Solutions Manual

4.1
(a) linear

(b) nonlinear

(c) linear

(d) linear

(e) nonlinear

(f) nonlinear

(g) linear

4.2 The Fourier Series is:

)(W)  VLQ ( πW )
and the fundamental frequency is
ω
I ------ +]
π

4.3 Since Vrms = 120V and f = 60Hz, the Fourier Series is:

)(W) 9 UPV VLQ ( πIW )  VLQ ( πW )

and the fundamental frequency is 60Hz.

7
---
7  7
4.4 $Q --- ∫ ) ( W ) FRV ( Qω  W ) GW --- ∫ FRV ( Qω W ) GW ± ∫ FRV ( Qω W ) GW
7 7
  7
---


So
7---
   7
$Q -------------  [ VLQ ( Qω  W ) ]  ± [ VLQ ( Qω  W ) ] 7 
Qω  7  --- 


π
But ω  ------ , so
7
- ( VLQ ( Qπ ) ± VLQ ( Qπ )  VLQ ( Qπ ) )
$Q -----
Qπ
But sine of any multiple of π is 0, so An = 0

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4.5 Using MathCAD:

t 0 , 0.01.. 3.0
n 2 , 4 .. 10
m 2 , 4 .. 50
1 sin ( 2 . π . t )
Va( t )
π 2
1 sin ( 2 . π . t ) 2. cos ( 2 . n . π . t )
Vb( t )
π 2 π ( n 1) .( n 1)
n
1 sin ( 2 . π . t ) 2. cos ( 2 . m. π . t )
Vc( t )
π 2 π ( m 1) .( m 1)
m

1 1.5

1
0.5

Va( t ) Vb( t ) 0.5

0
0

0.5 0.5
0 1 2 3 0 1 2 3
t t

1.5

Vc( t ) 0.5

0.5
0 1 2 3
t

4.6

  ± ------ -
 
(a) I+   --------------------- (  ±  ) +]

So the bandwidth is: 0 Hz to 7.17 Hz

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(b) T = 1s

IR --- +] , ω  πI  π UDG
--------
7 VHF

n ω (rad/sec) f (Hz) Ain Aout/Ain Aout = (Aout/Ain)Ain

1 ω0 1 4/π 1 4/π
2 3ω0 3 4/3π 1 4/3π
3 5ω0 5 4/5π 1 4/5π
4 7ω0 7 4/7π 3/4 3/7π
5 9ω0 9 4/9π 1/4 1/9π
>5 (2n-1)ω0 (2n-1) 4/fπ 0 0

--- VLQ ( πW )  -----

9 RXW - VLQ ( πW )  -----
- VLQ ( πW )  -----
- VLQ ( πW )  -----
- VLQ ( πW )
π π π π π

(c) Using MathCAD:

t 0 , 0.01.. 2

4. 4 . 4 . 3 . 1 .
Vout( t ) sin ( 2 . π . t ) sin ( 6 . π . t ) sin ( 10. π . t ) sin ( 14. π . t ) sin ( 18. π . t )
π 3.π 5.π 7.π 9.π

2
2.0

Vout( t ) 0

2
0 1 2
t

4.7
-
(a) ωF -------  UDG
--------
5& VHF

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(b) T = 1s, f = 1Hz, ω0 = 2π

∞
$ RXW
)(W) ∑ $LQ ( Q )  ----------
$ LQ
( Q ) VLQ ( ω Q W )

Q 

where

$ LQ ( Q ) -----------------------
( Q ±  )π
$ RXW 
---------- ( Q ) ----------------------------
$ LQ ω 
   -----Q-
ω 
F

ωQ ( Q ±  )π

(c) Using MathCAD:

n 1 .. 100 ωc 1000 ωn ( 2 .n 1 ) .2 .π

t 0 , 0.01 .. 2
4 . 1 . sin ω . t
F ( t) n
( 2 .n 1 ) .π 2
n ωn
1
ωc

F( t ) 0

1
0 1 2
t

- UDG
4.8 ω/ ------ --------  UDG
-------- +]
 VHF VHF

-  UDG
      ± ------ UDG
ω+ --------  -------- +]
    VHF VHF

ω / ≤ EDQGZLGWK ≤ ω +

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4.9

(a)  UDG
-------- ≤ ω ≤  UDG
--------
VHF VHF

(b) and (c)

n Ain Aout
1 1 1
2 2 2
3 3 3
4 4 1.33
5 5 0

9R 5 -9
4.10 --------------------
 L
5  ----------
Mω&
9R Mω5& -
------ -----------------------
9L Mω5&  

- :
To find the cut-off frequency, set the amplitude ratio magnitude to ------

9R ω5& -
------ --------------------------------- ------
9L ( ω5& )    
Solving for the frequency gives
-
ωF -------
5&
Using this expression gives:
ω
------
9R ωF
------ ----------------------------
9L ω
 ------ 
ω 
F

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and now we can plot the frequency response in terms of the dimensionless frequency ratio
ω
ωU ------ :
ωF

ωr
ωr 0 , 0.01 .. 5.0 Ar ω r
2
ωr 1

Ar ωr 0.5

0
0 2 4 6
ωr

9
4.11 φ DUJ  ------R ∠(  ) ± ∠(   ω5&M )  ± DWDQ  ω5&
------------ ± DWDQ ( ω5& )
9    
L

- ω-
Using ω F ------- and ω U ----- ω5& ,
5& ωF

φ ± DWDQ ( ω U )

0
0

20

φ ω r 40

60

68.199 80
0 0.5 1 1.5 2 2.5
0 ω r 2.5

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4.12 Using MathCAD:

n 1 .. 20 t 0 , 0.01 .. 2
4
ωn ( 2 .n 1 ) .2 .π F ( t) . sin ω . t
n
( 2 .n 1 ) .π
n
ATTn 1 ATT1 .25 ATT2 .25 ATT3 .25

4 . ATT . sin ω . t
F low( t ) n n
( 2 .n 1 ) .π
n
ATTn 1 ATT17 .25 ATT18 .25 ATT20 .25

4 . ATT . sin ω . t
F high( t ) n n
( 2 .n 1 ) .π
n

2 1

F( t ) 0 F low( t ) 0

2 1
0 1 2 0 1 2
t t

F high ( t ) 0

2
0 1 2
t

4.13 When the mass is in static equilibrium,

0 LQ J N; RXW
so

; RXW  J--- 0
 N LQ

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and the static sensitivity is

J
. ---
N

4.14 We generally assume that the displayed voltage is the gain times the input voltage. This
assumption will be in error if the oscilloscope is dc coupled and some of the frequencies in
the signal exceed the bandwidth of the oscilloscope.

4.15 KVL gives:

- T
,5  --- 9 LQ
&
where q is the charge on the capacitor. Putting this in standard form gives:
·
( 5& )T  T &9 LQ
where q is the dependent variable, the time constant (τ) is RC, and the sensitivity (K) is C.
Using the general solution for a 1st order system,
W
 ± --
τ
T(W) &$ L   ± H 
 
Therefore, the step response output voltage (which is the voltage across the capacitor) is
W
 ± --
- T ( W ) τ
9 RXW ( W ) --- $L   ± H 
&  

4.16 The rate of change of internal energy is equal to the rate of heat transfer:
G- ( ( ) ·
---- 4 LQ
GW LQ
so
G7 RXW
( PF ) ------------
- ( K$ ) ( 7 LQ ± 7 RXW )
GW
-
Defining & W PF (thermal capacitance) and 5 W ------ (thermal resistance) and
K$
converting into standard form gives:
G7 RXW
( & W 5 W ) ------------
-  7 RXW (  )7 LQ
GW
PF
where the time constant is τ 5W &W ------- and the sensitivity is K=1.
K$

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4.17 Plotting the data Xout(t) shows a steady state asymptote of approximately 5 indicating that:
.$ LQ 

; RXW ( W )
Plotting = ( W )OQ   ± ----------------- shows a near linear relation indicating that the system
 .$ LQ 
can be modeled as 1st order. The slope of the line is approximately −1/3 indicating a time
constant of
τ = 3 sec

4.18 The damped natural frequency is always smaller if there is damping in the system.

4.19
(a) mechanical rotary (applied torque, torsion spring, rotary damper, and rotary inertia):
·· ·
-θ  %θ  Nθ τ H[W

(b) electrical (voltage source and series resistor, inductor, and capacitor):
·· ·  · - , GW
&∫
/T  5T  ---
-T 9 V or /,  5,  --- 9V
&

(c) hydraulic (pump with inlet in reservoir, long pipe with friction loss and fluid inertia,
and tank):

, G4
-------  54  ---- V = P
GW &
where V = ∫ 4 GW

4.20 Given the differential equation:

·
τ[ RXW  [ RXW .[ LQ
Applying the procedure results in:
( τV   ); RXW ( V ) .; LQ ( V )

; RXW ( V ) . -
*(V) -----------------
- ------------------
; LQ ( V ) ( τV   )

. -
* ( Mω ) -----------------
  τωM
; RXW .
------------- * ( Mω ) ---------------------------
-
; LQ 
  ( τω )
φ DUJ ( * ( Mω ) )  ± DWDQ ( τω ) ± DWDQ ( τω )

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) UDG-
4.21 1 ω  -------
6HF

N- ω E
ωQ ---  , ω U ------  , ς --------------- 
P ωQ  NP
; 
------------ ------------------------------------------------- 
) ⁄ N   
[ ± ωU ]  ς  ω U

;  )
 ------------
; ----- P
 ) ⁄ N N


±  
 ς 
φ ± WDQ  ----------------- ± ° ± UDG

 ----- 
 ω U ± ω U

Therefore, the steady state response is:

[(W) ;  VLQ ( ωW  φ )  VLQ ( W ±  )P

4.22 The equation of motion is

·· ·
P[ RXW  E[ RXW  N[ RXW N[ LQ
Taking the Laplace transform of both sides gives the transfer function:
; RXW ( V ) N
*(V) ------------------ -------------------------------
; LQ ( V ) PV   EV  N
Now
N
* ( Mω ) ----------------------------------------
-
( N ± Pω  )  EωM
; RXW N
------------- * ( Mω ) -----------------------------------------------------
; LQ ( N ± Pω  )   ( Eω ) 
± Eω -
φ ± WDQ  -------------------
 N ± Pω 

So the steady state response is

; RXW
[ RXW ( W ) ; LQ ------------
- VLQ ( ωW  φ )
; LQ

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Using MathCAD,

m 0.10 k 100000 b 10 X in 0.05

k . X in
X out( ω ) 2
φ (ω ) angle k m. ω , b . ω
2 2 2
k m. ω ( b .ω )

X out( 10 ) = 0.05 φ ( 10 ) = 0.057 deg

X out( 1000 ) = 0.5 φ ( 1000 ) = 90 deg

4
X out( 10000 ) = 5.05 . 10 φ ( 10000 ) = 179.421 deg

Only the first input results in an acceptable output.

± ςω Q W
4.23 [K ( W ) H [ $ FRV ( ω G W )  % VLQ ( ω G W ) ]

[S ( W ) &

[(W) [K ( W )  [S ( W )

)
[(∞) ----- gives C = 0
N
x(0) = 0 gives A = -C
·
[()  gives B = 0
Therefore,
) ± ςω W
[(W) ----- (  ± H Q FRV ( ω G W ) )
N

4.24 The volume in the tank is


π'
V = ---------- K

The pressure at the bottom of the tank is
3 ρJK γK
Solving the volume expression for h and substituting into the pressure expression gives
γ - - V
3 ---------

V = ---
π' &

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so

π'
& ----------
γ

·· · 4
4.25 Since ) PD , D [ and [ ---- ,
$
·
4
3$ ( ρ/$ ) ----

 $

3  ρ/ ·
------- 4
·
,4
 $

4.26 Element [flow] analogies:

) LQ [ Y LQ ] → 9 LQ [ , LQ ]

N  [ Y LQ ± Y P ] → &  [ , LQ ± , P ]

P [ YP ] → / [ ,P ]

E [ YP ] → 5 [ ,P ]

N [ YP ] → & [ ,P ]
Analogous free body diagram equations [KVL]:
9 LQ 9 &

9 & 9 5  9 &  9 /

4.27 Hydraulic elements are direct analogies to electrical elements. The capacitors are replaced
by tanks, and the resistor and inductor are replaced by a long pipe with flow resistance and
inertance.

4.28 Element [flow] analogies:

) LQ [ Y  ] → 9 LQ [ ,  ]

E [ Y ± Y ] → 5 [ , ± , ]

N [ Y ± Y ] → & [ , ± , ]

P [ Y ] → / [ , ]

N [ Y ± Y ] → & [ , ± , ]

E [ Y ] → 5 [ , ]

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Analogous free body diagram equations [KVL]:

9 LQ 95  9 &


9 5  9 & 9 /  9 &


9 & 9 5

The resulting analogous electrical circuit follows:

I2
I1 I3

L
R1 (I2-I3)
+
Vin (I1-I2)
C2 R2
C1

· · · ··
4.29 N ( ] ± [ )  E ( ] ± [ ) ± µP  J VJQ ( [ ) P [
· · ··
N ( ] ± [ )  E ( ] ± [ ) ± ) ±P ]
··
± U)  , θ
where
· · · ·· ·· ··
] \ ± Uθ , ] \ ± Uθ , ] \ ± Uθ

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