsintheminimumovershoot.
579

5-58)(a)ForwardpathTransferFunction:
4500 K K P K D s
G(s) Gc ( s )G p ( s )
s ( s 361.2)
4500 KK P
RampErrorConstant: Kv lim sG ( s ) 12.458 KK P
so 0 361.2
1 0.0802
e ss d 0.001Thus KK P t 80.2 Let K P 1 and K 80.2
Kv KK P
clear all
KP=1;
K=80.2;
figure(1)
num = [-KP];
den = [0 -361.2];
G=zpk(num,den,4500*K)
M=feedback(G,1)
step(M)
hold on;
for KD=00.0005:0.0005:0.002;
num = [-KP/KD];
den = [0 -361.2];
G=zpk(num,den,4500*K*KD)
M=feedback(G,1)
step(M)
end
ylabel('y(t)')

580


581

KD tr(sec) ts (sec) MaxOvershoot(%)
0 0.00221 0.0166 37.1
0.0005 0.00242 0.00812 21.5
0.0010 0.00245 0.00775 12.2
0.0015 0.0024 0.0065 6.4
0.0016 0.00239 0.00597 5.6
0.0017 0.00238 0.00287 4.8
0.0018 0.00236 0.0029 4.0
0.0020 0.00233 0.00283 2.8
582

5-59)TheforwardpathTransferFunction:N=20
200 K P K D s
G(s)
s ( s 1)( s 10)
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P 0.05
200 0.05 K D s
G(s)
s ( s 1)( s 10)
ALSO try other Kp values and compare your results.
clear all
figure(1)
KD=0
num = [];
den = [0 -1 -10];
G=zpk(num,den,200*0.05)
M=feedback(G,1)
step(M)
hold on;
for KD=0.01:0.01:0.1;
KD
num = [-0.05/KD];
G=zpk(num,den,200*KD)
M=feedback(G,1)
step(M)
end
ylabel('y(t)')

KD=
0

Zero/pole/gain:
10

s(s+1)(s+10)

Zero/pole/gain:
10

(s+10.11)(s^2+0.8914s+0.9893)

KD=
0.0100
583

Zero/pole/gain:
2(s+5)

s(s+1)(s+10)

Zero/pole/gain:
2(s+5)

(s+9.889)(s^2+1.111s+1.011)

KD=
0.0200

Zero/pole/gain:
4(s+2.5)

s(s+1)(s+10)

Zero/pole/gain:
4(s+2.5)

(s+9.658)(s^2+1.342s+1.035)

KD=
0.0300

Zero/pole/gain:
6(s+1.667)

s(s+1)(s+10)

Zero/pole/gain:
6(s+1.667)

(s+9.413)(s^2+1.587s+1.062)

KD=
0.0400

Zero/pole/gain:
8(s+1.25)

s(s+1)(s+10)

Zero/pole/gain:
8(s+1.25)

(s+9.153)(s^2+1.847s+1.093)
584

KD=
0.0500

Zero/pole/gain:
10(s+1)

s(s+1)(s+10)

Zero/pole/gain:
10(s+1)

(s+8.873)(s+1.127)(s+1)

KD=
0.0600

Zero/pole/gain:
12(s+0.8333)

s(s+1)(s+10)

Zero/pole/gain:
12(s+0.8333)

(s+8.569)(s+1.773)(s+0.6582)

KD=
0.0700

Zero/pole/gain:
14(s+0.7143)

s(s+1)(s+10)

Zero/pole/gain:
14(s+0.7143)

(s+8.232)(s+2.221)(s+0.547)

KD=
0.0800

Zero/pole/gain:
16(s+0.625)

s(s+1)(s+10)

Zero/pole/gain:
16(s+0.625)

(s+7.85)(s+2.673)(s+0.4765)
585

KD=
0.0900

Zero/pole/gain:
18(s+0.5556)

s(s+1)(s+10)

Zero/pole/gain:
18(s+0.5556)

(s+7.398)(s+3.177)(s+0.4255)

KD=
0.1000

Zero/pole/gain:
20(s+0.5)

s(s+1)(s+10)

Zero/pole/gain:
20(s+0.5)

(s+0.3861)(s+3.803)(s+6.811)
586

UnitstepResponseAttributes:
KD ts(sec) MaxOvershoot(%)
0.01 5.159 12.7
0.02 4.57 7.1
0.03 2.35 3.2
0.04 2.526 0.8
0.05 2.721 0
0.06 3.039 0
0.10 4.317 0
When K D 0.05 therisetimeis2.721sec,andthestepresponsehasnoovershoot.
587

5-60) (a)For e ss 1,
200 K P K D s
Kv lim sG ( s ) lim s 20 K P 1 Thus K P 0.05
s o0 so0 s ( s 1)( s 10)

200 0.05 K D s
G ( s )
s ( s 1)( s 10)
Because of the choice of Kp this is the same as previous part.
5-61)
(a)ForwardpathTransferFunction:

100 K P
KI
100 K P s K I
G ( s )
s
For K v 10, Kv lim sG ( s ) lim s KI 10
s 10 s 100
2
s o0 s o0

s s 10 s 100
2

Thus K I 10.
100 K P s K I 100 K P s 10
Gcl ( s )
s 10 s 100 s 100 K P s K I
2 2
s 10 s 100(1 K P ) s 1000
3 3
(b)Letthecomplexrootsofthecharacteristicequationbewrittenas s V j15 and s V j15.
Thequadraticportionofthecharacteristicequationis
s 2V s V 225
2 2
0
s 10 s 100 100 K P s 1000

3 2
Thecharacteristicequationofthesystemis 0
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
588

s (10 2V )
s 2V s V 225 s 10 s 100 100 K P s 1000

2 2 3 2
s 2V s V 225 s
3 2
2

(10 2V ) s 100 K P V 125 s 1000
2
2

(10 2V ) s 20V 4V s (10 2V ) s 225
2 2 2
100 K P
3V 20V 125 s 2V 10V 450V 1250
2
3 2
3 2
Forzeroremainder, 2V 10V 450V 1250 0 (1)
2
and 100 K P 3V 20V 125 0 (2)
TherealsolutionofEq.(1)isV 2.8555 .FromEq.(2),
2
125 20V 3V
KP 15765
.
100
Thecharacteristicequationrootsare: s 2.8555 j15, 2.8555 j15, and s 10 2V 4.289
(c)RootContours:
Dividingbothsidesof s 10 s 100 100 K P s 1000

3 2
0 bythetermsthatdonotcontainKpwehave:
100 K P s
1 1 Geq
s 10 s 100 s 1000
3 2
100 K P s 100 K P s
Geq ( s )
s 10 s 100 s 1000
3 2
s 10 s 2
100
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 1000];
rlocus(num,den)
589

590

5-62) (a)ForwardpathTransferFunction:

100 K P
KI
100 K P s K I
G ( s )
s For K 10, Kv lim sG ( s ) lim s KI 10
s 10 s 100
2 v
s o0 s o0

s s 10 s 100
2

Thustheforwardpathtransferfunctionbecomes
100 10 K P s
G(s)

s s 10 s 100
2

100 K P s K I 100 K P s 10
Gcl ( s )
s 10 s 100 s 100 K P s K I
2 2
s 10 s 100(1 K P ) s 1000
3 3

clear all
for Kp=.4:0.4:2;
num = [100*Kp 1000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL);
step(GCL)
hold on;
end
591

Usethecursertofindthemaximumovershootandrisetime.ForexamplewhenKp=2,PO=43andtr100%=0.152
sec.
Transferfunction:
200s+1000
s^3+10s^2+300s+1000
592

5-63)
100 K P s K I
G(s)

s s 10 s 100
2

For K v 100,
100 K P s K I
K v lim sG ( s ) lim s KI 100 Thus K I 100.
s o0 s o0

s s 10 s 100
2

s 10 s 100 100 K P s 100 K I
3 2
(b)Thecharacteristicequationis 0
RouthTabulation:
3
s 1 100 + 100 K P
2
s 10 10,000
Forstability, 100 K P 900 ! 0 Thus KP ! 9
1
s 100 K P 900 0
0
s 10,000
7. ActivateMATLAB
9. Typein
Acsys
10. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
11. ThenpresstheRouthHurwitzbutton
593


RH=
[1,100+100*kp]
[10,10000]
[900+100*kp,0]
[(9000000+1000000*kp)/(900+100*kp),0]

594

RootContours:
100 K P s 100 K P s
Geq ( s ) 3 2

s 10 s 100 s 10,000 ( s 23.65)( s 6.825 j19.4)( s 6.825 j19.4)
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 10000];
rlocus(num,den)
595

(c) K I 100
100 K P s 100
G(s)

s s 10 s 100
2

Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
clear all
Kp=[15 20 22 24 25 26 30 40 100 1000];
[N,M]=size(Kp);
for i=1:M
num = [100*Kp(i) 10000];
den = [1 10 100 0];
GCL=tf(numCL,denCL);
figure(i)
step(GCL)
end
KP 15 20 22 24 25 26 30 40 100 1000
596

ymax 1.794 1.779 1.7788 1.7785 1.7756 1.779 1.782 1.795 1.844 1.859
WhenKP=25,minimumymax=1.7756
Use: close all to close all the figure windows.
597

5-64) MATLAB solution is the same as 5-63.
100 K P s K I 100 K I
G(s) For K v 10, KI 10

s s 10 s 100
2
100
(b)CharacteristicEquation:
P
s3 10 s 2 100 K 1 s 1000 0
RouthTabulation:

3
s 1 100 + 100 K P
2
s 10 1000
Forstability,KP>0
1
s 100 K P 0
0
s 1000
RootContours:
100 K P s
Geq ( s ) 3 2

s 10 s 100 s 1000

598

(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.
KP 0.5 1.0 1.6 1.7 1.8 1.9 2.0 3.0 5.0 10 20
ymax 1.393 1.275 1.2317 1.2416 1.2424 1.2441 1.246 1.28 1.372 1.514 1.642

WhenKP=1.7,maximumymax=1.2416
5-65)
KDs KPs KI
1 K s K
KI 2
2
KI
Gc ( s ) K P K D s
s
D1 P2
s s
where
KP K P 2 K D1 K I 2 KD K D1 K P 2 KI KI 2
G(s) Gc ( s )G p ( s )
100 K D s2 KP s KI

s s 10 s 100
2

Andrenametheratios: K D / K P A, K I / K P B
Thus
KI
Kv lim sG ( s ) 100 100
s o0 100
KI 100
599

ForKDbeingsufficientlysmall:
ForwardpathTransferFunction: CharacteristicEquation:
100 K P s 100
s 10 s 100 100 K P s 10, 000
3 2
G ( s ) 0

s s 10 s 100
2

Forstability,Kp>9.SelectKp=10andobservetheresponse.
clear all
Kp=10;
num = [100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
1000 s + 10000
-----------------------------
s^3 + 10 s^2 + 1100 s + 10000
ObviouslybyincreasingKpmoreoscillationswilloccur.AddKDtoreduceoscillations.
clear all
Kp=10;
Kd=2;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
5100

Transfer function:
200 s^2 + 1000 s + 10000
------------------------------
s^3 + 210 s^2 + 1100 s + 10000
UnitstepResponse
Therisetimeseemsreasonable.ButweneedtoincreaseKptoimproveapproachtosteadystate.
IncreaseKptoKp=30.
clear all
Kp=30;
Kd=1;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
100 s^2 + 3000 s + 10000
------------------------------
s^3 + 110 s^2 + 3100 s + 10000
5101

To obtain a better response continue adjusting KD and KP.
5102

5-66) This problem has received extended treatment in Chapter 6, Control Lab see Section 6-6.
For the sake simplicity, this problem we assume the control force f(t) is applied in parallel to the
spring K and damper B. We will not concern the details of what actuator or sensors are used.
Lets look at Figure 4-84 and equations 4-322 and 4-323.
xc
mc
mc
ks cs
ks cs x
xw m
mw
mw k c
kw kw cw
y y
cw
(a) (b) (c)
Figure 4-84 Quarter car model realization: (a) quarter car, (b) 2 degree of
freedom, and (c) 1 degree of freedom model.
Theequationofmotionofthesystemisdefinedasfollows:
mx(t ) cx (t ) kx (t ) cy (t ) ky (t ) (4-322)
whichcanbesimplifiedbysubstitutingtherelationz(t)=x(t)y(t)andnondimensionalizingthecoefficientsto
theform
z (t ) 2]Z n z (t ) Z n 2 z (t )

y (t ) (4-323)
TheLaplacetransformofEq.(4323)yieldstheinputoutputrelationship
5103

Z (s) 1
(4-324)
Y( s ) s 2]Z n s Z n 2
2
Now lets apply control see section 6-6 for more detail.
x
m
k c
k f(t)
y
For simplicity and better presentation, we have scaled the control force as kf(t) we rewrite (4-324) as:
mx(t ) cx (t ) kx(t ) cy (t ) ky (t ) kf (t )

z (t ) 2]Zn z (t ) Zn 2 z (t )
y (t ) Zn 2 f (t )

(4-324)
s 2 2]Zn s Zn 2 A( s ) Zn 2 F ( s )
A( s ) Y( s )
Setting the controller structure such that the vehicle bounce Z ( s ) X ( s ) Y ( s ) is minimized:
K
F (s) 0 K P K D s I Z (s)
s
Z (s) 1
A( s ) K
s 2 2]Zn s Zn 2 1 K P K D s I
s
Z (s) s
A( s ) s 2]Zn s Zn 1 K P s K D s 2 K I
3 2 2
See Equation (6-4).
For proportional control KD=KI=0.
5104

Pick 9 0.707 and Zn 1 for simplicity. This is now an underdamped system.
Use MATLAB to obtain response now.

clear all
Kp=1;
Kd=0;
Ki=0;
num = [-1 0];
den =[1 2*0.707+Kd 1+Kp Ki];
G=tf(num,den)
step(G)
Transfer function:
-s
---------------------
s^3 + 1.414 s^2 + 2 s
Adjust parameters to get the desired response if necessary.
The process is the same for parts b, c and d.
5105

5-67) Replace F(s) with
K
F ( s) X ref K P K D s I X ( s )
s
B
2]Zn
M
K
Zn 2
M
X ( s) 1
X ref ( s ) K
s 2 2]Zn s Zn 2 K P K D s I
s
Use MATLAB to obtain response now.

clear all
Kp=1;
Kd=0;
Ki=0;
B=10;
K=20;
M=1;
omega=sqrt(K/M);
zeta=(B/M)/2/omega;
num = [1 0];
den =[1 2*zeta*omega+Kd omega^2+Kp Ki];
G=tf(num,den)
step(G)
ransfer function:
s
-------------------
s^3 + 10 s^2 + 21 s
T0 achieve the proper response, adjust controller gains accordingly.
5106

5-68) From problem 4-3

a) Rotational kinetic energy:

Translational kinetic energy:

Relation between translational displacement and rotational displacement:

Potential energy:

As we know , then:

By differentiating, we have:

Since cannot be zero, then

b)
c)
5107


where at the maximum energy.

Then:

Or:
J
d) G (s)
(ms K )
2

K=100;
J=5;
m=25;
G=tf([J],[m 0 K])
Pole(G)
impulse(G,10)
Transfer function:
5
------------
25 s^2 + 100
ans =
0 + 2.0000i
0 - 2.0000i
5108

Uncontrolled
With a proportional controller one can adjust the oscillation amplitude the transfer function is
rewritten as:
JK p
Gcl ( s )
(ms K JK p )
2

Kp=0.1
K=100;
J=5;
m=25;
G=tf([J*Kp],[m 0 (K+J*Kp)])
Pole(G)
impulse(G,10)
5109

Kp =
0.1000
Transfer function:
0.5
--------------
25 s^2 + 100.5
ans =
0 + 2.0050i
0 - 2.0050i
A PD controller must be used to damp the

oscillation and reduce overshoot. Use Example
5-11-1 as a guide.
5110

5-69) From Problem 4-6 we have:
a)
y2 y1
K ( y1 y 2 )
K ( y1 y 2 )
Pmgy 2 PMgy1
b) From Newtons Law:
If y1 and y2 are considered as a position and v1 and v2 as velocity variables

Then:

The output equation can be the velocity of the engine, which means
c)

Obtaining requires solving above equation with respect to Y2(s)

From the first equation:
Substituting into the second equation:
5111

By solving above equation:

Replace Force F with a proportional controller so that F=K(Z-Zref):
KP

Zref_FZ

5-70) Also see derivations in 4-9.
L
x(t)
F
L
M

Here is an alternative representation including friction (damping) . In this case the angle is
measured differently.
Lets find the dynamic model of the system:
5112

1)
2)
Let . If is small enough then and , therefore

which gives:

Ignoring friction

where

Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,

KP+KDs

R_F
F ( s) K p R s ) KD s R s )
The system transfer function is:
) A K p KDs
R (s 2 K D s A K p B
Control is achieved by ensuring stability (Kp>B)
5113

Use Routh Hurwitz to establish stability first. Use Acsys to do that as

demonstrated in this chapter problems. Also Chapter 2 has many examples.
Use MATLAB to simulate response:

clear all
Kp=10;
Kd=5;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
step(G)
Transfer function:
50 s + 100
--------------
s^2 + 5 s + 20
Adjust parameters to achieve desired response. Use THE PROCEDURE in Example 5-11-1.
You may look at the root locus of the forward path transfer function to get a better perspective.
5114

) A K p KDs AK D z s
E s 2 AB s 2 AB
fix z and vary K D .
clear all
z=100;
Kd=0.01;
A=10;
B=8;
num = [A*Kd A*Kd*z];
den =[1 0 -(A*B)];
G=tf(num,den)
rlocus(G)
Transfer function:
0.1 s + 10
----------
s^2 80
Forz=10,alargeKD=0.805resultsin:
5115

clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
pole(G)
zero(G)
step(G)
Transfer function:
8.05 s + 80.5
-------------------
s^2 + 0.805 s + 0.5
ans =
-0.4025 + 0.5814i
-0.4025 - 0.5814i
ans =
-10
Looking at dominant poles we expect to see an oscillatory response with overshoot

close to desired values.
For a better design, and to meet rise time criterion, use Example 5-
11-1.
5116

Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
Chapter 6 THE CONTROL LAB
Part 1) Solution to Lab questions within Chapter 6
6-4-1 Open Loop Speed
1. Open loop speed response using SIMLab:

a. +5 V input:
The form of response is like the one that we expected; a second order system response with overshoot and
oscillation. Considering an amplifier gain of 2 and K b 0.1 , the desired set point should be set to 2.5 and as
seen in the figure, the final value is approximately 50 rad/sec which is armature voltage divided by K b . To find
the above response the systems parameters are extracted from:
Ra J m Ra J m k b k mW m
Wm , B 0.000792kg m 2 / sec
Ra B k b k m RaW m
6-1
b. +15 V input:
c. 10 V input:
6-1
2. Study of the effect of viscous friction:
The above figure is plotted for three different friction coefficients (0, 0.001, 0.005) for 5 V armature input. As
seen in figure, two important effects are observed as the viscous coefficient is increased. First, the final steady
state velocity is decreased and second the response has less oscillation. Both of these effects could be predicted
from Eq. (5-114) by increasing damping ratio ].
6-1
3. Additional load inertia effect:
As the overall inertia of the system is increased by 0.005 / 5.2 2 and becomes 1.8493 u 10 3 kg.m2, the
mechanical time constant is substantially increased and we can assume the first order model for the motor
(ignoring the electrical sub-system) and as a result of this the response is more like an exponential form. The
above results are plotted for 5 V armature input.
6-1
4. Reduce the speed by 50% by increasing viscous friction:
As seen in above figure, if we set B=0.0075 N.s/m the output speed drop by half comparing with the case that
B=0 N.s/m. The above results are plotted for 5 V armature input.
6-1
5. Study of the effect of disturbance:
Repeating experiment 3 for B=0.001 N.s/m and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of open loop system is like the effect of higher viscous friction and caused to decrease
the steady state value of speed.
6-1
6. Using speed response to estimate motor and load inertia:
Using first order model we are able to identify system parameters based on unit step response of the system. In
above plot we repeated the experiments 3 with B=0.001 and set point voltage equal to 1 V. The final value of the
speed can be read from the curve and it is 8.8, using the definition of system time constant and the cursor we read
63.2% of speed final value 5.57 occurs at 0.22 sec, which is the system time constant. Considering Eq. (5-116),
and using the given value for the rest of parameters, the inertia of the motor and load can be calculated as:
W m ( Ra B K m K b ) 0.22(1.35 u 0.001 0.01)

J 1.8496 u 10 3 kg.m2
Ra 1.35
We also can use the open loop speed response to estimate B by letting the speed to coast down when it gets to the
steady state situation and then measuring the required time to get to zero speed. Based on this time and energy
conservation principle and knowing the rest of parameters we are able to calculate B. However, this method of
identification gives us limited information about the system parameters and we need to measure some parameters
directly from motor such as Ra , K m , K b and so on.
So far, no current or voltage saturation limit is considered for all simulations using SIMLab software.
6-1
7. Open loop speed response using Virtual Lab:

a. +5 V:
6-1
b. +15 V:
c. 10 V:
6-1
Comparing these results with the part 1, the final values are approximately the same but the shape of responses is
closed to the first order system behavior. Then the system time constant is obviously different and it can be
identified from open loop response. The effect of nonlinearities such as saturation can be seen in +15 V input with
appearing a straight line at the beginning of the response and also the effects of noise and friction on the response
can be observed in above curves by reducing input voltage for example, the following response is plotted for a 0.1
V step input:
6-1
6-1
8. Identifying the system based on open loop response:
Open loop response of the motor to a unit step input voltage is plotted in above figure. Using the definition of
time constant and final value of the system, a first order model can be found as:
9
G(s) ,
0.23s 1
where the time constant (0.23) is found at 5.68 rad/sec (63.2% of the final value).
6-1
6-4-2 Open Loop Sine Input
9. Sine input to SIMLab and Virtual Lab (1 V. amplitude, and 0.5, 5, and 50 rad/sec frequencies)
a. 0.5 rad/sec (SIMLab):
6-1
b. 5 rad/sec (SIMLab):
c. 50 rad/sec (SIMLab):
6-1
d. 0.5 rad/sec (Virtual Lab):
e. 5 rad/sec (Virtual Lab):
6-1
f. 50 rad/sec (Virtual Lab):
6-1
10. Sine input to SIMLab and Virtual Lab (20 V. amplitude)

a. 0.5 rad/sec (SIMLab):
b. 5 rad/sec (SIMLab):
6-1
c. 50 rad/sec (SIMLab):
d. 0.5 rad/sec (Virtual Lab):
6-1
e. 5 rad/sec (Virtual Lab):
6-1
f. 5 rad/sec (Virtual Lab):
In both experiments 9 and 10, no saturation considered for voltage and current in SIMLab software. If
we use the calculation of phase and magnitude in both SIMLab and Virtual Lab we will find that as
input frequency increases the magnitude of the output decreases and phase lag increases. Because of
existing saturations this phenomenon is more sever in the Virtual Lab experiment (10.f). In this
experiments we observe that M 0.288 and M 93.82 $ for Z 50.
6-1
6-4-3 Speed Control

11.Apply step inputs (SIMLab)
In this section no saturation is considered either for current or for voltage.
a. +5 V:
6-1
b. +15 V:
c. -10 V:
6-1
6-1
12. Additional load inertia effect:

a. +5 V:
b. +15 V:
6-1
c. -10 V:
13. Study of the effect of viscous friction:
6-1
As seen in above figure, two different values for B are selected, zero and 0.0075. We could change the
final speed by 50% in open loop system. The same values selected for closed loop speed control but as
seen in the figure the final value of speeds stayed the same for both cases. It means that closed loop
system is robust against changing in systems parameters. For this case, the gain of proportional
controller and speed set point are 10 and 5 rad/sec, respectively.
14. Study of the effect of disturbance:
6-1
Repeating part 5 in section 6-4-1 for B=0.001 and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of closed loop system is not substantial like the one on the open loop system in part 5,
and again it is shown the robustness of closed loop system against disturbance. Also, to study the effects of
conversion factor see below figure, which is plotted for two different C.F. and the set point is 5 V.
6-1
By decreasing the C.F. from 1 to 0.2, the final value of the speed increases by a factor of 5.
15. Apply step inputs (Virtual Lab)

a. +5 V:
6-1
b. +15 V:
c. 10 V:
6-1
As seen the responses of Virtual Lab software, they are clearly different from the same results of
SIMLab software. The nonlinearities such as friction and saturation cause these differences. For
example, the chattering phenomenon and flatness of the response at the beginning can be considered as
some results of nonlinear elements in Virtual Lab software.
6-4-4 Position Control
16. 160 $ step input (SIMLab)
6-1
6-1
17. 0.1 N.m step disturbance
18. Examine the effect of integral control
6-1
In above figure, an integral gain of 1 is considered for all curves. Comparing this plot with the previous
one without integral gain, results in less steady state error for the case of controller with integral part.
19. Additional load inertia effect (J=0.0019, B=0.004):
6-1
6-1
20. Set B=0:
21. Study the effect of saturation
6-1
The above figure is obtained in the same conditions of part 20 but in this case we considered r 10 V. and
r 4 A. as the saturation values for voltage and current, respectively. As seen in the figure, for higher
proportional gains the effect of saturations appears by reducing the frequency and damping property of
the system.
22. Comments on Eq. 5-126
After neglecting of electrical time constant, the second order closed loop transfer function of position
control obtained in Eq. 5-126. In experiments 19 through 21 we observe an under damp response of a
second order system. According to the equation, as the proportional gain increases, the damped
frequency must be increased and this fact is verified in experiments 19 through 21. Experiments16
through 18 exhibits an over damped second order system responses.
23. In following, we repeat parts 16 and 18 using Virtual Lab:
Study the effect of integral gain of 5:
6-1
6-1
Ch. 6 Problem Solutions
Part 2) Solution to Problems in Chapter 6
6-1. In order to find the current of the motor, the motor constant has to be separated from the electrical
component of the motor.
The response of the motor when 5V of step input is applied is:
a) The steady state speed: 41.67rad/sec

b) It takes 0.0678 second to reach 63% of the steady state speed (26.25rad/sec). This is the time
constant of the motor.
c) The maximum current: 2.228A
6-1
11.2
The steady state speed at 5V step input is 50rad/sec.
a) It takes 0.0797 seconds to reach 63% of the steady state speed (31.5rad/sec).
b) The maximum current: 2.226A
c) 100rad/sec
6-1
6-3
a) 50rad/sec
b) 0.0795 seconds
c) 2.5A. The current
d) When Jm is increased by a factor of 2, it takes 0.159 seconds to reach 63% of its steady state
speed, which is exactly twice the original time period . This means that the time constant has
been doubled.
6-1
6-4
Part 1: Repeat problem 6-1 with TL = -0.1Nm
a) It changes from 41.67 rad/sec to 25 rad/sec.

b) First, the speed of 63% of the steady state has to be calculated.
41.67 - (41.67 - 25) u 0.63 31.17 rad/sec.
The motor achieves this speed 0.0629 seconds after the load torque is applied
c) 2.228A. It does not change
a) It changes from 50 rad/sec to 30 rad/sec.

b) The speed of 63% of the steady state becomes
50 - (50 - 30) u 0.63 37.4 rad/sec.
The motor achieves this speed 0.0756 seconds after the load torque is applied
c) 2.226A. It does not change.
6-1
a) It changes from 50 rad/sec to 30 rad/sec.

b) 50 - (50 - 30) u 0.63 37.4 rad/s
The motor achieves this speed 0.0795 seconds after the load torque is applied. This is the same
as problem 6-3.
c) 2.5A. It does not change
d) As TL increases in magnitude, the steady state velocity decreases and steady state current
increases; however, the time constant does not change in all three cases.
6-1
6-4 The steady state speed is 4.716 rad/sec when the amplifier input voltage is 5V:
6-6
a) 6.25 rad/sec.
b) 63% of the steady state speed: 6.25 u 0.63 3.938 rad/sec
It takes 0.0249 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 1 Ampere.
6-1
6-7
a) 9.434 rad/sec.
b) 63% of the steady state speed: 9.434 u 0.63 5.943 rad/sec
It takes 0.00375 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 10 Amperes.
d) When there is no saturation, higher Kp value reduces the steady state error and decreases the rise
time. If there is saturation, the rise time does not decrease as much as it without saturation.
Also, if there is saturation and Kp value is too high, chattering phenomenon may appear.
6-8
a) The steady state becomes zero. The torque generated by the motor is 0.1 Nm.
b) 6.25 - (6.25 - 0) u 0.63 2.31 rad/sec. It takes 0.0249 seconds to reach 63% of its new steady
state speed. It is the same time period to reach 63% of its steady state speed without the load
torque (compare with the answer for the Problem 6-6 b).
11-9 The SIMLab model becomes
The sensor gain and the speed input are reduced by a factor of 5. In order to get the same result as
Problem 6-6, the Kp value has to increase by a factor of 5. Therefore, Kp = 0.5.
The following graphs illustrate the speed and current when the input is 2 rad/sec and Kp = 0.5.
6-1
6-10
6-1
a) 1 radian.
b) 1.203 radians.
c) 0.2215 seconds.
6-11
6-1
a) The steady state position is very close to 1 radian.

b) 1.377 radians.
c) 0.148 seconds.
It has less steady state error and a faster rise time than Problem 6-10, but has larger overshoot.
6-1
6-12
Different proportional gains and their corresponding responses are shown on the following graph.
As the proportional gain gets higher, the motor has a faster response time and lower steady state error,
but if it the gain is too high, the motor overshoot increases. If the system requires that there be no
overshoot, Kp = 0.2 is the best value. If the system allows for overshoot, the best proportional gain is
dependant on how much overshoot the system can have. For instance, if the system allows for a 30%
overshoot, Kp = 1 is the best value.
6-1
6-13 Let Kp = 1 is the best value.
As the derivative gain increases, overshoot decreases, but rise time increases.
6-1
6-14
6-1
6-15
There could be many possible answers for this problem. One possible answer would be
Kp= 100
Ki= 10
Kd= 1.4
The Percent Overshoot in this case is 3.8%.
6-1
6-16
0.1 Hz
0.2 Hz
6-1
0.5 Hz
1 Hz
6-1
2Hz
5Hz
6-1
10Hz
50Hz
6-1
As frequency increases, the phase shift of the input and output also increase. Also, the amplitude of the
output starts to decrease when the frequency increases above 0.5Hz.
6-17
6-1
As proportional gain increases, the steady state error decreases.
6-1
6-18
Considering fast response time and low overshoot, Kp=1 is considered to be the best value.
6-1
6-19 It was found that the best Kp = 1
As Kd value increases, the overshoot decreases and the rise time increases.
6-1
6-20 From the Experiment Menu select the Open Loop Sine Input option.
6-1
Double click on the Sine wave block and choose the input values.
6-1
Run simulation in SIMULINK.

Change run time to 20 sec (default is
5 sec)
6-1
Calculate the Gain and Phase values by entering the input frequency. Repeat the process for other
frequency values and use the calculated gain and phase values to plot the frequency response of the
system.
6-1
6-21)
Select the Speed Control option in Virtual Lab Experiment Window.

Enter the Step Input and Controller Gain values by double clicking on their respective blocks.
6-1
Run simulation, and repeat the process for different gain values. Observe the steady state value change
with K.
6-1
6-1
6-22)
Select the Position Control option in Virtual Lab Experiment Window.

Enter the Step Input and Controller Gain values by double clicking on their respective blocks.
6-1
Run simulation, and repeat the process for different gain values.
6-1
6-1
6-23) If we choose Kp= 1, Ki= 0, and Kd= 0, we get
Increase Kd=0.1 we get:
6-1
6-1
6-24) Here Kp=275 and Kd=12.
Next Kp=275 and Kd=20.
6-1
You may try other parts and make observations.
6-1
6-25) a)
Change variables displayed using Setup Axes if desired.

b) Next use the Model Parameters button and change k to 15 as shown. Simulate the response and
show the desire variables.
6-1
6-1
6-1
c) A sample response
d)
6-1
Other parts are trivial and follow section 6-6.
6-1
6-1

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So

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

In all cases substitute and simplify. The use MATLAB to verify.

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

zeta=0.5; %asuuming a value for zeta <1

wn=2*pi*10 %asuuming a value for wn

zeta=1.5; %asuuming a value for zeta >1

T=3.5 %assuming value for parameter T

Steps for plotting |G|:

(1) For < 0.1, asymptote is

Break point: = 0.5

Steps for plotting G

b) Lets convert the transfer function to the following form:

Steps for plotting |G|:

(1) Asymptote: < 1 |G(j)| 2.5 /

Steps for plotting G(j):

c) Convert the transfer function to the following form:

(1) the breakpoint: = 1 and slope is zero

Steps for plotting G:

(1) phase starts from -180o due to

Steps for plotting the |G|:

(1) Asymptote for <1 is zero

(2) Breakpoint: = 1, slope = -1 or -10 dB/decade

Steps for plotting G:

at = 5. For > 5, the phase remains at -180o.

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'from pade approzimation:'

2-10) We know that:

Partial integration of equation (1) gives:

Differentiation of both sides of equation (1) with respect to s gives:

Comparing with equation (1), we conclude that:

Using Laplace transform and differentiation property, we have X(s) = sG(s)

Therefore G(s) = , which means:

2-12) By Laplace transform definition:

Now, consider  = t - T, then:

By Laplace transform definition:

By using time shifting theorem, we have:

Lets consider g(t) = g1(t) g2(t)

By inverse Laplace Transform definition, we have

2-14) a) We know that

When s , it can be written as:

b) By Laplace transform differentiation property:

L2= 1/s - 8/s/(s^2+16)

'verified as L2 equals L3'

216)(a) (b) (c)

%section (e) requires assignment of T and a numerical loop calculation

(a) g (t ) 5te 5t u s (t )

(b) g ( t ) ( t sin 2t  e 2t )us ( t )

(c) g ( t ) 2e 2t sin 2t u s (t )

%section (e) requires assignment of T and a numerical loop calculation

gT ( t ) 2tu s ( t )  4( t  0.5)u s ( t  0.5)  2( t  1)u s ( t  1) 0 d t d 1

g ( t ) ( t  1)u s ( t )  ( t  1)u s ( t  1)  2u s ( t  1)  ( t  2 )u s ( t  2)  ( t  3)u s ( t  3)  u s ( t  3)

Answer from MATLAB: Y(s)=1/(s-1)/(s^2-1)

syms s CA1 CA2 CA3

wn=2pi10 %asuuming a value for wn

Now, consider = t - T, then:

(a) g (t ) 5te 5t u s (t )

(b) g ( t ) ( t sin 2t e 2t )us ( t )

(c) g ( t ) 2e 2t sin 2t u s (t )

gT ( t ) 2tu s ( t ) 4( t 0.5)u s ( t 0.5) 2( t 1)u s ( t 1) 0 d t d 1

g ( t ) ( t 1)u s ( t ) ( t 1)u s ( t 1) 2u s ( t 1) ( t 2 )u s ( t 2) ( t 3)u s ( t 3) u s ( t 3)

2.5 5 2.5 t t 3t

g (t ) 0.4 0.9889e 3.618t 1.3820e 2.5889t 2e t

f7=(2+2spade(exp(-1s),1)+4pade(exp(-2s),1))/(s^2+3s+2) %using Pade command

f7n=(-2s^3+6s+12)/(s^4+6s^3+13s^2+12*s+4) %generating sumbolic function for

Eq=5(pade(exp(-2s),1))/(s^2+s+1); %Pade approximation oreder 1 used

(b)Polesareat s 5, j 2 , j 2 Twopoleson jZ axis.Marginallystable.

(c)Polesareat s 0.8688, 0.4344 j 2.3593, 0.4344 j 2.3593TwopolesinRHP.Unstable.

(d)Polesareat s 5, 1 j , 1 j AllpolesintheLHP.Stable.

(f)Polesareat s 22.8487 r j 22.6376, 213487

(a) s 3 25 s 2 10 s 450 0 Roots: 25.31, 0.1537 j 4.214, 0.1537 4.214

(c) s 3 25 s 2 250 s 10 0 Roots: 0.0402, 12.48 j 9.6566, j 9.6566

(e) s 6 2 s 5 8 s 4 15 s 3 20 s 2 16 s 16 0 Roots: 1.222 r j 0.8169, 0.0447 r j1153

(a)Characteristicequation: s 5 600 s 4 50000 s 3 Ks 2 24 Ks 80 K 0

' s 4 17.4142 s 3 79.3137 s 2 166.6274 s 160

dx1 dx2 K B B3 B3 dx3 K B3 B B3 1