Automatic Control Systems Solution Manual

So
lu
tio
ns
M
an
ua
l
Ninth Edition
Farid Golnaraghi Benjamin C. Kuo
AutomaticControlSystems,9thEdition
A
Chapter2Solution
ns
Golnarraghi,Kuo
C
Chapter
2
2
21(a)
Poless:s=0,0,1,
10;
(b) Poles:s=2,,2;
Zeross:s=2,,,.
Zeros:s=0.
Thepoleandzeroats=1ccanceleachotther.
( Poles:s=0,1+j,1j;
(c)
(d)Poles:s =0,1,2,.
Zeross:s=2.
2
2-2)
a)
b)
c)
2
2-3)
M
MATLABcode
e:
21
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
2-4) Mathematical representation:

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

R=
10 22 + 2 1 + 2 102 + 2
;
2 ( 2 + 1)( 2 + 100)
10( j + 2)
2
2
2
1 = tan 1 2 +
( j + 1)( j + 10)
2
10( j + 2)
( j + 1)( j + 10)
22 + 2
=
2
( j + 1)( j + 10) ( j + 1)( j + 10)
2
10( j + 2)( j + 1)( j + 10)
a) =
2 = tan 1 1 +
2
2
2
1
( + 1)( + 100)
1+ 2
j + 2 j + 1 j + 10
=R
22 + 2 1 + 2 102 + 2
2
2
= R(e j1 e j2 e j3 )
3 = tan 1 10 +
10
102 + 2
= 1 + 2 + 3
R=
10 1 + 2 9 + 2
;
( 2 + 1) 2 ( 2 + 9)
10
2
1 1 +
2
=
tan
1
( j + 1) ( j + 3)
1
10
( j + 1)( j + 1)( j + 3)
1+ 2
=
( j + 1)( j + 1)( j + 3) ( j + 1)( j + 1)( j + 3)
2
10( j + 1)( j + 1)( j + 3)
1 1 +
b) =
=
tan
2
1
( 2 + 1) 2 ( 2 + 9)
1+ 2
j + 1 j + 1 j + 3
R
=
1+ 2 1+ 2 9 + 2
2
= R (e j1 e j2 e j3 )
3 = tan 1 9 +
3
9 + 2
= 1 + 2 + 3
24
Chapter2Solutions
10
j ( j 2 + 2 2 )
10 j
(2 2 j 2 )
=
( j 2 + 2 2 ) (2 2 j 2 )
10(2 (2 2 ) j )
c) =
(4 2 + (2 2 ) 2 )
=R
2 (2 2 ) j
= R (e
4 2 + (2 2 ) 2
j
10 4 2 + (2 2 ) 2
10
R=
=
;
2
2 2
2
(4 + (2 ) ) 4 + (2 2 ) 2
2 2
= tan 1
4 2 + (2 2 ) 2
2
4 + (2 2 ) 2
2
R=
1
10 2 + 2 1 + 2
e 2 j
10 j ( j + 1)( j + 2)
1
22 + 2
=
tan
1
j ( j + 1)( j + 2) 2 j
=
e
10 ( 2 + 1)( 2 + 2)
d)
j + 2 j + 1 2 j j / 2
=R
e
2
2
2
2
2 + 1+
2 = tan 1 1 +
= R (e j1 e j2 e j3 )
2
2 + 2
2
1
1+ 2
= 1 + 2 + 3
MATLABcode:
clear all;
s = tf('s')

Ga=10*(s+2)/(s^2*(s+1)*(s+10))
figure(1)
25
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-300
-250
-200
-150
-100
-50
Real Axis
Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.5
0.5
Real Axis
Part(c)
27
1.5
2.5
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
80
60
40
Imaginary Axis
20
-20
-40
-60
-80
-7
-6
-5
-4
-3
-2
-1
Real Axis
Part(d)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
28
0.2
0.4
2-5)
Chapter2Solutions
In all cases find the real and imaginary axis intersections.
G ( j ) =
10
10( j + 2)
10
=
=
2
( j 2)
( + 4)
( 2 + 4)
2
Re {G ( j )} = cos =
a)
( 2 + 4)
Im {G ( j )} = sin =
( 2 + 4)
,
,
= tan 1
( 2 + 4)
( 2 + 4)
R=
10
( 2 + 4)
lim 0 G ( j ) = 5; = tan 1 1
= 90o
0
lim G ( j ) = 0; = tan 1 0 = 180o
1
Real axis intersection @ j = 0
Imaginary axis int er sec tion does not exist.
b&c)
=1
0o
=0
-180o
Therefore:
Re{ G(j) } =
Im {G(j)} =
29
Golnaraghi,Kuo
2 j
( 2 + 4)
If Re{G(j )} = 0
If Im{ G(j )} = 0
If = n
Chapter2Solutions
0
0
90
If = n and = 1
If = n and
If = n and
d)
G(j) =
lim
lim
e)
- 90o
G j =
G
j =
-180o
|
G(j) =
= tan-1 ( T) L
210
Golnaraghi,Kuo
26
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
%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
Chapter2Solutions
Golnaraghi,Kuo
Part(a)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-5
-4
-3
-2
-1
Real Axis
Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
213
0.2
0.4
0.6
0.8
Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
Part(d)
214
0.2
0.4
0.6
0.8
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
60
40
Imaginary Axis
20
-20
-40
-60
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
Part(e)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
215
0.2
0.4
0.6
0.8
2-7)
a)
G(j) =
Chapter2Solutions
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
= -90o
(1)
(2)
(3)
(4)
b)
0:
90
0
0:
:
=
90
0:
90
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

|
|
2.5
216
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
(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:
0.01
0.01
for term
1
9
, 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)
(3)
d)
G(j) =
G(j)| =1 = 0
G(j)| = 2 = -180o
Steps for plotting the |G|:

(1) Asymptote for
(2) Breakpoint:
<1 is zero
= 1, slope = -1 or -10 dB/decade
(3) As is a damping ratio, then the magnitude must be obtained for various when
01
217
Chapter2Solutions
Golnaraghi,Kuo
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

at
= 5. For
= 0.2 and approaches -180o
> 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
Chapter2Solutions

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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
-60
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Part(b)
Bode Diagram
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
Frequency (rad/sec)
220
10
Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
Frequency (rad/sec)
Part(d)
221
10
Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
10
Magnitude (dB)
0
-10
-20
-30
-40
-50
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
Part(e)
Bode Diagram
0
Magnitude (dB)
-20
-40
-60
-80
-100
Phase (deg)
-120
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
222
10
10
2-9)
Chapter2Solutions
Golnaraghi,Kuo
a)
1 2 0
A = 0 2 3
1 3 1
0 0
B = 1 0
0 1
u1 (t )
u (t ) =
u 2 (t )
b)
1
2
3
2
0
4
0
1
1
2 0
0 1
0 0
2-10) We know that:
1
1
2
Partial integration of equation (1) gives:
sG s
g t
g 0
sG s g 0
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) =
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
Lets consider g(t) = g1(t) g2(t)
By inverse Laplace Transform definition, we have
1
2
Then
Where
therefore:
1
2
2-14) a)
G s
We know that
=
= sG(s) + g(0)
When s , it can be written as:
225
G s
Chapter2Solutions
Golnaraghi,Kuo
0
As
0
Therefore:
b)
By Laplace transform differentiation property:
0
As
Therefore
which means:
215)
MATLABcode:
clear all;
syms t
s=tf('s')
f1 = (sin(2*t))^2
L1=laplace(f1)
226
Chapter2Solutions
% f2 = (cos(2*t))^2 = 1-(sin(2*t))^2
Golnaraghi,Kuo
===> 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)
G ( s ) =
(d)
G ( s ) =
( s + 5)
1
2
s +4
(b)
G ( s ) =
(e)
(s
4s
2
+4
(c)
G ( s) =
1
s+2
kT ( s + 5 )
k =0
227
G ( s ) =
1
1 e
T ( s +5 )
4
2
s + 4s + 8
Chapter2Solutions
Golnaraghi,Kuo
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 )
Chapter2Solutions
Golnaraghi,Kuo
Answer:2/(s^2+16)
(e) g ( t ) =
5 kT
( t kT )
where(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) + L
G(s) =
1
s
gT (t ) = u s (t ) 2u s (t 1) + u s (t 2)
GT ( s ) =
1
s
g ( t ) =
s 1+ e
0t2
(1 2e s + e 2 s ) = (1 e s )
1 e
(1 2e s + 2e 2 s 2e 3s + L) =
( t 2 k )u s ( t 2 k )
T
G( s) =
k =0
s (1 e
s 2 2 ks
) e
k =0
1 e
s(1 + e
(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) + L
G ( s ) =
gT ( t ) = 2tu s ( t ) 4( t 0.5)u s ( t 0.5) + 2( t 1)u s ( t 1)
GT ( s ) =
2
s
2
s
1 2e
0.5 s
+ 2e
1.5 s
( 0.5s )
) s 2 1 + e0.5s
(
)
2 1 e
+L =
(1 2e0.5 s + e s ) = s 2 (1 e0.5 s )
g (t ) = gT (t k )us (t k )
k =0
2e
G ( s) =
k =0
0 t 1
2
s
(1 e
0.5 s 2
ks
0.5 s
(
)
= 2
0.5 s
s (1 + e
)
2 1 e
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
Chapter2Solutions
Golnaraghi,Kuo
G ( s ) =
1
s
(1 e s e 2 s + e 3s ) + s (1 2e s + e 3s )
2-20)
1
1
2-21)
1
1
2-22)
0
230
Chapter2Solutions
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
Golnaraghi,Kuo
224)
Chapter2Solutions
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
Golnaraghi,Kuo
SolutionfromMATLAB:
Chapter2Solutions
Golnaraghi,Kuo
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)
G( s) =
1
3s
(b)
G( s) =
2( s + 2)
g (t ) =
3( s + 3)
1 2t 1 3t
e + e
3 2
3
t 0
2.5
s + 1 ( s + 1)
2.5
g ( t ) = 2.5e
s+3
+ 5te
+ 2.5e
3t
t 0
(c)
G(s) =
50
s
20
s +1
30 s + 20
2
s +4
g ( t ) = 50 20 e
( t 1)
30 cos 2(t 1) 5 sin 2(t 1)
] us (t 1)
(d)
1
G( s) =
g (t ) = 1 + 1.069e
(e)
s 1
s + s+2
0.5t
1
s
1
2
s + s+2
s
2
s + s+2
TakingtheinverseLaplacetransform,
[sin 1.323t + sin (1.323t 69.3o )] = 1 + e0.5t (1.447 sin 1.323t cos1.323t )
2 t
g ( t ) = 0.5t e
t 0
(f)Try using MATLAB

>> b=num*2
233
t 0
Chapter2Solutions
b=
2
>>num =
1
>> denom1=[1 1]
denom1 =
1
>> denom2=[1 5 5]
denom2 =
1
>> num*2
ans =
2
>> denom=conv([1 0],conv(denom1,denom2))

denom =
1
10
>> b=num*2
b=
2
>> a=denom
a=
1
10
>> [r, p, k] = residue(b,a)

r=
-0.9889
234
Golnaraghi,Kuo
Chapter2Solutions
2.5889
-2.0000
0.4000
p=
-3.6180
-1.3820
-1.0000
0
k=[]
If there are no multiple roots, then
The number of poles n is

r
b
r
r
= 1 + 2 + ... + n + k
a s + p1 s + p2
s + pn
In this case, p1 and k are zero. Hence,

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

(g)
G s
2e
2e
2e
(h)
235
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
(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
Chapter2Solutions
Golnaraghi,Kuo
[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:
Part(a):
G ( s) =
1
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
Part(b):
G ( s) =
10
( s + 1) 2 ( s + 3)
G(t)=5/2*exp(3*t)+5/2*exp(t)*(1+2*t)
237
Part(c):
G( s) =
100( s + 2)
2
s( s + 4 )( s + 1)
Chapter2Solutions
Golnaraghi,Kuo
e s
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)
Part(d):
G ( s) =
2( s + 1)
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))
Part(e):
G ( s) =
1
( s + 1) 3
G(t)=1/2*t^2*exp(t)
Part(f):
G( s) =
2( s 2 + s + 1)
s( s + 15
. )( s 2 + 5s + 5)
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)))
Part(g):G ( s ) =
2 + 2 se s + 4e 2 s
s 2 + 3s + 2
238
G(t)=2*exp(2*t)*(7+8*t)+8*exp(t)*(2+t)
Part(h):
G ( s) =
Chapter2Solutions
Golnaraghi,Kuo
2s + 1
s + 6 s 2 + 11s + 6
3
G(t)=1/2*exp(t)+3*exp(2*t)5/2*exp(3*t)
Part(i):
3s 3 + 10 s 2 + 8s + 5
G ( s) = 4
s + 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
Ax t
2-28)
Chapter2Solutions
Golnaraghi,Kuo
Bu t
a)
2
b)
2
2
2
2
2-29) (a)
Y (s)
R( s)
(c)
3s + 1
3
s + 2 s + 5s + 6
Y (s)
R( s)
(b)
(d)
s ( s + 2)
4
s + 10 s + 2 s + s + 2
Y (s)
R( s)
Y (s)
R( s)
5
4
s + 10 s + s + 5
1 + 2e
2
2s + s + 5
e)
By using Laplace transform, we have:
4
As X s
e Y s , then
240
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
%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
Chapter2Solutions
Golnaraghi,Kuo
%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
Chapter2Solutions
r
r
r
b( s )
= 1 + 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
Golnaraghi,Kuo
1.00001.0000i
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Part(g):
Chapter2Solutions
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
Golnaraghi,Kuo
232)
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
%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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
2-33)(a)Polesareat s = 0, 15
. + j16583
.
, 15
. j16583
.

Onepolesats=0.Marginallystable.
(b)Polesareat s = 5, j 2 , j 2
Twopoleson j 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
(e)Polesareat
AllpolesintheLHP.Stable.
s = 13387
.
, 16634
.
+ j 2.164, 16634
.
j 2.164 TwopolesinRHP.Unstable.
.
j 22.6023
(f)Polesareat s = 22.8487 j 22.6376, 213487
TwopolesinRHP.Unstable.
2-34) Find the Characteristic equations and then use the roots command.
(a)
p= [ 1 3 5 0]
sr = roots(p)
p=
sr =
0
-1.5000 + 1.6583i
-1.5000 - 1.6583i
(b)
p=conv([1 5],[1 0 2])

sr = roots(p)
p=
1
10
251
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
(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
Golnaraghi,Kuo
Chapter2Solutions
%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
Golnaraghi,Kuo
0.0000+1.4142i
Chapter2Solutions
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
Golnaraghi,Kuo
22.8487+22.6376i
Chapter2Solutions
Golnaraghi,Kuo
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:
10
25
450
250 450
25
= 8
Twosignchangesinthefirstcolumn.TworootsinRHP.
450
Roots: 24.6769, 0.1616 + j1.4142, 0.1616 j1.4142
(b) s + 25 s + 10 s + 50 = 0
RouthTabulation:
10
25
50
250 50
25
=8
Nosignchangesinthefirstcolumn.NorootsinRHP.
50
(c) s 3 + 25 s 2 + 250 s + 10 = 0
RouthTabulation:
Roots: 0.0402, 12.48 + j 9.6566, j 9.6566
256
250
25
10
6250 10
25
= 249.6
Chapter2Solutions
Golnaraghi,Kuo
Nosignchangesinthefirstcolumn.NorootsinRHP.
10
. , 0.2888 + j 0.9611, 0.2888 j 0.9611

(d) 2 s + 10 s + 5.5 s + 5.5 s + 10 = 0 Roots: 4.466, 1116
RouthTabulation:
5.5
10
5.5
55 11
10
= 4.4
24.2 100
4.4
10
10
= 75.8
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 j 0.8169, 0.0447 j1153

. , 0.1776 j 2.352
RouthTabulation:
20
15
16
16 15
2
33
= 0.5
40 16
2
16
= 12
48
257
396 + 24
33
= 11.27
5411
. + 528
11.27
= 116
.
Chapter2Solutions
Golnaraghi,Kuo
16
0
Foursignchangesinthefirstcolumn.FourrootsinRHP.
(f) s + 2 s + 10 s + 20 s + 5 = 0
RouthTabulation:
10
20
20 20
2
=0
Roots: 0.29, 1788

. , 0.039 + j 3105
. , 0.039 j 3105
.
Replace 0 in last row by
20 10
10
Twosignchangesinfirstcolumn.TworootsinRHP.
(g)
s8
20
16
s7
12
16
s6
12
16
s5
12
12
60
258
16
64
Chapter2Solutions
s5
12
60
64
s4
16
3
s3
28
64
s2
0.759
s1
28
s0
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
Golnaraghi,Kuo
Chapter2Solutions
-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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
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 =
0
-24.4193
-0.2904 + 0.8572i
-0.2904 - 0.8572i
K=
ans =
263
Chapter2Solutions
-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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
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=
7
266
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
Chapter2Solutions
1. ActivateMATLAB
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicbutton
270
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
%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
Chapter2Solutions
Golnaraghi,Kuo
Part(b):
RHchart:
[1,10]
[25,50]
[8,0]
[50,0]
Stablesystem>>Norighthandsidepole
Part(c):
274
RHchart:
Chapter2Solutions
[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
Golnaraghi,Kuo
Chapter2Solutions
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
Golnaraghi,Kuo
[eps,5,0]
Chapter2Solutions
[(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
Golnaraghi,Kuo
6poleswtzerorealpart:
Chapter2Solutions
0
0
0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
0.0000+1.4142i
0.00001.4142i
278
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
(a) s 4 + 25 s 3 + 15 s 2 + 20 s + K = 0
RouthTabulation:
s
15
25
20
375 20
25
= 14.2
284 25 K
14.2
= 20 176
. K
20 176
. K > 0 or K < 1136
.
K>0
Thus,thesystemisstablefor0<K<11.36.WhenK=11.36,thesystemismarginallystable.The
auxiliaryequationis A( s ) = 14.2 s + 11.36 = 0. ThesolutionofA(s)=0is s = 0.8. The
frequencyofoscillationis0.894rad/sec.
(b) s + Ks + 2 s + ( K + 1) s + 10 = 0
RouthTabulation:
s
K +1
K>0
10
K >1
2K K 1
K
K 1
K
10
9 K 1
9K 1 > 0
K 1
10
Theconditionsforstabilityare:K>0,K>1,and 9 K 1 > 0 .Since K isalwayspositive,the
lastconditioncannotbemetbyanyrealvalueofK.Thus,thesystemisunstableforallvaluesofK.
279
Chapter2Solutions
Golnaraghi,Kuo
(c) s + ( K + 2 ) s + 2 Ks + 10 = 0
RouthTabulation:
s
2K
K+2
10
K > 2
2 K + 4 K 10
K + 2K 5 > 0
K+2
10
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
marginallystable.Theauxiliaryequationis A( s ) = 3.4495 s + 10 = 0. Thesolutionis s = 2.899 .
Thefrequencyofoscillationis1.7026rad/sec.
(d) s + 20 s + 5 s + 10 K = 0
RouthTabulation:
20
10 K
100 10 K
20
= 5 0.5K
5 0.5K > 0 or K < 10
K>0
10 K
Theconditionsforstabilityare:K>0andK<10.Thus,0<K<10.WhenK=10,thesystemis
marginallystable.Theauxiliaryequationis A( s ) = 20 s + 100 = 0.Thesolutionoftheauxiliary
equationis s = 5. Thefrequencyofoscillationis2.236rad/sec.
280
Chapter2Solutions
Golnaraghi,Kuo
(e) s + Ks + 5 s + 10 s + 10 K = 0
RouthTabulation:
s
10
K>0
10 K
5K 10 > 0 or K > 2
5 K 10
K
10 K
50 K 100
s
10 K
K
5K 10
50 K 100 10 K
5 K 10 K > 0
5 K 10
K
s
K>0
10 K
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
Chapter2Solutions
Golnaraghi,Kuo
(f) s + 12.5 s + s + 5 s + K = 0
RouthTabulation:
s
12.5
12.5 5
12.5
= 0.6
3 12.5 K
0.6
= 5 20.83 K
5 20.83 K > 0 or K < 0.24
K>0
Theconditionforstabilityis0<K<0.24.WhenK=0.24thesystemismarginallystable.Theauxiliary
2
equationis A( s ) = 0.6 s + 0.24 = 0. Thesolutionoftheauxiliaryequationis s = 0.4. Thefrequencyof
oscillationis0.632rad/sec.
2-39)
3
Thecharacteristicequationis Ts + ( 2T + 1) s + ( 2 + K ) s + 5 K = 0
RouthTabulation:
s
K+2
T
2T + 1
T >0
T > 1 / 2
5K
( 2T + 1)( K + 2 ) 5 KT
K (1 3T ) + 4T + 2 > 0
2T + 1
K>0
5K
Theconditionsforstabilityare:
T>0,K>0,and K <
282
4T + 2
3T 1
.Theregionsofstabilityinthe
Chapter2Solutions
Golnaraghi,Kuo
TversusKparameterplaneisshownbelow.
240UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys
283
Chapter2Solutions
4. ThenpressthetransferfunctionSymbolicbutton.
284
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
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:
600
50000
24 K
3 10 K
14320 K
600
600
21408000 K K
80 K
K < 3 10
80 K
16
11
7.2 10 + 3113256
.
10 K 14400 K
K>0
80 K
285
K < 21408000
7
12
K 2.162 10 K + 5 10
600(21408000 K )
0
3 10 K
< 0
Chapter2Solutions
Conditionsforstability:
Fromthe s row:
Fromthe s row:
Fromthe s row:
K 2.162 10 K + 5 10
2.34 10 < K < 2.1386 10
Fromthe s row:
K>0
K < 3 10
K < 2.1408 10
Thus,
0
Golnaraghi,Kuo
12
< 0 or ( K 2.34 10 )( K 2.1386 10 ) < 0
2.34 10 < K < 2.1386 10
Thus,thefinalconditionforstabilityis:
When K = 2.34 10
When K = 2.1386 10
= 10.6 rad/sec.
= 188.59 rad/sec.
(b)Characteristicequation: s 3 + ( K + 2 ) s 2 + 30 Ks + 200 K = 0
Routhtabulation:
30 K
K+2
200 K
K > 2
30 K 140 K
K > 4.6667
K+2
K>0
200 K
StabilityCondition:K>4.6667
WhenK=4.6667,theauxiliaryequationis A( s ) = 6.6667 s + 933.333 = 0 .Thesolutionis s = 140.
(c)Characteristicequation: s + 30 s + 200 s + K = 0
286
Chapter2Solutions
Golnaraghi,Kuo
Routhtabulation:
200
30
6000 K
K < 6000
30
K>0
0 < K < 6000
StabililtyCondition:
WhenK=6000,theauxiliaryequationis A( s ) = 30 s + 6000 = 0. Thesolutionis s = 200.
(d)Characteristicequation: s + 2 s + ( K + 3) s + K + 1 = 0
Routhtabulation:
K+3
K +1
K +5
K > 5
30
K > 1
K +1
K>1.WhenK=1thezeroelementoccursinthefirstelementofthe
Stabilitycondition:
s row.Thus,thereisnoauxiliaryequation.WhenK=1,thesystemismarginallystable,andone
ofthethreecharacteristicequationrootsisats=0.Thereisnooscillation.Thesystemresponse
wouldincreasemonotonically.
287
Chapter2Solutions
242Stateequation:
Openloopsystem:
x& ( t ) = Ax ( t ) + Bu ( t )
1
A=
10
0
B=
1
Closedloopsystem:
1
A BK =
10 k1
2
0
Golnaraghi,Kuo
x& ( t ) = ( A BK )x ( t )
k 2
Characteristicequationoftheclosedloopsystem:
sI A + BK =
s 1
10 + k1
s + k2
= s + ( k 2 1) s + 20 2k1 k 2 = 0
2
Stabilityrequirements:
k 2 1 > 0 or k 2 > 1
20 2k1 k 2 > 0 or k 2 < 20 2k1
Parameterplane:
243)Characteristicequationofclosedloopsystem:
s
sI A + BK = 0
k1
k2 + 4
s + k3 + 3
= s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
3
288
Chapter2Solutions
Golnaraghi,Kuo
RouthTabulation:
k2 + 4
1
k3 + 3
(k
k 3 +3>0 or k 3 > 3
k1
+ 3 )( k 2 + 4 ) k1
(k
k3 + 3
k
+ 3) ( k + 4 ) k > 0
2
k >0
1
StabilityRequirements:
k3 > 3,
k1 > 0,
(k
+ 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
If
, then
or
, then
. As a result:
1
1
289
Chapter2Solutions
Golnaraghi,Kuo
As a result:
( K p + K d s)
Y ( s)
G ( s) H (s)
=
=
X ( s ) (1 + G ( s ) H ( s )) (( s + 1)( s 2 g / l ) + K p + K d s )
=
c) lets choose
10
( K p + K d s)
( s + ( ( g / l ) + 1) s 2 + K d s g / l + K p )
3
0.1.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys
290
Chapter2Solutions
291
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
button.
RH =
1/10,
kd]
eps,
kp-10]
[ (-1/10*kp+1+kd*eps)/eps,
[
kp-10,
0]
0]
For the choice of g/l or the system will be unstable. The quantity g/l must be >1.
Increase g/l to 1.1 and repeat the process.
292
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheInverseLaplaceTransform
pushbutton.
---------------------------------------------------------------Inverse Laplace Transform
----------------------------------------------------------------
294
Chapter2Solutions
Golnaraghi,Kuo
G(s) =
kd
kp
[-----------------------[
------------------------------]
[1/10 s + s kd + kp - 10
1/10 s + s kd + kp - 10]
G(s) factored:
kd
[10 -------------------------[
kp
10 --------------------------]
[ 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*kp100)),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
Chapter2Solutions
( K p + K d s)
Y (s)
G (s) H (s)
=
=
X ( s ) (1 + G ( s ) H ( s )) (( s + 1)( s 2 g / l ) + K p + K d s )
(10 + s )
(10 + s )
=
2
3
(0.1s + (0.1(1) + 1) s + s 1 + 10) (0.1s + 0.9 s 2 + s + 9)
3
Using ACSYS:
RH =
[ 1/10,
1]
[ 9/10,
9]
[ 9/5,
0]
0]
9,
Hence the system is stable

---------------------------------------------------------------Inverse Laplace Transform
---------------------------------------------------------------G(s) =
s + 10
------------------------3
1/10 s + 9/10 s + s + 9
296
Golnaraghi,Kuo
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
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
Chapter2Solutions
Golnaraghi,Kuo
(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
Chapter2Solutions
Golnaraghi,Kuo
[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
Chapter2Solutions
RH=
[1,6,1]
[4,5,0]
[19/4,1,0]
[79/19,0,0]
[1,0,0]
STABLE
2101
Golnaraghi,Kuo
Chapter3Solutions
Golnaraghi,Kuo
Chapter 3__________________________________________________________________________
3-1)
a)
b)
c)
d)
Feedback ratio =
e)
3-2)
Characteristic equation:
31
Chapter3Solutions
Golnaraghi,Kuo
3-3)
1 G1 H 1
H2
G2
G1
1 G1 H 1
G1G2
1 G1 H 1
G3 +
1
1
32
H2
G2
Chapter3Solutions
Golnaraghi,Kuo
3-4)
G2
1 + G 2 G3 H 3
G1
-
G2
1 + G2G3 H 3 + G2 H 2
H1
33
G3
A
Chapter3Solution
ns
G1G2 G3
1 + G 2 G3 H 3 + G 2 H 2
H1
G3
3
3-5)
34
Golnarraghi,Kuo
Chapter3Solutions
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
Golnaraghi,Kuo
A
Chapter3Solution
ns
3-7)
33-8)
36
Golnarraghi,Kuo
A
Chapter3Solution
ns
3-9)
3
3-10)
3
3-11)
37
Golnarraghi,Kuo
A
Chapter3Solution
ns
3-12)
3-13)
symst
f=100*(10.3
3*exp(6*t)0
0.7*exp(10*t))
F=laplace(f)
symss
F=eval(F)
Gc=F*s
M=30000
symsK
Olp=simplify(K
K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*K
Kt))
s=0
Ess=eval(Clp)
f=
10030*exp(6
6*t)70*exp(10*t)
F=
80*(11*s+75)/s/(s+6)/(s+1
10)
ans=
38
Golnarraghi,Kuo
A
Chapter3Solution
ns
(880*s+6000)/s/(s+6)/(s+1
10)
Gc=
(880*s+6000)/(s+6)/(s+10
0)
M=
30000
Olp=
1/375*K*(11**s+75)/s/(s+6
6)/(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
Golnarraghi,Kuo
Chapter3Solutions
3-15)
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
Golnaraghi,Kuo
A
Chapter3Solution
ns
Golnarraghi,Kuo
2
20/3*K*(2210
03091165498
883*s263882
27906662400
0)*exp(1/2*s)/(87960930
02220800000
0*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=
50*s)*(5.*s6
6.)/s/(s+6.)
.10e3*exp(.5
Gcsimp=
.10e3*exp(.5
50*s)*(5.*s6
6.)/(s+6.)
Olpsimp=
.10e2*K*exp
p(.50*s)*(17
7.*s20.)/s/(s++6.)
Clpsimp=
5
5.*K*exp(.50
0*s)*(15.*s1
17.)/(.44e4*ss^2.26e5*s+1
11.*K*exp(.5
50*s)*s13.*K
K*exp(.50*s)))
3-16)
311
Chapter3Solutions
Golnaraghi,Kuo
3-17)
3-18)
1
1
1
0.5
0.5
0.5
1.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
u1
0.5
z1
3
0.5
1/s
0.5
0.5
u2
0.5
-1
1/s
-6
x2
1
x3
x1
0.5
0.5
-5
1.5
0.5
-0.5
312
1/s
z2
Chapter3Solutions
Golnaraghi,Kuo
3-19)
B1
u
B0
1/s
1
x
313
y
-A1
-A0
3-20)
1/s
A
Chapter3Solution
ns
3
3-21)
3
3-22)
314
Golnarraghi,Kuo
A
Chapter3Solution
ns
33-23)
315
Golnarraghi,Kuo
A
Chapter3Solution
ns
3-24)
3
3-25)
3
3-26)
3
3-27)
316
Golnarraghi,Kuo
A
Chapter3Solution
ns
33-28)
317
Golnarraghi,Kuo
A
Chapter3Solution
ns
33-29)
318
Golnarraghi,Kuo
A
Chapter3Solution
ns
3-30) Use Masonss formula:
3-31) MATLAB
symssK
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=sim
mplify(G/(1+G*H))
place(YN/s)
Yn=ilap
G=
100/(ss+1)/(s+5)
g=
25*exxp(t)+5*exp
p(5*t)+20
H=
K/s
319
Golnarraghi,Kuo
Chapter3Solutions
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
Golnaraghi,Kuo
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
Chapter3Solutions
p=
15610
ans=
4.1337
0.4331+1.4938i
0.43311.4938i
Transferfunction:
1
s^3+5s^2+6s+10
323
Golnaraghi,Kuo
Chapter3Solutions
Golnaraghi,Kuo
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
r =
-0.0152
-0.0424
-0.0424
0.1000
p =
-4.1337
-0.4331
-0.4331
0
k =
[]
10
+ 0.0333i
- 0.0333i
+ 1.4938i
- 1.4938i
SopartialfractionofYis:
1 0.0152
0.0424 + 0.0333i
0.0424 - 0.0333i
+
+
+
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
Chapter3Solutions
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
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
Golnaraghi,Kuo
Chapter3Solutions
Golnaraghi,Kuo
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 =
11/14863*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
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)
M
3-38) MATLAB
Use TF
Fcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windo
ow).
TFcal
328
Chapter3Solutions
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
Golnaraghi,Kuo
Chapter3Solutions
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
Golnaraghi,Kuo
Chapter3Solutions
Golnaraghi,Kuo
-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^4848*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
ans =
-3.0000
-0.0000
-0.0000
-1.0000
-0.2500
-0.2500
15
25
25
14
+ 1.4142i
- 1.4142i
+ 0.6614i
- 0.6614i
331
Chapter3Solutions
P2 =
1
23
36
38
28
16
ans =
-4.0000
-2.0000
-1.0000
-1.0000
0.0000
0.0000
+
+
-
1.0000i
1.0000i
1.0000i
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
Golnaraghi,Kuo
Chapter3Solutions
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
26
45
46
40
A =
r =
-1.0600
-1.0600
0.9600
-0.1700
-0.1700
2.0000
p =
-1.0000
-1.0000
-2.0000
-0.2500
-0.2500
0
- 1.7467i
+ 1.7467i
+ 0.7262i
- 0.7262i
+ 2.0000i
- 2.0000i
+ 1.3919i
- 1.3919i
k =
[]
333
Golnaraghi,Kuo
Chapter3Solutions
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
Golnaraghi,Kuo
Chapter3Solutions
Golnaraghi,Kuo
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
0.0716
-1.4265
-1.4265
-3.0000
-2.1451
-2.1451
+
+
-
0.9974i
0.9974i
1.3355i
1.3355i
+ 0.3366i
- 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
Chapter3Solutions
Golnaraghi,Kuo
------------------------------------------------------------------------------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
Chapter3Solutions
Golnaraghi,Kuo
+
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
Chapter4Solutions
Golnaraghi,Kuo
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:

1
2
where y is a displacement from equilibrium position L.
The gravitational energy is:
The kinetic energy of the mass-spring system is calculated by:

1
2
As we know that
, then
By differentiating from above equation, we have:

0
0
since KL = mg, therefore:
0
As y cannot be zero because of vibration, then
41
Chapter4Solutions
4-2)
KU
KL
4-3)
a)
Rotational kinetic energy:

Translational kinetic energy:
Relation between translational displacement and rotational displacement:
1
2
Potential energy:
As we know
, then:
42
Golnaraghi,Kuo
Chapter4Solutions
1
2
1
2
Golnaraghi,Kuo
1
2
By differentiating, we have:
0
0
Since
cannot be zero, then
b)
c)
1
2
where
1
2
1
2
at the maximum energy.

1
2
1
2
Then:
1
2
1
2
Or:
43
d)
G (s) =
Chapter4Solutions
(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
Golnaraghi,Kuo
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
4-44)
(a)Forceequaations:
2
f (t ) = M 1
d y1
dt
+ B1
Rearraangetheequattionsasfollows:
dt
dy1 dy2 + K y y
( 1 2)
dt dt
+ B3
2
d y2
dy1 dy
dy2
d 2
B3
+ K ( y1 y2 ) + M 2 2 + B2
dt
dt
dt ddt
d y1
dy1
dt
d y2
dt
(B
+ B3 ) dy1
M1
B3 dy1
M 2 dt
dt
(B
B3 dyy 2
M 1 dt
d
+ B3 ) dy2
M2
dtt
K
M1
K
M2
(y
(y
y2 ) +
f
M1
y2 )
(i)Staatediagram:SSince y1 y 2 appearsasone
a
unit,theminimumnumberofintegratorsisthree.
45
Chapter4Solutions
Golnaraghi,Kuo
dy 2
Stateequations:Definethestatevariablesas x1 = y1 y 2 , x 2 =
dx1
dt
= x2 + x3
dx2
dt
K
M2
x1
(B
+ B3 )
M2
(ii)Statevariables: x1 = y 2 , x 2 =
Stateequations:
Statediagram:
dx1
dt
dx3
dt
= x2
= x4
x2 +
dx 2
dt
dx 4
dt
dy 2
M2
dx3
x3
dt
, x3 = y1 , x 4 =
dt
B3
K
M2
K
M1
x1
x1 +
B2 + B3
B3
M1
x2
K
M1
M1
dy1
x1 +
B3
M1
x2
(B
dy1
dt
+ B3 )
M1
x3 +
1
M
dt
x2 +
M2
dt
, x3 =
K
M2
x3
x3 +
B3
M2
B1 + B3
M1
x4
x4 +
1
M1
Transferfunctions:
Y1 ( s )
F (s)
Y2 ( s )
F (s)
M 2 s + ( B2 + B3 ) s + K
2
=
=
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
B3 s + K
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
(b)Forceequations:
46
}
}
2
d y1
(B
(i)Statediagram:
dt
+ B2 ) dy1
dt
Chapter4Solutions
B2 dy 2
M dt
dy2
Golnaraghi,Kuo
dy1
dt
dt
K
B2
y2
Definetheoutputs
oftheintegrators
asstatevariables,
dy
x1 = y 2 , x 2 = 1
dt
.
Stateequations:
dx1
dx 2
x1 + x 2
x1
B1
x2 +
(ii)Stateequations:Statevariables: x1 = y 2 , x 2 = y1 , x3 =
Transferfunctions:
Y1 ( s)
B2 s + K
=
2
F ( s ) s MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
(c)Forceequations:
dt
dx1
dt
dy1
B2
K
B2
dy2
x1 + x3
(i)Statediagram:
dt
dt
B1
dt
dx 2
dt
dx3
= x3
dt
d y2
dt
(B
K
M
F (s)
+ B2 ) dy2
M
B1
Y2 ( s )
dt
47
x1
dy1
dt
x3 +
.
1
B2
MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
B1 dy2
M dt
B1 dy1
M dt
K
M
y2
Chapteer4Solutionss
Golnarraghi,Kuo
Stateequatio
ons:Definetheeoutputsofintegratorsassttatevariables.
(ii)Stateequations:statevariaables: x1 = y1 , x 2 = y 2 , x3 =
dx1
= x2
dt
dx1
dt
= x3 +
1
B1
dxx 2
d
dt
dx 2
dt
= x3
K
M
x1
B2
M
dxx3
x2 +
d
dt
1
M
x2
B2
M
dy 2
dt
x3 +
.
1
M
Statediagram
m:
Transferfuncctions:
Y1 ( s )
F (s)
Ms + ( B1 + B2 ) s + K
2
B1 s Ms + B2 s + K
2
Y2 ( s )
F (s)
1
Ms + B2 s + K
4-55)
48
Chapteer4Solutionss
Golnarraghi,Kuo
(a)Forceequaations:
y1 =
( f + Mg ) + y 2
Staatediagram:
K2
d y2
dt
B dy 2
M dt
K1 + K 2
M
y2 +
K2
y1
Staateequations:
Deffinethestate
varriablesas:
dy
x1 = y 2 , x 2 = 2
d
dt
.
dx1
dtt
d 2
dx
= x2
dt
K1
M
x1
B
M
Transferfunction
ns:
(b)Forcceequations:
dy1
dt
1
B1
Y1 ( s )
F ( s)
[ f (t ) + Mg ] +
x2 +
( f + Mg )
dy 2
dt
s + Bs + K1 + K 2
Y2 ( s )
K 2 ( Ms + Bs + K1 )
K1
B1
(y
y2 )
1
F ( s)
d y2
dt
1
2
Mss + Bs + K1
dy1 dy2 + K1 y y B2 y y B2 dy2

( 1 2)
( 1 2)
M dt
dt M
M
M dt
B1
Stattediagram:(W
Withminimumnumberofinttegrators)
49
Chapteer4Solutionss
Golnarraghi,Kuo
ToobtainthetranssferfunctionsY1 ( s ) / F ( s ) andY2 ( s ) / F ( s ), weneedtoredefinethesttatevariablesaas:
x1 = y 2 , x 2 = dy 2 / dtt , and x3 = y1 .
Stattediagram:
4-66)
Transferfuncctions:
Y1 ( s )
F (s)
Ms + ( B1 + B2 ) s + K1
2
M s + (B B
[ MB
1
+ MK1 )]
Y2 ( s )
F (s)
Bs + K1
M s + (B B
[ MB
1
+ MK1 )]
a)
y1
y2
K ( y1 y 2 )
K ( y1 y 2 )
mgy& 2
b)
Mgy&1
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
Chapter4Solutions
Golnaraghi,Kuo
c)
Obtaining
requires solving above equation with respect to Y2(s)
From the first equation:
Substituting into the second equation:
By solving above equation:

1
2
d)
0
0
0
0
1
0
0
1
0
0
1
0001
4-7)(a)Forceequations:
dy1 dy2
dt dt
2
dy1 dy2 = M d y2 + B dy2
t
2
dt
dt
dt dt
f (t ) = K h ( y1 y2 ) + Bh
(b)Statevariables: x1 = y1 y 2 , x 2 =
K h ( y1 y 2 ) + Bh
dy 2
dt
411
Stateequations:
dx1
dt
Kh
Bh
x1 +
1
Bh
Chapter4Solutions
dx 2
f (t )
dt
Bt
M
x2 +
1
M
Golnaraghi,Kuo
f (t )
4-8)
For the left pendulum:
sin
sin
sin
cos
sin
sin
cos
sin
sin
sin
cos
For the right pendulum, we can write the same equation:

sin
sin
sin
cos
since the angles are small:
4-9)
sin
cos
sin
cos
a)
412
Chapter4Solutions
Golnaraghi,Kuo
Fy
m
x(t)
Fx
mg
M
b)
If we consider the coordinate of centre of gravity of mass m as (xg, yg),

Then
sin
and
cos
From force balance, we have:
cos
From the torque balance, we have:

cos
Where:
sin
sin
sin
cos
cos
sin
Substituting these equation:

cos
4-10) a)
413
sin
Chapter4Solutions
Golnaraghi,Kuo
Fy1
Fy 2
Fx 2
Fx1
m1 g
m2 g
b)
Kinetic energy
(i) For lower pendulum:
1
2
1
2
sin
cos
sin
cos
For upper pendulum:

1
2
1
2
For the cart:

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

Total potential energy:
414
Chapter4Solutions
Golnaraghi,Kuo
The Lagrangian equation of motion is:
0
0
Substituting T and U into the Lagrangian equation of motion gives:
cos
cos
cos
4-11) a)
cos
sin
From the Lagrangian equation of motion:

sin
b)
sin
sin
sin
As:
Then
sin
If we linearize the equation about beam angle = 0, then sin and sin
Then:
415
c)
Chapter4Solutions
Golnaraghi,Kuo
Considering
Then the state-space equation is described as:
0
0
d)
G ( s) =
1
0
mgd
( 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
Chapter4Solutions
Golnaraghi,Kuo
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:
sin
cos
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:
1
1
cos
sin
sin
cos
Where = is an attack angle, V is velocity, and is flight path angle.

417
Chapter4Solutions
Golnaraghi,Kuo
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:

1
2
3
From equation (1):
Substituting in equation (2) and solving for q(s):
Substituting above expression in equation (3) gives:
If we consider
sin
, then
By using Laplace transform:

4
Which gives:
418
Chapteer4Solutionss
Golnarraghi,Kuo
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
x
1/s
-B/M
-K
Also look at seection 4-11

4-113)(a)Torqueequation:
2
B d
Stateequations:
Transsferfunction:
dt
dx1
dt
J dt
T ( s)
dt
1
s( Js + B )
Stated
diagram:
T (t )
dx 2
= x2
( s )
B
J
x2 +
1
J
(b)Torqueequations:
d 1
2
2 ) +
K ( 1 2 ) = B
Statediagram:(minimumnumbeerofintegratorrs)
dt
d 2
dt
419
Chapteer4Solutionss
Golnarraghi,Kuo
Stateequations:
Stateequations:Let x1 = 2 , x 2 = 1 , and x3 =
Statediagram:
Tran
nsferfunctionss:
(c)Torqqueequationss:
T (t ) = J 1
Stattediagram:
dx1
dt
dx1
dt
1 ( s )
T (s)
K
B
K
B
dx 2
x1 + x 2
x1 +
K
B
dt
x2
dx 2
dt
Bs
B +K
s BJs + JKs + BK
2
d 1
2
dt
+ K ( 1 2 )
K
J
x1 +
= x3
1
J
dx3
dt
2 ( s)
T (s)
d 1
dt
K
J
x1
K
J
x2 +
1
J
s BJs + JK
Ks + BK
K ( 1 2 ) = J 2
420
d 2
2
dt
Chapteer4Solutionss
Golnarraghi,Kuo
State
eequations:sttatevariables:: x1 = 2 , x 2 =
nsferfunctionss:
Tran
(d)Torqueequationss:
T (t ) = J m
dx1
dt
dx 2
= x2
1 ( s )
T (s)
dt
K
J2
x1 +
K
J2
x3
J2s + K
2
s J 1 J 2 s + K ( J 1 + J 2 )
d m
2
dt
+ K1 ( m 1 ) + K 2 ( m 2 )
d 3
dx
dt
d 2
dt
d 4
dx
= x4
2 ( s)
T (s)
dt
K
J1
421
d 1
x1
d
dt
K
J1
x3 +
1
J1
K
s J 1 J 2 s + K ( J 1 + J 2 )
2
K1 ( m 1 ) = J 1
, x3 = 1 , x 4 =
d 1
2
dt
K 2 ( m 2 ) = J 2
d 2
2
dt
Chapteer4Solutionss
Golnarraghi,Kuo
Statediiagram:
ons: x1 = m 1 , x 2 =
Stateequatio
dx1
dt
= x 2 + x3
T (s)
2 (s)
T (s)
K1
J1
dx3
x1
dt
dtt
K1
Jm
x1
dt
K2
, x 4 = m 2 , x5 =
x4 +
Jm
1
Jm
dx 4
dt
= x3 x5
d 2
dt
dx5
dtt
K2
J2
x4
K1 ( J 2 s + K 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
d 2 m
dt
K1
Jm
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 )
K 2 ( J 1 s + K1 )
(e)Torqqueequationss:
( m 1 )
K2
Jm
( m 2 ) +
1
Jm
d 1
2
d
dt
K1
J1
Statediagram
m:
422
d m
dt
, x3 =
Transferfuncctions:
1 ( s )
dx 2
d 1
1 )
B1 d 1
J 1 dt
d 2
2
dt
K2
J2
1 )
B2 d 2
J 2 dt
Chapteer4Solutionss
Golnarraghi,Kuo
SStatevariabless: x1 = m 1 , x 2 =
dx1
Stateequatio
ons:
dx 2 K1
B
= x 2 + x3
=
x1 1 x 2
dt
J1
dt
J1
dt
dt
K1
Jm
, x3 =
x1
K2
Jm
d m
, x 4 = m 2 , x5 =
dt
x4 +
1
Jm
dx4
dt
= x3 x 5
d 2
dx5
dt
dt
K2
J2
x4
B2
J2
x5
Transferfuncctions:
1 ( s )
T (s)
K1 J 2 s + B2 s + K 2
2 (s)
(s)
T (s)
K 2 J 1 s + B1 s + K1
2
(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
dx3
d 1
+ [( 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 1
2
Tm (t ) = J m
(a))
3 =
N1 N 3
N2 N4
dt
+ T1
T2 =
T1 =
N3
N4
N1
N2
T4 =
T3 =
T2
N3
N4
d 3
2
JL
dt
N3
N4
T4
T4 = J L
dt
T2 = T3
2 =
N1
N2
N1 N 3 d 2 1
T
J
+
Tm = J m
+
=
m
4
2
JL 2
N2 N4
dt
N 2 N 4 dt
d 1
2
423
d 3
N1 N 3
Chapter4Solutions
Golnaraghi,Kuo
(b)
d 1
2
Tm = J m
2 =
N1
N2
dt
+ T1
T2 = J 2
3 =
N1 N 3
N2 N4
dt
d 2
2
T4 = ( J 3 + J L )
+ T3
d 3
T2 = J 2
dt
dt
T1 =
d 2
2
N3
T4 = J 2
N4
dt
N3
N4
(J
N1
N2
3
T3 =
T2
+ JL )
N3
N4
T4
d 3
2
dt
2
2
d 21
N1
N1 N 3
Tm (t ) = J m 2 + J 2 2 + ( J 3 + J 4 ) 2 = J m + J 2 +
( J 3 + J L ) dt 2
dt
N2
dt
N4
dt
N2
N2 N4
N1
d 1
2
d 2
d 2
2
d 3
2
N3
4-15)(a)
2
Tm = J m
Tm = J m
Set
d m
dt
+ T1
d m
2
dt
L
n
d L
T2 = J L
d L
dt
(T
= 0.
dt
+ TL
T1 =
N1
N2
T2 = nT2
J m + nJ + nT
L
L
L
n
+ nJ L
nTm n TL
2
Thus, L =
+ nTL =
m N1 = L N 2
Jm + n JL
2
2 nTL ) J m + n J L 2 nJ L nTm n J L = 0 Or, n +
n =
Optimalgearratio:
J mTL
2 J LTm
J mTL
J LTm
Jm
JL
= 0
J mTL + 4 J m J LTm
wherethe+signhasbeenchosen.
2 J LTm
(b)When TL = 0 ,theoptimalgearratiois
n =
Jm / J L
4-16)(a)Torqueequationaboutthemotorshaft:
2
Tm = J m
d m
dt
+ Mr
d m
dt
+ Bm
d m
dt
Relationbetweenlinearandrotationaldisplacements:
y = r m
(b)TakingtheLaplacetransformoftheequationsinpart(a),withzeroinitialconditions,wehave
Tm ( s ) = J m + Mr
)s
2
( s ) + Bm s m ( s )
424
Y (s) = rm (s)
Chapteer4Solutionss
Golnarraghi,Kuo
Transfferfunction:
Y ( s)
Tm ( s )
s J m + Mr
)s + B
4-117)(a)
d m
2
Tm = J m
dt
T1 = K 2 ( r m r p ) = K 2 ( r m y )
+ r ( T1 T2 )
T1 T2 = M
d y
dt
d m
2
Thu
us, Tm = J m
dtt
+ r ( K1 + K 2 )( r m y )
T2 = K1 ( y r m )
2
d y
dt
= ( K1 + K 2 )( r m y )
(c)Stateequations:
dx1
dt
dx2
= rx3 x2
dt
K1 + K 2
M
x1
dx3
dt
r ( K1 + K 2 )
Jm
(d)Transferfunction:
Y ( s)
Tm ( s )
r ( K1 + K 2 )
s J m Ms + ( K1 + K 2 )(( J m + rM )
2
(e)Charaacteristicequaation:
J m Ms 2 + ( K1 + K 2 )( J m + rM ) = 0
4-118) (a)Systeemequations:
425
x1 +
1
Jm
Tm
Tm = K i ia = ( J m + J L )
TD =
Blockkdiagram:
d
V
d m
dt
e = r b
(sec)
Chapteer4Solutionss
+ Bm m
ea = Ra ia + La
b = Ks y
dia
dt
Golnarraghi,Kuo
+ K b m
y = n m
y = y ( t TD )
E a ( s ) = KGc ( s ) E ( s )
(b)Forw
wardpathtransferfunction
n:
Clossedlooptranssferfunction:
Y (s)
E (s)
Y ( s)
R(s)
KK i nGc ( s )e
TD s
s {( Ra + La s ) [( J m + J L ) s + Bm ] + K b K i }
KK
K i nGc ( s )e
TD s
s ( Ra + La s ) [ ( J m + J L ) s + Bm ] + K b K i s + KGc ( s ) K i ne
TD s
4-119) (a)Torquueequations:
d m
2
Tm (t ) = J m
dt
+ Bm
d m
dt
+ K ( m L )
K ( m L ) = J L
Statediagram:
426
d L
2
dt
+ BL
d L
dt
Chapteer4Solutionss
Golnarraghi,Kuo
(b)Transsferfunctions:
L ( s)
Tm ( s )
m (s)
(s)
Tm ( s )
J L s + BL s + K
2
( s)
( s ) = s J m J L s + ( Bm J L + BL J m ) s + ( KJ m + KJ L + Bm BL ) s + Bm K
3
(c)Charaacteristicequaation: ( s ) = 0
t
Tm ( s ) =
dystateperforrmance: Tm ( t ) = Tm = constant.
(d)Stead
Tm
s
J L s + BL s + K
2
lim m (t ) = lim s m ( s ) = lim
Thuss,inthesteadyystate, m = L .
(e)Theesteadystatevvaluesof m and
a L donotdependon J m and J L .
s 0
s 0
J m J L s + ( Bm J L + BL J m ) s + ( KJ
K m + KJ L + Bm BL ) s + Bm K
3
4-220)(a)Torqqueequation:(AbouttheceenterofgravityyC)
2
Thuss,
d
dt
= Ts d 2 sin + Fd d1
Fa d1 = J 1 = K F d1
d
dt
sin
= Ts d 2 + K F d1
d
dt
K F d1 = Ts d 2
(b) Js ( s ) K F d1 ( s ) = Ts d 2 ( s )
(c)With
hCandPintercchanged,thetorqueequationaboutCis:
Ts ( d1 + d 2 ) + F d 2 = J
d
2
dt
Ts ( d1 + d 2 ) + K F d 2 = J
427
d
2
dt
1
Bm
Chapter4Solutions
Golnaraghi,Kuo
( s )
Js ( s ) K F d 2 ( s ) = Ts ( d1 + d 2 ) ( s )
2
(s)
Ts ( d1 + d 2 )
Js K F d 2
2
4-21)(a)Nonlineardifferentialequations:
dx ( t )
With Ra = 0 , ( t ) =
f ( t ) = Ki ( t )ia ( t ) =
dt
dv ( t )
= v(t )
dt
e( t )
Kb v ( t )
= k ( v ) g ( x ) + f ( t ) = Bv ( t ) + f ( t )
= K f i f ( t ) = K f i f ( t ) = K f ia ( t )
Ki e ( t )
2
Kb K f
v (t )
dv ( t )
Thus,
dt
Then, ia ( t ) =
= Bv ( t ) +
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
dt
dv ( t )
= v (t )
dt
= Bv ( t ) + Ki K f ia ( t )
(c)Stateequations: ( t ) asinput.
2
f ( t ) = K i K f ia ( t )
dx ( t )
dt
= v (t )
ia ( t ) = i f ( t ) =
dv ( t )
dt
= Bv ( t ) +
428
(t )
Ki
Kf
Kf
(t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
Chapter4Solutions
Golnaraghi,Kuo
4-22) Define as the angle between mass m and the horizontal axis (positive in c..c.w. direction):
m
=t
ym
Use Newtons second law:

m( &&
y + &&
ym ) = Fm
( M m) &&
y = Fm By& Ky
&&
ym = e 2 sin t
My&& + By& + Ky = me 2 sin t
Where M is the Mass of the overall block system. M-m is the mass of the block alone.
Y
me 2
G ( s) = =
R Ms 2 + Bs + K
Zero i.c. and input r (t ) = sin t
Note = t . 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
sine function is sin(t ) = 2

s + 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
Chapter4Solutions
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
Golnaraghi,Kuo
4-23) a)
Chapter4Solutions
Golnaraghi,Kuo
summation of vertical forces gives:

2
1
0
If we consider
and
, then:
2
0
The state-space model is:
0
0
0
0
1
0
0
1
0
0
1
b)
By applying Laplace transform for equations (1) and (2), we obtain:
2
Which gives:
and
2
Therefore:
2
4-24) a) Summation of vertical forces gives:

0
Consider
and
, then
431
Chapter4Solutions
Golnaraghi,Kuo
0
So, the state-space model of the system is:
0
0
0
0
1
0
0
1
0
0
1
0
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:

2
2
432
V
Cs
V
2
Chapter4Solutions
V s
2R
V s
R
V s
Cs
V s
2
CsV s
Golnaraghi,Kuo
V s
2R
Cs
V
s
V s
2
V s
V
s
0
2R
0
0
From above equations:

V s
V s
1
2 RCS 1
RCS
2 RCS 1
Substituting V1(s) and V2(s) into preceding equations, we obtain:

1
4
b)
Measuring Vout requires a load resistor, which means:
i1
Vin
i2
VC1
Then we have:
When
If RL >>R, then
433
RL
VC 2
Chapter4Solutions
Golnaraghi,Kuo
Therefore:
1
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:
2
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
Chapter4Solutions
Golnaraghi,Kuo
, then :
b) As
If
then
1
2
Then the transfer function is:
435
Chapter4Solutions
Golnaraghi,Kuo
If
1
2
Then the transfer function is:

2
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
Chapter4Solutions
Golnaraghi,Kuo
The total magnetic field is:

,
where W is a function of electrical and mechanical power exerted to the inductor, so:
W
i
F
As v =
W
x
L x
2L x
, then:
1
2
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:
i
Bx
So:
Substituting these equations into the state-space equations gives:
1
2
Therefore:
V s
F s
2
tan
B
437
Chapter4Solutions
Golnaraghi,Kuo
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:
2
As
, then:
1
2
c)
The same as Problem 4.28,

Consider:
Then solve the equations.
438
Chapter4Solutions
Golnaraghi,Kuo
4-29) According to the circuit:

_
or
_
As an op-amp is modeled with the following equation:
_
1
Then:
1
1
1
1
1
4-30) a) Positive feedback ratio:
b) Negative feedback ratio:
c) According to the circuit:
Therefore:
439
Chapter4Solutions
Golnaraghi,Kuo
As
10
1
then:
10
1
which gives:
1
10
It is stable when 1
10
10
0 which means:
10
4-31) a) If the drop voltage of Rin is called v1

Then:
0
Also:
0
Then:
Substituting this expression into the above equation gives:

1
As a result:
440
Chapter4Solutions
Golnaraghi,Kuo
Or
1
b) If the dropped voltage across resistor Rf is called vf, then

0
0
As a result:
Substituting into the second equation gives:

0
or
As a result:
1
1
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
Chapter4Solutions
Golnaraghi,Kuo
Since the temperature changes with the differences in heat flows:

1
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:
1
1
By linearizing the right hand side of the equation around point
1
2
1
Or
2
If we consider the right hand side of the above equation as two inputs to the system as:
1 or
, then:
and
2
1
4-33) Due to insulation, there is no heat flow through the walls. The heat flow through the sides is:
442
Chapter4Solutions
Golnaraghi,Kuo
2
,
ln
2
,
ln
Where T1 and T2 are the temperature at the surface of each cylinder.

As
, then from equation (1) and (2), we obtain:

ln
2
The conduction or convection at:
:
4
:
The thermal capacitance dynamics gives:

7
8
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:
1
443
Chapter4Solutions
Golnaraghi,Kuo
Also the enclosure loses heat to the air through its top. So:
4
Where
5
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:
0
Therefore
where
, as a result:
6
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
TAN and TAX, respectively. Then:
1
2
The thermal fluid capacitance gives:
3
4
From thermal conductivity:
ln
2
444
5
1
and
, and
Chapteer4Solutionss
Golnarraghi,Kuo
Where Ci and Co arre convectivve heat transffer coefficiennt of the inner and outerr tube; Ai andd Ao are
t
the surfface of innerr and outer tuube; Ri and Ro are the raadius of inneer and outer tube.
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:
( s )
( s)
K1 K 4 e
D s
Js + ( JK L + B ) s + K 2 B + K 3 K 4 e
2
D s
(c)Characteristicequattion:
Js + ( JK L + B ) s + K 2 B + K 3 K 4 e
2
D s
= 0
(d)Transferfunction:
( s )
Charaacteristicequaation:
(s)
K1 K 4 ( 2 D s )
( s)
( s ) J D s + ( 2 J + JK 2 D + B D ) s + ( 2 JK 2 + 2 B D K 2 B D K 3 K 4 ) s + 2 ( K 2 B + K 3 K 4 ) = 0
3
4-337) The tottal potential energy is:

1
2
1
2
The tottal kinetic en

nergy is:
445
Chapter4Solutions
Golnaraghi,Kuo
2
Therefore:
2
2
As a result:
2
So, the natural frequency of the system is calculated by:

Also, by assuming
sin
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
Chapter4Solutions
Golnaraghi,Kuo
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 cos
1 , 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
Chapter4Solutions
Golnaraghi,Kuo
Pa A
Bv 2
Pb A
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 A
Ps A
Q
Q
Ff
P1 A
Pa A
b)
0
8
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
32
Therefore:
448
Chapter4Solutions
Golnaraghi,Kuo
32
32
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:
0
0
0
The moments of inertia of the lever are calculated as:

sin
cos
sin
cos
0
cos
sin
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
Chapter4Solutions
Golnaraghi,Kuo
Also:
2
sin
cos
Due to force balance, we can write:

2
Therefore
sin
sin
can be calculated form above equations.
On the other hand,
sin , 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
Chapter4Solutions
Golnaraghi,Kuo
4-41) If the capacitances of the tanks are assumed to be C1 and C2 respectively, then
1
Therefore:
1
1
Asa result:
1
4-42) The equation of motion is:

0
Considering
gives:
0
or
4-43)(a)Blockdiagram:
451
0
1
Chapteer4Solutionss
Golnarraghi,Kuo
(b)Transfferfunction:
TAO ( s )
Tr ( s )
KM KR
(1 + s )((1 + s ) + K
s
KR
3.51
20 s + 122 s + 4.51
2
4-444)
Sysstemequations:
d m
2
Tm (t ) = J m
dt
+ Bm
d m
uation: eo =
Outputequ
Statediiagram:
Transferr
dt
E L
20
+ K ( m L )
K ( m L ) = J L
d L
2
dt
+ Bp
d L
d
dt
fun
nction:
L (s)
Tm ( s )
Eo ( s )
Tm ( s )
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
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
KE / 20
4-445)(a)Statteequations:
d L
dt
=L
d L
dtt
K2
JL
K2
JL
d t
dt
= t
452
d t
dtt
K1
Jt
K1
Jt
d m
dt
d m
= m
dtt
Bm
Jm
Chapteer4Solutionss
(K
+ K2 )
Jm
m +
K1
Jm
t +
K2
Jm
L +
Golnarraghi,Kuo
1
Jm
Tm
(b)Stateddiagram:
(c)Transfferfunctions:
L (s)
Tm ( s )
K 2 J t s + K1
2
t ( s)
(s)
Tm ( s )
m (s)
(s)
Tm ( s )
J t J L s + ( K1 J L + K 2 J t ) s + K1 K 2
4
( 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
K1 J L s + K 2
+ Bm J L ( K1 + K 2 ) s + K1 K 2 ( J L + J t + J m ) s + Bm K1 K 2 ] = 0
2
(d)Charaacteristicequattion:
(s)
3
s ) = 0 .
(
4-446)
(a)Transfferfunction:
G(s) =
Ec ( s )
E (s)
1 + R2 Cs
1 + ( R1 + R2 ) Cs
(b)Blockdiagram:
453
Chapter4Solutions
Golnaraghi,Kuo
(c)Forwardpathtransferfunction:
m (s)
E (s)
[1 + ( R
K (1 + R2 Cs )
+ R2 ) Cs ] ( K b K i + Ra J L s )
(d)Closedlooptransferfunction:
(e)
m (s)
Fr ( s )
Gc ( s ) =
K K (1 + R2 Cs )
[1 + ( R
+ R2 ) Cs ] ( K b K i + Ra J L s ) + K KK e N (1 + R2 Cs )
1
Ec ( s )
E (s)
(1 + R Cs )
2
R1Cs
Forwardpathtransferfunction:
m (s)
Closedlooptransferfunction:
E (s)
m (s)
Fr ( s )
K (1 + R2 Cs )
R1Cs ( K b K i + Ra J L s )
K K (1 + R2 Cs )
R1Cs ( K b K i + Ra J L s ) + K KK e N (1 + R2 Cs )
Ke = 36 pulses / rev = 36 / 2 pulses / rad = 5.73 pulses / rad.
(f) f r = 120 pulses / sec
m = 200 RPM = 200(2 / 60 ) rad / sec
f = NK e m = 120 pulses / sec = N ( 36 / 2 ) 200(2 / 60 ) = 120 N pulses / sec
Thus,N=1.For m = 1800 RPM, 120 = N ( 36 / 2 )1800(2 / 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) +
B + Js
Ra + La s B + Js
Ra + La s
=
=0
m (s)
TL ( s )
r =0
( s)
(s)
Thus,
454
H e (s) =
(b)
H i (s)
H i (s)
Ra + La s
H e (s)
m ( s)
= 1+
(R
(R
m (s)
r ( s)
TL = 0
(R
dt
d m
Ra
La
dt
d o
dt
ia +
1
La
Bm d m
J m dt
KL
JL
+ La s )( B + Js )
K1 K b
+ La s )( B + Js )
+
+ La s )( B + Js )
(R
K1 H i ( s )
Ra + La s
1
J
Tm
1
Kb H e (s)
e = K s e
Tm = K i ia
nK L
Jm
( n
o )
T2 =
Tm
2 = n m
o )
Statevariables: x1 = o , x 2 = o , x3 = m , x 4 = m , x5 = ia
Stateequations:
dt
dx 4
dt
dx 2
= x2
dt
nK L
Jm
KL
JL
x1
n KL
Jm
x3
x1 +
Bm
Jm
nK L
JL
x4 +
dx3
x3
Ki
Jm
dt
x5
= x4
dx5
dt
(b)Statediagram:
455
ea = Ke
dx1
+ La s )( B + Js )
e = r o
eb )
+ La s )( ( B + Js )
K1 K i
+ La s )( B + Js ) + K i K b + K1 K i K b H e ( s )
(e
(R
K1 K i K b H e ( s )
K1 K i
4-49)(a)Causeandeffectequations:
dia
= ( Ra + La s )
( s)
K1 K b
Golnaraghi,Kuo
K1 K i
TL = 0
(R
r (s)
( s ) = 1 + K1 H e ( s ) +
Chapter4Solutions
KK s
La
x1
Kb
La
x4
Ra
La
x5 +
KK s
La
Chapteer4Solutionss
Golnarraghi,Kuo
(c)Forw
wardpathtran
nsferfunction:
o ( s)
e ( s )
KK s K i nK L
(n R K J
+ Ra K L J m + Bm K L La s + K i K b K L + Ra Bm K L
Clossedlooptranssferfunction:
o ( s)
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 +
4
r ( s )
KK s K i nK L
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 +
5
(n R K J
2
+ 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
(d) K L = , o = 2 = n m . J L is reflected to motor side so J T = J m + n 2 J L .
Staateequations::
d m
Bm
m +
Statediagram:
dtt
JT
Ki
JT
ia
d m
dt
= m
dia
dt
456
Ra
La
ia +
KK s
La
KK s
La
n m
Kb
La
Chapteer4Solutionss
Golnarraghi,Kuo
Forrwardpathtraansferfunction
n:
Closedlooptranssferfunction:
o ( s )
e ( s)
o ( s)
r (s)
KK s K i n
s J T La s + ( Ra J T + Bm La ) s + Ra Bm + K i K b
2
KK s K i n
J T La s + ( Ra J T + Bm La ) s + ( Ra Bm + K i K b ) s + KK s K i n
3
Frompaart(c),when K L = , all the terms withoutt K L in o ( s ) / e ( s ) and o ( s ) / r ( s ) cann be neglectedd.
Thesam
meresultsasab
boveareobtained.
4-550)(a)Systemequations:
f = K i ia = M T
dv
dt
ea = Ra ia + ( La + Las )
+ BT v
dia
dt
Las
dis
dt
0 = Rs is + ( Ls + Las )
+ eb
dis
dt
Las
dia
dt
othsidesoftheelastthreeequ
uations,withzeroinitialcond
ditions,wehavve
(b)TaketheLaplacetraansformonbo
Ea ( s ) = [ Ra + ( La + Las ) s ] I a ( s ) Las sI s ( s ) + K bV ( s )
K i I a ( s ) = ( M T s + BT ) V ( s )
Rearrrangingtheseequations,weeget
0 = Las sI a ( s ) + [ Rs + s ( Ls + Las )] I s ( s )
V (s) =
I a (s) =
Ki
M T s + BT
Y (s) =
I a (s)
1
Ra + ( La + Las ) s
[E
V (s)
s
s ( M T s + BT )
( s ) + Las sI s ( s ) K bV ( s ) ]
diagram:
Blockd
457
Ki
I a (s)
I s (s) =
Las s
Ra + ( La + Las ) s
I a (s)
Chapteer4Solutionss
Golnarraghi,Kuo
(c)Trannsferfunction::
Y (s)
Ea ( 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

2
(M
s + BT )
4-551) (a)Causeeandeffecteqquations:
e = r L
e = K s e
d m
Tm = K i ia
dt
d
Statteequations:
d L
dt
= L
1
Jm
Tm
Bm
Jm
Kb = 15.5 V / KRPM =
K s = 1 V/rrad
d L
dt
KL
JL
KL
JL
KL
Jm
1000 2 / 60
d m
dt
d L
L )
15.5
dt
KL
JL
ea eb
Ra
L )
eb = K b m
= 0.148 V / rad / sec
d m
= m
ia =
ea = Ke
dt
Bm
Jm
KL
Jm
L +
1 Ki
J m Ra
( KK
s
K b m )
(b)Stattediagram:
(c)Forw
wardpathtran
nsferfunction:
G(ss ) =
K i KK
Ks KL
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
458
Chapter4Solutions
Golnaraghi,Kuo
J m Ra J L = 0.03 115
. 0.05 = 0.001725
Bm Ra J L = 10 115
. 0.05 = 0.575
Ra K L J L = 115
. 50000 0.05 = 2875
K L ( Bm Ra + K i K b ) = 50000(10 1.15 + 21 0.148) = 730400
(d)Closedlooptransferfunction:
Ki Kb J L = 21 0.148 0.05 = 0.1554
Ra K L J m = 115
. 50000 0.03 = 1725
Ki KK s K L = 21 1 50000 K = 1050000 K
608.7 10 K
6
G(s) =
M ( s ) =
L (s)
r ( s)
s s + 423.42 s + 2.6667 10 s + 4.2342 10
G(s)
1 + G(s)
K i KK s K L
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
M ( s) =
6.087 10 K
Characteristicequationroots:
6 2
K =1
s + 423.42 s + 2.6667 10 s + 4.2342 10 s + 6.087 10 K
K = 5476
K = 2738
s = 1.45
s = j1000
s = 405 j1223.4
s = 159.88
. j1273.5
s = 2117
s = 617.22 j1275
. j1614.6
s = 13105
4-52)(a)Nonlineardifferentialequations:
dx ( t )
With Ra = 0 , ( t ) =
f ( t ) = Ki ( t )ia ( t ) =
dt
dv ( t )
= v(t )
dt
e( t )
Kb v ( t )
= k ( v ) g ( x ) + f ( t ) = Bv ( t ) + f ( t )
= K f i f ( t ) = K f i f ( t ) = K f ia ( t )
Ki e ( t )
2
Kb K f
v (t )
dv ( t )
Thus,
dt
Then, ia ( t ) =
= Bv ( t ) +
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
dt
= v (t )
dv ( t )
dt
(c)Stateequations: ( t ) asinput.
459
= Bv ( t ) + Ki K f ia ( t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
Chapteer4Solutionss
f ( t ) = K i K f ia ( t )
dx ( t )
dv ( t )
= v (t )
dt
ia ( t ) = i f ( t ) =
dt
= Bv ( t ) +
Golnarraghi,Kuo
(t )
Kf
Ki
Kf
(t )
4-553)(a)Diffeerentialequations:
d m
2
K i ia = J m
K ( m L ) + B
dt
+ Bm
d m
dt
d m d L
d
dt
dt
+ K ( m L ) + B
2
d m d L = J d L + B d L
L 2
L
dt
dt
dt
dt
+ TL
(b)TaketheLaplacetraansformoftheedifferentialeq
quationswithzeroinitialcon
nditions,wegeet
K i I a ( s ) = J m s + Bm s + Bs + K m ( s ) + ( Bs + K ) L ( s )
2
a L ( s ) fromthelasttwo
oequations,weehave
Solvingfor m ( s ) and
( Bs + K )
m (s) =
L (s) =
( s ) ( Bs + K ) L ( s ) = J L s + BL s L ( s ) + TL ( s)
s
m
Ki
J m s + ( Bm + B ) s + K
2
Bss + K
J L s + ( BL + B ) s + K
2
I a (s) +
m (s)
Bs + K
J m s + ( Bm + B ) s + K
2
TL ( s )
L (s)
J L s + ( BL + B ) s + K
2
Signaalflowgraph:
460
Chapter4Solutions
Golnaraghi,Kuo
(c)Transfermatrix:
2
1 K i J L s + ( BL + B ) s + K
m (s)
(s) = (s)
K i ( Bs + K )
L
I a (s)
J m s + ( Bm + B ) s + K TL ( s )
Bs + K
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
4-54) As
can be estimated by:

1
2
2
Therefore:
2
2
As a result:
Poles:
zeros:
4-55) By approximating
:
1
1
2
2
a)
1
Therefore:
1
2
1
461
Chapter4Solutions
Golnaraghi,Kuo
b)
2
1
1
2 2
2
3
1
1
1
2
1
2
4
2
4
1
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
4 1
1
Chapter4Solutions
4-57) 423(a)Differentialequations: L ( y ) =
d L ( y )i ( t )
e ( t ) = Ri ( t ) +
My ( t ) = Mg
dt
= Ri ( t ) + i ( t )
y (t )
dL( y ) dy ( t )
dy
Ki ( t )
At equilibrium,
dt
di ( t )
dt
= 0,
463
Golnaraghi,Kuo
L di ( t )
y dt
dy ( t )
dt
= Ri ( t )
L
y
i(t )
= 0,
d y(t )
dt
= 0
dy ( t )
dt
L di ( t )
y dt
Thus, ieq =
Eeq
dy eq
dt
Chapter4Solutions
=0
yeq =
Eeq
Mg
dy
(b)Definethestatevariablesas x1 = i, x 2 = y, and x3 =
x1eq =
Eeq
x 2eq =
Eeq
Mg
dt
x3eq = 0
Then,
Thedifferentialequationsarewritteninstateequationform:
dx1
dt
R
L
x1 x 2 +
x1 x3
x2
x2
L
dx 2
e = f1
dx3
= x3 = f 2
dt
Golnaraghi,Kuo
dt
= g
K x1
= f3
M x2
(c)Linearization:
f1
e
f 3
x 2 eq
L
f1
x1
=
R
L
x 2eq +
x3eq
x 2eq
K Eeq
f 2
Mg R
x1
2 K x1eq
2 Rg
Eeq
f1
x 2
Mg
=0
f 2
x 2
2 K x1eq
f 2
=0
f 3
x 3
R
L
x1 x3
x1eq
=1
2
x2
f 2
e
2 Rg
Mg
f 3
Eeq
Eeq
L
f1
=0
x 3
x1eq
x 2eq
= 0
= 0
Thelinearizedstateequationsabouttheequilibriumpointarewrittenas: x& = A x + B e
x1
2
x 2 eq
Eeq
x 2
3
x 2eq
Eeq K
L Mg
0
A =
2 Rg
E
eq
Mg
0
2 Rg
Mg
Eeq
dy1 ( t )
Eeq K
RL Mg
0
B =
K
0
4-58)
(a)Differentialequations:
2
M1
d y1 ( t )
dt
= M1 g B
dt
Ki ( t )
2
y1 ( t )
464
+ Ki ( t )
1
y 2 ( t ) y1 ( t )
Mg
K
Chapter4Solutions
M2
d y2 (t )
Definethestatevariablesas x1 = y1 , x 2 =
Thestateequationsare:
dx1
dt
= x2
dx2
M1
dt
Atequilibrium,
dx1
dt
dt
Ki
= M 1 g Bx2
dx 2
= 0,
2
2
X1
dt
KI
(X
x1
dy1
dt
Ki
(x
Ki ( t )
y 2 ( t ) y1 ( t )
dx3
x1 )
dt
dy 2
dt
dt
= M 2 g Bx4
Ki
(x
x1 )
=0
M2g
KI
(X
X1 )
= 0
SolvingforI,with X 1 = 1,wehave
( M1 + M 2 ) g
I =
M + M2
Y2 = X 3 = 1 + 1
M2
(b)Nonlinearstateequations:
dx1
dt
dx2
= x2
dt
=g
(c)Linearization:
f1
x1
f2
x1
f2
2
3
M 1 x1
2 KI
Ki
i +
2
M 1 x1
f1
=0
x2
2 KI
x2
M1
f1
=0
=
x3
1
2+
2
M1 X1 ( X 3 X1 )
2 KI
dx3
2
dt
f1
=0
x2
M 1 ( x3 x1 )
f2
M1 ( X 3 X1 )
1/ 2
x4
f3
f2
M1
x3
=0
f3
dt
f1
=0
dx4
= x4
i
2 KI
f3
Linearizedstateequations: M1 = 2, M 2 = 1, g = 32.2, B = 0.1, K = 1.
f4
x1
2 KI
f4
M 2 ( X 3 X1 )
x2
=0
x1
f4
x3
x2
2 KI
f4
M 2 ( X 3 X1 )
465
x3
x4
x4
f3
=0
M2
f2
M1 ( X 3 X1 )
=0
=g
x4
Ki
M 2 ( x3 x1 )
=0
dx4
M2
= 0. Thus, x 2eq = 0 and x 4 eq = 0.
2
2
= x4
dt
1/ 2
, x3 = y 2 , x 4 =
dx 4
= 0,
X1 )
dt
dx3
= 0,
dt
KI
M1g
dy 2 ( t )
= M2 g B
Golnaraghi,Kuo
x4
=
=0
f3
=1
f4
M2
=0
2 KI
M 2 ( X 3 X1 )
Chapter4Solutions
Golnaraghi,Kuo
1/ 2
32.2(1 + 2) X = 96.6 X = 9.8285 X
1
1
1
1
I =
X 3 = 1 + 1 + 2 X 1 = 2.732 X 1 = Y2 = 2.732
1
2 KI 1 +
3
3
M1 X1 ( X 3 X1 )
A =
0
2 KI
3
M 2 ( X 3 X1 )
X1 =
9.8285
= 1
X 3 X 1 = 1.732
2 KI
M1
M1 ( X 3 X1 )
2 KI
1
0
0
0
0
115.2 0.05 18.59

0
0
0
1
1 0
0
37.18 0.1
B 37.18
M 2
0
2
3
M 2 ( X 3 X1 )
0
1
2 KI 1 +
M 1 X 12 ( X 3 X 1 )2 6.552
B =
=
0
6.552
2 KI
2
M 2 ( X 3 X1 )
4-59) a)
F3
F1
b)
F2
The equation of the translational motion is:
466
Chapter4Solutions
Golnaraghi,Kuo
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:

2
The resulted state space equations are:
2
2
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
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
and
. Then the
Chapter4Solutions
Golnaraghi,Kuo
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
|
C
A
g
468
Chapter4Solutions
4-62) Recall Eq. (4-324)

Z (s)
1
= 2
&&
Y ( s ) s + 2 n s + n 2
= 1,
for simplicity.
Set Y&&( s ) = impulse , pick n
=1
clear all
G=tf([-1],[1 2 1])
figure(1)
impulse(G)
Transfer function:
-1
------------s^2 + 2 s + 1
469
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
4-63)
Use Eq. (4-329).
Z (s) =
Kmr
Ra
La
2
K m Kb
s
s + 1 ( Js + Bs + K ) +
Ra
Ra
La
s + 1 r
Ra
La
2
K m Kb
s
s + 1 ( Js + Bs + K ) +
R
R
a
a
For
Va ( s )
mrY&&( s )
La
=0 (very small) the format of the equation is similar to Eq. (4-324), and we expect the same
Ra
response for the disturbance input. Except, Z ( s ) =
Kmr
Ra
K K
( Js + Bs + K ) + m b s
Ra
2
effects of disturbance. See Chapter 6.
470
Va ( s ) can be used to reduce the
Chapter5Solutions
Golnaraghi,Kuo
Chapter 5
51(a) 0.707 n 2 rad / sec
(b) 0 0.707 n 2 rad / sec
(c) 0.5 1 n 5 rad / sec
(d) 0.5 0.707 n 0.5 rad / sec
52(a)Type0 (b)Type0(c)Type1(d)Type2(e)Type3(f)Type3
(g)
type 2
(h)
type 1
53(a) K p = lim G ( s ) = 1000

s 0
K v = lim sG ( s ) = 0
K a = lim s G ( s ) = 0
K v = lim sG ( s ) = 1
K a = lim s G ( s ) = 0
s 0
s 0
(b) K p = lim G ( s ) =
s 0
s 0
51
s 0
Chapter5Solutions
Golnaraghi,Kuo
(c) K p = lim G ( s ) =
K v = lim sG ( s ) = K
K a = lim s G ( s ) = 0
K v = lim sG ( s ) =
K a = lim s G ( s ) = 1
(e) K p = lim G ( s ) =
K v = lim sG ( s ) = 1
K a = lim s G ( s ) = 0
(f) K p = lim G ( s ) =
K a = lim s G ( s ) = K
s 0
s 0
s 0
(d) K p = lim G ( s ) =
s 0
s 0
s 0
s 0
s 0
s 0
s 0
s 0
s 0
54(a)Input
ErrorConstants
SteadystateError
________________________________________________________________________________
u s ( t )
K p = 1000
1 1001
tu s ( t )
K v = 0
t us (t ) / 2
K a = 0
Input
ErrorConstants
(b)
SteadystateError
________________________________________________________________________________
u s ( t )
K p =
tu s ( t )
K v = 1
t us (t ) / 2
K a = 0
SteadystateError
(c)Input
ErrorConstants
________________________________________________________________________________
u s ( t )
K p =
52
Chapter5Solutions
Golnaraghi,Kuo
K v = K
1/ K
K a = 0
tu s ( t )
t us (t ) / 2
TheaboveresultsarevalidifthevalueofKcorrespondstoastableclosedloopsystem.
(d)Theclosedloopsystemisunstable.Itismeaninglesstoconductasteadystateerroranalysis.
(e)
Input
ErrorConstants
SteadystateError
________________________________________________________________________________
u s ( t )
K p =
tu s ( t )
K v = 1
t us (t ) / 2
Ka = 0
Input
SteadystateError
(f)
ErrorConstants
________________________________________________________________________________
u s ( t )
Kp =
tu s ( t )
K v =
t us (t ) / 2
K a = K
1/ K
TheclosedloopsystemisstableforallpositivevaluesofK.Thustheaboveresultsarevalid.
G( s)
M ( s) =
a0 = 3, a1 = 3, a2 = 2, b0 = 1, b1 = 1.
UnitstepInput:
ess =
1+ G( s) H ( s)
b0 K H
1 a
KH
0
1
s +1
55(a) K H = H ( 0) = 1
2
= 3
53
s + 2 s + 3s + 3
Unitrampinput:
Chapter5Solutions
Golnaraghi,Kuo
a0 b0 K H = 3 1 = 2 0. Thus e ss = .
UnitparabolicInput:
a0 b0 K H = 2 0 and a1 b1 K H = 1 0. Thus e ss = .
(b) K H = H ( 0) = 5
M ( s) =
G( s)
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
1+ G( s) H ( s)
s + 5s + 5
b0 K H
1 a
KH
0
1
ess =
a1 b1 K H
a0 K H
a0 = 5, a1 = 5, b0 = 1, b1 = 0.
1 5
= 5 1 5 = 0
i = 1: a1 b1 K H = 5 0
1
=
25 5
e ss =
(c) K H = H ( 0) = 1 / 5
M ( s ) =
UnitstepInput:
UnitrampInput:
G( s)
1+ G( s) H ( s)
s+5
4
Thesystemisstable.
a0 = 1, a1 = 1, a2 = 50, a3 = 15, b0 = 5, b1 = 1
ess =
b0 K H
1 a
KH
0
1
5/5
= 5 1 1 = 0
54
s + 15s + 50 s + s + 1
Chapter5Solutions
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
a1 b1 K H
a0 K H
Golnaraghi,Kuo
i = 1: a1 b1 K H = 4 / 5 0
1 1/ 5
1/ 5
= 4
e ss =
(d) K H = H ( 0 ) = 10
G( s)
M ( s ) =
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0 i = 1: a1 b1 K H = 5 0
e ss =
UnitparabolicInput:
ess =
a1 b1 K H
s + 16 s + 48 s + 4 s + 4
UnitstepInput:
Unitrampinput:
a0 K H
1 10
= 10 1 10 = 0
5
100
= 0.05
K H = 1
Thesystemisstable.
ess =
b0 K H
1 a
KH
0
1
4
= 1 4 = 0
i = 0: a0 b0 K H = 0
i = 1: a1 b1 K H = 4 1 = 3 0
55
Thesystemisstable.
a0 = 4, a1 = 4, a2 = 48, a3 = 16, b0 = 4, b1 = 1, b2 = 0, b3 = 0
e ss =
s + 12 s + 5s + 10
b0 K H
1 a
KH
0
1
s+4
56(a) M ( s ) =
a0 = 10, a1 = 5, a2 = 12, b0 = 1, b1 = 0, b2 = 0
1+ G( s) H ( s)
a1 b1 K H
e ss =
UnitparabolicInput:
Chapter5Solutions
a0 K H
4 1
4
3
4
Golnaraghi,Kuo
e ss =
K ( s + 3)
(b) M ( s ) =
s + 3s + ( K + 2) s + 3K
K H = 1
Thesystemisstablefor K > 0.
a0 = 3 K , a1 = K + 2, a2 = 3, b0 = 3 K , b1 = K
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
TheaboveresultsarevalidforK>0.
ess =
b0 K H
1 a
KH
0
1
a1 b1 K H
a0 K H
3K
= 1 3K = 0
i = 1: a1 b1 K H = K + 2 K = 2 0
K + 2 K
3K
2
3K
e ss =
(c) M ( s ) =
s+5
4
s + 15 s + 50 s + 10 s
10 s
s+5
K H = lim
s 0
UnitstepInput:
UnitrampInput:
ess =
a2 b1 K H
a
KH
1
1
1 50 1 2
10
56
H ( s)
s
= 2
a0 = 0, a1 = 10, a2 = 50, a3 = 15, b0 = 5, b1 = 1
H ( s) =
= 2.4
UnitparabolicInput:
Golnaraghi,Kuo
e ss =
Chapter5Solutions
e ss =
K ( s + 5)
(d) M ( s ) =
K H = 1
s + 17 s + 60 s + 5 Ks + 5 K
Thesystemisstablefor0<K<204.
a0 = 5 K , a1 = 5K , a2 = 60, a3 = 17, b0 = 5K , b1 = K
UnitstepInput:
ess =
b0 K H
1 a
KH
0
1
5K
= 1 5K = 0
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
Theresultsarevalidfor0<K<204.
a1 b1 K H
a0 K H
5K K
5K
i = 1: a1 b1 K H = 5 K K = 4 K 0
=
4
5
e ss =
57
Chapter5Solutions
Golnaraghi,Kuo
5-7)
1
3
5
2
1
5
5
1
11
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)
1
2
5-9)
a)
Position error:
lim
G s
b)
Velocity error:
lim
c)
Acceleration error:
a)
Steady state error for unit step input:
lim
lim
lim
Steady state error for ramp input:
58
lim
Referring to the result of problem 5-8,

b)
Chapter5Solutions
Regarding the result of problem 5-8,

c)
Golnaraghi,Kuo
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:
lim
b) Ramp error constant:
lim
c) Parabolic error constant:
lim
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:
0
0
59
Chapter5Solutions
Golnaraghi,Kuo
5-12) The step input response of the system is:

1
1
Therefore:
1
The rise time is the time that unit step response value reaches from 0.1 to 0.9. Then:
1
It is obvious that tr > 0, then:

1
As |k| < 1, then

.
which yields:
Therefore
0 or
513)
G( s) =
Y ( s)
Errorconstants:
E ( s)
KG p ( s ) 20 s
1 + Kt G p ( s )
100 K
20 s(1 + 0.2 s + 100 Kt )
K p = , K v =
5K
1 + 100 Kt
, Ka = 0
(a) r ( t ) = u s ( t ):
e ss =
(b) r ( t ) = tu s ( t ):
e ss =
(c) r ( t ) = t 2u s ( t ) / 2:e ss =
1
Ka
1
1+ K p
1
Kv
= 0
1 + 100 Kt
5K
510
Type1system.
514
G p ( s) =
G( s) =
Chapter5Solutions
100
G( s) =
(1 + 0.1s )(1 + 0.5s )
Y ( s)
E ( s)
100 K
20 s (1 + 0.1s )(1 + 0.5 s ) + 100 Kt
KG p ( s )
20 s 1 + Kt G p ( s )
Golnaraghi,Kuo
K p = , K v =
Errorconstants:
5K
1 + 100 Kt
, Ka = 0
(a) r ( t ) = u s ( t ):
e ss =
(b) r ( t ) = tu s ( t ):
e ss =
(c) r ( t ) = t 2u s ( t ) / 2:e ss =
1
1+ K p
1
1 + 100 Kt
Kv
= 0
5K
Ka
Sincethesystemisofthethirdorder,thevaluesofKand Kt mustbeconstrainedsothatthesystemis
stable.Thecharacteristicequationis
RouthTabulation:
s + 12 s + ( 20 + 2000 K t ) s + 100 K = 0
3
20 + 2000 Kt
12
100 K
240 + 24000 Kt 100 K

12
100 K
K>0
1 + 100 K t
>
Thus,theminimumsteadystateerrorthatcanbeobtainedwithaunitrampinputis1/12.
StabilityConditions:
12 (1 + 100 K t ) 5 K > 0 or
511
5K
12
Chapter5Solutions
Golnaraghi,Kuo
515(a)FromFigure3P29,
o ( s)
r (s)
1+
=
1+
K1 K 2
Ra + La s
K1 K 2
Ra + La s
K i K b + KK1 K i K t
(R
+ La s )( Bt + J t s )
K i K b + KK1 K i K t
(R
+ La s )( Bt + J t s )
KK s K1 K i N
s ( Ra + La s )( Bt + J t s )
o (s)
r (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 ]
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
r ( t ) = u s ( t ), r ( s ) =
Providedthatallthepolesof s e ( s ) areallinthelefthalfsplane.
lim s e ( s ) = 0
s 0
(b)Foraunitrampinput, r ( s ) = 1 / s .
e ss = lim e ( t ) = lim s e ( s ) =
ifthelimitisvalid.
Ra Bt + K1 K 2 Bt + Ki Kb + KK1 Ki Kt
KK s K1 Ki N
s 0
512
Chapter5Solutions
Golnaraghi,Kuo
516(a)Forwardpathtransferfunction:[n(t)=0]:
K (1 + 0.02 s )
G (s) =
Y ( s)
E (s)
2
K (1 + 0.02 s )
s ( s + 25)
=
2
KK t s
s s + 25s + KK t
1+ 2
s ( s + 25)
Type1system.
K p = ,
Kv =
ErrorConstants:
Foraunitrampinput, r ( t ) = tu s ( t ), R( s ) =
Kt
1
s
Ka = 0
, e ss = lim e( t ) = lim sE ( s ) =
t
s 0
1
Kv
= Kt
RouthTabulation:
s
KK t + 0.02 K
25
25 K ( K t + 0.02 ) K
25
K
25 ( K t + 0.02 ) K > 0 or K t > 0.02
K >0
(b)Withr(t)=0, n( t ) = u s ( t ), N ( s ) = 1 / s.
SystemTransferFunctionwithN(s)asInput:
K
Y (s)
K
s ( s + 25)
= 3
2
K (1 + 0.02 s )
KK t s
s + 25 s + K ( K t + 0.02 ) s + K
1+ 2
+ 2
s ( s + 25)
s ( s + 25)
2
SteadyStateOutputdueton(t):
N (s)
y ss = lim y ( t ) = lim sY ( s ) = 1
t
s 0
513
ifthelimitisvalid.
Chapter5Solutions
Golnaraghi,Kuo
517YoumayuseMATLABinallRouthHurwitzcalculations.
1. ActivateMATLAB
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
5. ThenpresstheRouthHurwitzbutton
6. ForexamplelookatbelowFigures
514
Chapter5Solutions
Golnaraghi,Kuo
(a) n( t ) = 0, r ( t ) = tu s ( t ).
ForwardpathTransferfunction:
G(s) =
Y (s)
E ( s)
K ( s + )( s + 3)
s s 1
n=0
Type1system.
Ramperrorconstant:
K v = lim sG ( s ) = 3 K
Steadystateerror:
e ss =
Characteristicequation:
RouthTabulation:
s 0
1
Kv
1
3Kv
s + Ks + [ K ( 3 + ) 1] s + 3K = 0
3 K + K 1
3K
K ( 3 K + K 1) 3K
K
3K
3 K + K 1 3 > 0
K>
or
1 + 3K
3+
K > 0
(b)Whenr(t)=0, n( t ) = u s ( t ), N ( s ) = 1 / s.
K ( s + 3)
TransferFunctionbetweenn(t)andy(t):
Y (s)
N (s)
SteadyStateOutputdueton(t):
=
r =0
2
Ks ( s + 3)
s 1
=
K ( s + )( s + 3) s 3 + Ks 2 + [ K ( s + ) 1]s + 3 K
1+
2
s s 1
y ss = lim y ( t ) = lim sY ( s ) = 0
t
s 0
515
ifthelimitisvalid.
Chapter5Solutions
Golnaraghi,Kuo
518

Percent maximum overshoot = 0.25 = e
1 = ln 0.25 = 1.386
Thus
Solvingfor fromthelastequation,wehave =0.404.
Peak Time
n 1
= 1.922 (1
t max =
= 0.01 sec.Thus, n =
0.01 1 ( 0.404)
TransferFunctionoftheSecondorderPrototypeSystem:
Y ( s)
R( s )
n
2
s +
2
2 n s + n
117916
2
s + 277.3s + 117916
516
= 343.4 rad / sec
Chapter5Solutions
Golnaraghi,Kuo
ExtendedMATLABsolutionsofproblemssimilarto519527appearlater
one.g.558
519ClosedLoopTransferFunction:
s + ( 5 + 500 K t ) s + 25 K = 0
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Forasecondorderprototypesystem,whenthemaximumovershootis4.3%, = 0.707.
n = 25 K ,
2 n = 5 + 500 Kt = 1.414 25 K
RiseTime:
tr =
1 0.4167 + 2.917
n
2
(10.82)
= 0.2 sec
Thus
n = 10.82 rad / sec
5 + 500 Kt = 1.414 n = 15.3 Thus Kt =
Thus,
K=
With
K = 4.68 and Kt = 0.0206, the system transfer function is
25
2.164
25
= 4.68
Y ( s)
R( s )
117
2
s + 15.3s + 117
10.3
500
= 0.0206
UnitstepResponse:
y=0.1att=0.047sec.
t r = 0.244 0.047 = 0.197 sec.
y=0.9att=0.244sec.
y max = 0.0432 ( 4.32% max. overshoot)
517
Chapter5Solutions
520ClosedloopTransferFunction:
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
= 5.3 (1
= ln 0.1 = 2.3
WhenMaximumovershoot=10%,
Solvingfor ,weget =0.59.
TheNaturalundampedfrequencyis n = 25K
RiseTime:
tr =
K=
WithK=12.58and Kt = 0.0318, thesystemtransferfunctionis
1 0.4167 + 2.917
n
25
= 12.58
Thus Kt =
17696
.
= 0.1 =
Y ( s)
R( s )
15.88
500
Thus, 5+ 500 Kt = 2 n = 118

. n
sec.
Thus n = 17.7 rad / sec
= 0.0318
313
2
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:
Y ( s)
R( s )
25 K
2
s + ( 5 + 500 Kt ) s + 25 K
Chapter5Solutions
Golnaraghi,Kuo
s + ( 5 + 500 K t ) s + 25 K = 0
2
= 2.59 (1
= ln 0.2 = 1.61
WhenMaximumovershoot=20%,
Solvingfor ,weget = 0.456.
TheNaturalundampedfrequency n = 25 K
RiseTime:
tr =
K=
WithK=32.1and Kt = 0.0417, thesystemtransferfunctionis
1 0.4167 + 2.917
= 0.05 =
5 + 500 Kt = 2 n = 0.912 n
1.4165
sec. Thus, n =
1.4165
0.05
= 28.33
n
25
5 + 500 Kt = 0.912 n = 25.84
= 32.1
Y ( s)
R( s )
Thus, Kt = 0.0417
802.59
2
s + 25.84 s + 802.59
UnitstepResponse:
t r = 0.072 0.0178 = 0.0542 sec.
y max = 1.2 ( 20% max. overshoot )
519
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
s + ( 5 + 500 K t ) s + 25 K = 0
11
. + 0.125 + 0.469
Delaytime t d
WhenMaximumovershoot=4.3%, = 0.707.
K =
WithK=20.12and Kt = 0.0302 ,thesystemtransferfunctionis
UnitStepResponse:
Golnaraghi,Kuo
= 0.1 sec.
td =
1.423
= 0.1 sec. Thus n = 14.23rad/sec.
.
n = 14.23 = 8.1 5 + 500 K = 2 = 1.414 = 20.12 Thus K = 1512
= 0.0302

t
n
n
t
500
5 5
Y ( s)
R( s )
202.5
2
s + 20.1s + 202.5
Wheny=0.5,t=0.1005sec.
Thus, t d = 0.1005 sec.
y max = 1043
.
( 4.3% max. overshoot )
520
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
s + ( 5 + 500 K t ) s + 25 K = 0
11
. + 0.125 + 0.469
1337
.
Thus, n =
1337
.
= 26.74
Delaytime t d
26.74 = 28.6 5 + 500 K = 2 = 2 0.59 26.74 = 3155

K = n =
.
Thus Kt = 0.0531
t
n
5 5
WithK=28.6and Kt = 0.0531, the system transfer function is
= 0.05 =
0.05
Y ( s)
R( s )
715
2
s + 3155
. s + 715
UnitStepResponse:
Thus, t d = 0.0505sec.
y max = 11007
.
(10.07% max. overshoot )
521
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
s + ( 5 + 500 K t ) s + 25 K = 0
2
ForMaximumovershoot=0.2, = 0.456 .
Delaytime t d =
15737.7 = 629.5
NaturalUndampedFrequency n =
= 125.45rad/sec.Thus, K = n =
25
0.01
5
5 + 500 Kt = 2 n = 2 0.456 125.45 = 114.41
WithK=629.5and Kt = 0.2188 ,thesystemtransferfunctionis
11
. + 0.125 + 0.469
1.2545
= 0.01sec.
1.2545
Y ( s)
R( s )
Thus, Kt = 0.2188
15737.7
2
s + 114.41s + 15737.7
UnitstepResponse:
Thus, t d = 0.0101sec.
y max = 1.2 ( 20% max. overshoot )
522
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
= 0.6
Settlingtime t s
SystemTransferFunction:
Golnaraghi,Kuo
s + ( 5 + 5000 K t ) s + 25 K = 0
2
2 n = 5 + 500 Kt = 1.2 n
Chapter5Solutions
3.2
n
Kt =
3.2
0.6 n
1.2 n 5
500
= 0.1sec.Thus, n =
3.2
0.06
= 53.33 rad / sec
= 0.118
Y ( s)
R( s )
K=
= 113.76
25
2844
2
s + 64 s + 2844
UnitstepResponse:
y(t)reaches1.00andneverexceedsthis
valueatt=0.098sec.
Thus, t s = 0.098 sec.
523
Chapter5Solutions
526(a)ClosedLoopTransferFunction:
Y (s)
25 K
Golnaraghi,Kuo
s + ( 5 + 500 K t ) s + 25 K = 0
2
. n
Formaximumovershoot=0.1, = 0.59. 5 + 500 Kt = 2 n = 2 0.59 n = 118
Settlingtime: t s =
UnitStepResponse:
R(s)
s + ( 5 + 500 K t ) s + 25 K
2
3.2
3.2
0.59 n
118
. n 5
Kt =
500
= 0.05 sec.
n =
3.2
0.05 0.59
= 108.47
= 0.246
Y ( s)
R( s )
K=
n
25
= 470.63
11765.74
2
s + 128 s + 11765.74
y(t)reaches1.05andneverexceeds
thisvalueatt=0.048sec.
Thus, t s = 0.048 sec.
(b)Formaximumovershoot=0.2, = 0.456. 5 + 500 Kt = 2 n = 0.912 n

3.2
Settlingtime t s =
UnitStepResponse:
3.2
0.456 n
Kt =
Y ( s)
R( s )
= 0.01 sec. n =
0.912 n 5
500
= 1.27
492453
2
s + 640 s + 492453
524
3.2
0.456 0.01
= 701.75 rad / sec
Chapter5Solutions
Golnaraghi,Kuo
y(t)reaches1.05andnever
exceedsthisvalueatt=0.0074sec.
Thus, t s = 0.0074 sec. Thisisless
thanthecalculatedvalueof0.01sec.
525
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
s + ( 5 + 500 K t ) s + 25 K = 0
4.5
Dampingratio = 0.707. Settlingtime t s =
3.1815
.
rad/sec.
= 0.1sec. Thus, n = 31815
2
5 + 500 Kt = 2 n = 44.986
Thus, Kt = 0.08
K=
= 40.488
UnitStepResponse:Theunitstepresponsereaches0.95att=0.092sec.whichisthemeasured t s .
Y ( s)
R( s )
1012.2
2
s + 44.986 s + 1012.2
526
Chapter5Solutions
Golnaraghi,Kuo
528(a)When = 0.5 ,therisetimeis
tr
1 0.4167 + 2.917
1521
.
= 1 sec.Thus n = 1.521rad/sec.
Thesecondordertermofthecharacteristicequationiswritten
Thecharacteristicequationofthesystemis s + ( a + 30 ) s + 30 as + K = 0
Dividingthecharacteristicequationby s + 1521
. s + 2.313, wehave
s + 2 n s + n = s + 1521
. s + 2.313 = 0
3
. K = 65.874 + 2.313a = 69.58

Forzeroremainders, 28.48 a = 45.63 Thus, a = 16
ForwardPathTransferFunction:
UnitStepResponse:
G( s) =
69.58
s( s + 16
. )( s + 30)
y=0.9whent=1.43sec.
RiseTime:
t r = 1.43 0.355 = 1075

.
sec.
527
Chapter5Solutions
Golnaraghi,Kuo
(b)Thesystemistype1.
(i)Foraunitstepinput, e ss = 0.
(ii)Foraunitrampinput,
s 0
K
30 a
60.58
.
30 16
= 1.45
e ss =
1
Kv
= 0.69
529(a)CharacteristicEquation:
3
ApplytheRouthHurwitzcriteriontofindtherangeofKforstability.
s + 3 s + ( 2 + K ) s K = 0
RouthTabulation:
s
2+ K
6 + 4K
3
K
StabilityCondition:
1.5<K<0ThissimplifiesthesearchforKfortwoequalroots.
WhenK=0.27806,thecharacteristicequationrootsare:0.347,
0.347,and2.3054.
(b)UnitStepResponse:(K=0.27806)
528
Chapter5Solutions
Golnaraghi,Kuo
(c)UnitStepResponse(K=1)
Thestepresponsesin(a)and(b)allhaveanegativeundershootforsmallvaluesoft.Thisisduetothe
zeroofG(s)thatliesintherighthalfsplane.
529
Chapter5Solutions
Golnaraghi,Kuo
530(a)Thestateequationsoftheclosedloopsystemare:
dx1
dx 2
= x1 + 5x 2
= 6 x1 k1 x1 k 2 x 2 + r
Thecharacteristicequationoftheclosedloopsystemis
dt
dt
s +1
6 + k1
s + k2
= s + (1 + k 2 ) s + ( 30 + 5k1 + k 2 ) = 0
2
For n = 10 rad / sec,
30 + 5k1 + k 2 = n = 100. Thus 5k1 + k 2 = 70
(b)For = 0.707, 2 n = 1 + k 2 .
n =
2
(1 + k )
Thus n = 1 +
k2
1.414
= 30 + 5k1 + k 2
k 2 = 59 + 10 k1
2
Thus
(c)For n = 10 rad / sec and = 0.707,
5k1 + k 2 = 100
and 1 + k 2 = 2 n = 14.14
. .
Solvingfor k1 , we have k1 = 1137
Thus k 2 = 1314
.
(d)Theclosedlooptransferfunctionis
Y (s)
Foraunitstepinput,
R(s)
5
s + ( k 2 + 1) s + ( 30 + 5k1 + k 2 )
2
lim y ( t ) = lim sY ( s ) =
s 0
5
100
5
s + 14.14 s + 100
2
= 0.05
(e)Forzerosteadystateerrorduetoaunitstepinput,
30 + 5k1 + k 2 = 5
Thus
5k1 + k 2 = 25
530
Chapter5Solutions
Golnaraghi,Kuo
ParameterPlane k1versus k 2 :
531(a)ClosedLoopTransferFunction
Y (s)
100 ( K P + K D s )
(b)CharacteristicEquation:
Thesystemisstablefor K P > 0 and K D > 0.
R(s)
s + 100 K D s + 100 K P
2
s + 100 K D s + 100 K P = 0
(b)For = 1, 2 n = 100 K D .
n = 10 K P
Thus
2 n = 100 K D = 20 K P
(c)Seeparameterplaneinpart(g).
531
K D = 0.2 K P
Chapter5Solutions
Golnaraghi,Kuo
(d)Seeparameterplaneinpart(g).
(e)Parabolicerrorconstant K a = 1000 sec
K a = lim s G ( s ) = lim100 ( K P + K D s ) = 100 K P = 1000

2
s0
s 0
Thus K P = 10
(f)Naturalundampedfrequency n = 50 rad/sec.
n = 10 K P = 50
Thus
K P = 25
(g)When K P = 0,
G( s) =
100 K D s
s
100 K D
s
(polezerocancellation)
532
Chapter5Solutions
Golnaraghi,Kuo
532(a)ForwardpathTransferFunction:
G ( s ) =
When r ( t ) = tu s ( t ),
Y (s)
E (s)
KK i
s [ Js (1 + Ts ) + K i K t ]
s 0
s 0.001s + 0.01s + 10 K t
e ss =
Kt
10 K
2
1
Kv
Kt
K
(b)Whenr(t)=0
Y (s)
For Td ( s ) =
Td ( s )
1 + Ts
s [ Js (1 + Ts ) + K i K t ] + KK i
lim y ( t ) = lim sY ( s ) =
s 0
1
10 K
1 + 0.1s
s 0.001s + 0.01s + 10 K t + 10 K
2
ifthesystemisstable.
(c)Thecharacteristicequationoftheclosedloopsystemis
0.001s + 0.01s + 0.1s + 10 K = 0
ThesystemisunstableforK>0.1.SowecansetKtojustlessthan0.1.Then,theminimumvalueof
thesteadystatevalueofy(t)is
10 K
=1
K = 0.1
However,withthisvalueofK,thesystemresponsewillbeveryoscillatory.Themaximumovershoot
willbenearly100%.
(d)ForK=0.1,thecharacteristicequationis
0.001s + 0.01s + 10 Kt s + 1 = 0
533
or s + 10 s + 10 Kt s + 1000 = 0
Chapter5Solutions
Golnaraghi,Kuo
Forthetwocomplexrootstohaverealpartsof2/5.weletthecharacteristicequationbewrittenas
Then,
Thethreerootsare:
( s + a ) s + 5s + b = 0
2
a + 5 = 10
a=5
.
.
.
.
0.69
1.067
534
0.095
5a + b = 10 Kt
s = 2.5 j13.92
0.785
.
b = 200
0.56
Maximum overshoot:
Settling time:
s = a = 5
Peak time:
ab = 1000
s = a = 5
5-33) Rise time:
s + ( s + 5) s + (5a + b) s + ab = 0
or
Kt = 0.0225
Chapter5Solutions
5-34)
K
s ( Js + a + KK f )
0.2 = 0.456
exp
0.1 n = 0.353
0.125
5.42
.
.
.
5.49
19.88
535
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-35) a)
6.5
1
6.5
6.5
Substituting into equation (2) gives:
7.5
6.5
6.5
6.5
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

6.5
6.5
2
6.5
6.5
2
1
2
By looking at the Laplace transform function table:
1
where
1
1
sin
cos
b)
536
1
26.5
Chapter5Solutions
Golnaraghi,Kuo
Therefore:
As a result:
which means:
1
1
The unit step response is:
1
1
Therefore as a result:
sin
where n = 1 and n = 1 / 2
c)
Therefore:
As a result, the step response of the system is:
1
1
By looking up at the Laplace transfer function table:
537
Chapter5Solutions
Golnaraghi,Kuo
where n = 1, and 2 n = 1 = 1 / 2
sin
where = cos-1 (2 2 -1) = cos-1(0.5), therefore,
sin
3
2
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
6.5
6.5
538
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-37) Impulse response:

.
a)
1 , therefore,
and
sin
sin
sin
b)
1
c)
1
1
where = cos-1
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
Chapter5Solutions
Golnaraghi,Kuo
Other parts are the same.
5-39) a)
The displacement of the bar is:
sin
Then the equation of motion is:
0
As x is a function of and changing with time, then
cos
If is small enough, then sin and cos 1. Therefore, the equation of motion is
rewritten as:
541
Chapter5Solutions
Golnaraghi,Kuo
(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 10 K
12
G(s) =
12
9 10 K
12
s s + 5000 s + 1.067 10 s + 50.5 10 s + 5.724 10
s ( s + 116)( s + 4883)( s + 41.68 + j 3178.3)( s + 41.68 j 3178.3)
RouthTabulation:
1.067 10
5000
50.5 10
5.7 10
12
9 10 K
9
12
9 10 K
12
16.6 10 + 8.473 10 K 2.8422 10 K

29 + 1579
.
K
12
9 10 K
542
12
.
10 K
2.895 10 + 1579
13
12
5.724 10
. 10 K
5.72 10 18
Chapter5Solutions
Golnaraghi,Kuo
Fromthe s row,theconditionofstabilityis165710 + 8473 K 2.8422 K > 0
or K 298114
. K 58303.427 < 0
( K + 19.43)( K 3000.57 ) < 0
or
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 10 K
11
G(s) =
s s + 5000 s + 1.582 10 s + 5.05 10 s + 5.724 10
11
9 10 K
11
s (1 + 116.06)( s + 4882.8)( s + 56.248 + j1005)( s + 56.248 j1005)
(c)CharacteristicEquationoftheClosedLoopSystem:
6 3
RouthTabulation:
9 2
11
1.582 10
5000
5.05 10
5.72 10
11
5.724 10
11
11
9 10 K
8
11
4.6503 10 + 15734
.
10 K
9 10 K
18
15
14
26.618 10 + 377.43 10 K 2.832 10 K

7
4.6503 10 + 15734
.
10 K
11
9 10 K
543
5.724 10 18
. 10 K
11
s + 5000 s + 1.582 10 s + 5.05 10 s + 5.724 10 s + 9 10 K = 0
Chapter5Solutions
Golnaraghi,Kuo
Fromthe s row,theconditionofstabilityis
Or,
K 1332.73 K 93990 < 0
or
26.618 10 + 3774.3 K 2.832 K > 0
( 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 = .
ForwardPathTransferFunction:
G(s) =
CharacteristicEquationoftheClosedLoopSystem:
nK s K i K
JT = J m + n J L
2
s La J T s + ( Ra J T + Rm La ) s + Ra Bm + K i K b
2
891100 K
s s + 5000 s + 566700
2
891100 K
s ( s + 116)( s + 4884)
s + 5000 s + 566700 s + 891100 K = 0
RouthTabulation:
566700
5000
891100 K
566700 178.22 K
8991100 K
Fromthe s row,theconditionofKforstabilityis566700178.22K>0.
544
StabilityCondition:
Chapter5Solutions
Golnaraghi,Kuo
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 = ,theshaftisrigid,thepolesoftheforwardpathtransferfunctionareallreal.Similareffects
areobservedfortherootsofthecharacteristicequationwithrespecttothevalueof K L .
541(a)
Gc ( s ) = 1
100( s + 2 )
G( s) =
K p = lim G ( s ) = 200
s 1
s 0
Whend(t)=0,thesteadystateerrorduetoaunitstepinputis
e ss =
1
1+ K p
1
1 200
1
199
= 0.005025
(b)
Gc ( s ) =
s +
s
G(s) =
100( s + 2)( s + )
s s 1
2
Kp =
(c)
=5
maximum overshoot = 5.6%
= 50
maximum overshoot = 22%
= 500
maximum overshoot = 54.6%
545
ess = 0
Chapter5Solutions
Golnaraghi,Kuo
Asthevalueof increases,themaximumovershootincreasesbecausethedampingeffectofthe
zeroat s = becomeslesseffective.
UnitStepResponses:
(d) r ( t ) = 0 and Gc ( s ) = 1. d ( t ) = u s ( t )
D( s ) =
1
s
SystemTransferFunction:(r=0)
Y ( s)
D( s )
=
r =0
100( s + 2)
3
s + 100 s + (199 + 100 ) s + 200
OutputDuetoUnitStepInput:
Y ( s) =
y ss = lim y ( t ) = lim sY ( s ) =
100( s + 2 )
3
s s + 100 s + (199 + 100 ) s + 200
s 0
(e) r ( t ) = 0, d ( t ) = u s ( t )
Gc ( s ) =
s +
s
546
200
200
Chapter5Solutions
SystemTransferFunction[r(t)=0]
Y ( s)
D( s )
=
r =0
Golnaraghi,Kuo
100 s( s + 20
3
D( s ) =
s + 100 s + (199 + 100 ) s + 200
1
s
y ss = lim y ( t ) = lim sY ( s ) = 0
t
s 0
(f)
=5
= 50
= 5000
Y ( s)
D( s )
=
r =0
Y ( s)
D( s )
=
r =0
Y ( s)
D( s )
=
r =0
100 s( s + 2 )
3
s + 100 s + 699 s + 1000

100 s( s + 2)
3
s + 100 s + 5199 s + 10000
100 s( s + 2)
3
s + 100 s + 50199 s + 100000
UnitStepResponses:
(g)Asthevalueof increases,theoutputresponsey(t)duetor(t)becomesmoreoscillatory,andthe
overshootislarger.Asthevalueof increases,theamplitudeoftheoutputresponsey(t)duetod(t)
becomessmallerandmoreoscillatory.
547
Chapter5Solutions
Golnaraghi,Kuo
542(a)ForwardPathTransferfunction:
s + s + N = 0
H ( s)
N=1:CharacteristicEquation: s + s + 1 = 0
s( s + 1)( s + 10)
G ( s ) =
E ( s)
10 N
s( s + 1)
= 0.5
n = 1rad/sec.
= 0.163 (16.3%)Peaktime t max =
Maximum overshoot = e
N=10:CharacteristicEquation: s + s = 10 = 0
n 1
= 0.158
= 3.628 sec.
n = 10 rad/sec.
Maximumovershoot= e
= 0.605 (60.5%)Peaktime t max =
(b)UnitStepResponse:N=1
548
n 1
sec.
= 1006
.
Chapter5Solutions
SecondorderSystem
ThirdorderSystem
Maximumovershoot
0.163
0.206
Peaktime
3.628sec.
3.628sec.
SecondorderSystem
ThirdorderSystem
UnitStepResponse:N=10
Maximumovershoot
0.605
0.926
Peaktime
1.006sec.
1.13sec.
549
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
543UnitStepResponses:
When Tz issmall,theeffectislowerovershootduetoimproveddamping.WhenTz isverylarge,the
overshootbecomesverylargeduetothederivativeeffect.Tz improvestherisetime,since1 + Tz s isa
derivativecontrolorahighpassfilter.
550
Chapter5Solutions
Golnaraghi,Kuo
544UnitStepResponses
Theeffectofaddingthepoleat s =
lessstable.WhenT p > 0.707 ,theclosedloopsystemisstable.
Tp
toG(s)istoincreasetherisetimeandtheovershoot.Thesystemis
551
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
(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
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
Golnaraghi,Kuo
Kk
s ( Js + a + KK f k )
According to above block diagram:
1
1
Now consider X = 0, then:

k
K
Kf
Js + a
+1
Accordingly,
and
1
In this case, E(s) = D-KY(s)
1
1
555
Chapter5Solutions
Golnaraghi,Kuo
Now the steady state error can be easily calculated by:
1/ :
lim
lim
1
1
lim
1
1
lim
1
1
lim
1
lim
(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^24*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^24*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^24*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
Chapter5Solutions
Golnaraghi,Kuo
5-47)(a)Findthe e(t )dt whene(t)istheerrorintheunitstepresponse.

0
Asthesystemisstablethen
e(t )dt willconvergetoaconstantvalue:
e(t )dt = lim s

s 0
E ( s)
= lim E ( s )
s 0
s
( A s + 1)( A2 s + 1)...( An s + 1)
Y ( s)
G ( s)
=
= 1
nm
X ( s) 1 + G ( s) ( B1 s + 1)( B2 s + 1)...( Bm s + 1)
Try to relate this to Equation (5-40).

E ( s ) = X ( s) Y ( s) = X (s)
G ( s)
1
X (s) =
X (s)
1 + G ( s)
1 + G (s)
( A s + 1)( A2 s + 1)...( An s + 1)
( B1s + 1)( B2 s + 1)...( Bm s + 1) ( A1s + 1)( A2 s + 1)...( An s + 1)
= 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 0
s 0 s
( B1s + 1)( B2 s + 1)...( Bm s + 1)
= ( B1 + B2 + L + Bm ) ( A1 + A2 + L + 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 0
s ( B1s + 1)( B2 s + 1)...( Bm s + 1)
557
(b)Calculate
Chapter5Solutions
Golnaraghi,Kuo
1
1
=
K lim sG ( s )
s 0
Recall
E ( s ) = X ( s) Y ( s) = X ( s)
G ( s)
1
X (s) =
X (s)
1 + G(s)
1 + G(s)
Hence
1
1
1
1
lim E ( s ) = lim
X ( s ) = lim
= lim
=
s 0
s 0 1 + G ( s )
s 0 s + sG ( s )
s 0 sG ( s )
Kv
Ramp Error Constant
558
Chapter5Solutions
Golnaraghi,Kuo
5-48)
10
10
25
10
35
25
10
Comparing with the second order prototype system and matching denominators:
25
35
10
2
exp
1
3.2
0.25
0.1
1.386
1
80,
Let = 0.4 and n = 80

Then
35
29
56.25
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
0.210
0.69
Chapter5Solutions
Golnaraghi,Kuo
5-49) According to the maximum overshoot:
which should be less than t, then

or
1
j
/t
n 1 2
n 1 2
/t
560
Chapter5Solutions
Golnaraghi,Kuo
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:
cos /2
sin
cos /2
sin
The approximation from the figure gives:
0.56
0.91
Therefore 0.56 0.91

b)
As Kp=2, then:
2
2
If the roots of the characteristic equations are assumed to be lied in the centre of the shown
region:
3
3
13
Comparing with the characteristic equation:
2
2
6
13
2
3.25
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
Chapter5Solutions
Golnaraghi,Kuo
5-51) a)
By substituting the values:
0.2
0.109
b)
Speed of the motor is
0.2
0.109
lim
10
19.23
(c)
0.2
0.109
d)
0.2
0.109
0.2
0.109
As a result:
0.2
0.109
e) As
exp
0.2 , then, = 0.404
According to the transfer function, 2
f) As
as
0.109, then
0.2 K<0.0845
where
.
0.6,
, then
0.2 , therefore;
1
562
0.2
.
.
0.14
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
Rise time decreases with K increasing.

Overshoot increases with K.
564
Golnaraghi,Kuo
exp
5-52)
As
Chapter5Solutions
Golnaraghi,Kuo
0.1, therefore, = 0.59

.
, then,
3.62
3
3
Therefore:
If p is a non-dominant pole; therefore comparing both sides of above equation and:
3
3
If we consider p = 10a (non-dominant pole), = 0.6 and n = 4, then:
4.8
48
160
10
16
3
3
8.3
89.8
83
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
160
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
Golnaraghi,Kuo
Notethesystemhastwodominantcomplexpolesclosetotheimaginaryaxis.Letszoomintherootlocusdiagramand
usethecursortofindtheparametervalues.
567
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
571
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-54) ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
s + ( 20 + a ) s + ( 200 + 20a ) s + 200a K
Fortype1system, 200a K = 0 ThusK=200a

Ramperrorconstant:
s 0
K
200 + 20a
200 a
200 + 20 a
= 5
Thusa=10
K=2000
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
s s + 30 s + 400
2
Chapter5Solutions
Gc ( s ) =
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
G(s)
Gp (s)
Golnaraghi,Kuo
20 s + 10 s + 100
(s
+ 30 s + 400
Chapter5Solutions
Golnaraghi,Kuo
5-55)
ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
s + ( 20 + a ) s + ( 200 + 20a ) s + 200a K

Ramperrorconstant:
s 0
K
200 + 20a
200 a
200 + 20 a
= 9
Thusa=90
K=18000
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
574
G ( s ) =
18000
s s + 110 s + 2000
2
Chapter5Solutions
Gc ( s ) =
G(s)
Gp ( s)
Golnaraghi,Kuo
)
( s + 110s + 2000 )
180 s + 10 s + 100
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
Chapter5Solutions
Golnaraghi,Kuo
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
K v = lim s
s 0
1000 ( K P + K D s )
s ( s + 10)
1000 K P
10
= 100 K P = 1000
Kp=10
clears
symss
Mnum=(Kp+Kd*s)*1000/s/(s+10)
Mden=1+(Kp+Kd*s)*1000/s/(s+10)
576
Thus
K P = 10
Chapter5Solutions
Golnaraghi,Kuo
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 = 0

2
Matchwitha2ndorderprototypesystem
n = 1000 K P = 10000 = 100 rad/sec
2 n = 10 + 1000 K D = 2 0.5 100 = 100
solve(10+1000*Kd100)
ans=
9/100
Thus
KD =
90
1000
= 0.09
Usethesameprocedureforotherparts.
(b)For K v = 1000 and = 0.707 ,andfrompart(a), n = 100 rad/sec,
2 n = 10 + 1000 K D = 2 0.707 100 = 141.4
Thus
KD =
131.4
1000
= 0.1314
(c)For K v = 1000 and = 1.0 ,andfrompart(a), n = 100 rad/sec,
2 n = 10 + 1000 K D = 2 1 100 = 200
Thus
577
KD =
190
1000
= 0.19
Chapter5Solutions
Golnaraghi,Kuo
5-57)Theramperrorconstant:
K v = lim s
s 0
1000 ( K P + K D s )
s ( s + 10)
Theforwardpathtransferfunctionis:
= 100 K P = 10, 000
G(s) =
1000 (100 + K D s )
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
Thus K P = 100
s ( s + 10)
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
5-58)(a)ForwardpathTransferFunction:
G ( s ) = Gc ( s )G p ( s ) =
4500 K ( K P + K D s )
s ( s + 361.2)
RampErrorConstant:
e ss =
1
Kv
0.0802
KK P
s 0
4500 KK P
361.2
= 12.458 KK P
0.001Thus KK P 80.2 Let K P = 1 and K = 80.2
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)')
Zero/pole/gain:
360900 (s+1)
s (s+361.2)
Zero/pole/gain:
360900 (s+1)
(s+0.999) (s+3.613e005)
Zero/pole/gain:
180.45 (s+2000)
s (s+361.2)
Zero/pole/gain:
180.45 (s+2000)
580
Golnaraghi,Kuo
Chapter5Solutions
(s^2 + 541.6s + 3.609e005)

Zero/pole/gain:
360.9 (s+1000)
s (s+361.2)
Zero/pole/gain:
360.9 (s+1000)
(s^2 + 722.1s + 3.609e005)

Zero/pole/gain:
541.35 (s+666.7)
s (s+361.2)
Zero/pole/gain:
541.35 (s+666.7)
(s^2 + 902.5s + 3.609e005)

Zero/pole/gain:
721.8 (s+500)
s (s+361.2)
Zero/pole/gain:
721.8 (s+500)
(s^2 + 1083s + 3.609e005)
581
Golnaraghi,Kuo
KD
Chapter5Solutions
tr(sec)
Golnaraghi,Kuo
ts (sec)
MaxOvershoot(%)
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
Chapter5Solutions
Golnaraghi,Kuo
5-59)TheforwardpathTransferFunction:N=20
200 ( K P + K D s )
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P = 0.05
G(s) =
G(s) =
s ( s + 1)( s + 10)
200 ( 0.05 + K D 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
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
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
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
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
0.06
3.039
0.10
4.317
When K D = 0.05 therisetimeis2.721sec,andthestepresponsehasnoovershoot.
587
Chapter5Solutions
Golnaraghi,Kuo
5-60) (a)For e ss = 1,
K v = lim sG ( s ) = lim s
s 0
s0
200 ( K P + K D s )
s ( s + 1)( s + 10)
G ( s ) =
= 20 K P = 1 Thus K P = 0.05
200 ( 0.05 + K D 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 +
G ( s ) =
Thus K I = 10.
Gcl ( s ) =
KI
s
s + 10 s + 100
2
100 ( K P s + K I )
For K v = 10,
s + 10 s + 100 s + 100 ( K P s + K I )
3
100 ( K P s + K I )
s 0
s s + 10 s + 100
s 0
100 ( K P s + 10 )
2
s + 10 s + 100(1 + K P ) s + 1000
3
= K I = 10
(b)Letthecomplexrootsofthecharacteristicequationbewrittenas s = + j15 and s = j15.
s + 2 s + + 225 = 0
2
Thequadraticportionofthecharacteristicequationis
Thecharacteristicequationofthesystemis
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
s + 10 s + (100 + 100 K P ) s + 1000 = 0

3
588
Chapter5Solutions
Golnaraghi,Kuo
s + (10 2 )
s + 2 s + + 225 s + 10 s + (100 + 100 K P ) s + 1000

2
s + 2 s + + 225 s
3
(
)
+ ( 20 4 ) s + (10 2 ) ( s
(10 2 ) s + 100 K P 125 s + 1000

2
(10 2 ) s
(100 K
+ 225
+ 3 20 125 s + 2 10 + 450 1250

2
Forzeroremainder,
2 10 + 450 1250 = 0
and
100 K P + 3 20 125 = 0
TherealsolutionofEq.(1)is = 2.8555 .FromEq.(2),
Thecharacteristicequationrootsare: s = 2.8555 + j15, 2.8555 j15, and s = 10 + 2 = 4.289
KP =
125 + 20 3
(1)
(2)
= 15765
.
100
(c)RootContours:
Dividingbothsidesof s + 10 s + (100 + 100 K P ) s + 1000 = 0 bythetermsthatdonotcontainKpwehave:
1+
100 K P s
= 1 + Geq
2
s + 10 s + 100 s + 1000
100 K P s
100 K P s
Geq ( s ) =
s + 10 s + 100 s + 1000
3
( s + 10 ) ( s
+ 100
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 1000];
rlocus(num,den)
589
Chapter5Solutions
Golnaraghi,Kuo
590
Chapter5Solutions
Golnaraghi,Kuo
5-62) (a)ForwardpathTransferFunction:
100 K P +
KI
s
For K = 10,
v
G ( s ) =
Thustheforwardpathtransferfunctionbecomes
Gcl ( s ) =
s + 10 s + 100
2
G(s) =
100 ( K P s + K I )
s + 10 s + 100 s + 100 ( K P s + K I )
3
s 0
100 (10 + K P s )
s s + 10 s + 100
100 ( K P s + 10 )
2
s + 10 s + 100(1 + K P ) s + 1000
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
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 10
Chapter5Solutions
Golnaraghi,Kuo
Usethecursertofindthemaximumovershootandrisetime.ForexamplewhenKp=2,PO=43andtr100%=0.152
sec.
Transferfunction:
200s+1000
s^3+10s^2+300s+1000
592
Chapter5Solutions
Golnaraghi,Kuo
5-63)
G(s) =
For K v = 100,
100 ( K P s + K I )
s s + 10 s + 100
2
s 0
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 100
Thus K I = 100.
s + 10 s + (100 + 100 K P ) s + 100 K I = 0

3
(b)Thecharacteristicequationis
RouthTabulation:
100 + 100 K P
10
10,000
100 K P 900
10,000
Forstability, 100 K P 900 > 0
Thus
KP > 9
7. ActivateMATLAB
9. Typein
Acsys
10. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
11. ThenpresstheRouthHurwitzbutton
593
Chapter5Solutions
Golnaraghi,Kuo
RH=
[1,100+100*kp]
[10,10000]
[900+100*kp,0]
[(9000000+1000000*kp)/(900+100*kp),0]

594
Chapter5Solutions
Golnaraghi,Kuo
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 10,000
100 K P s
( 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
Chapter5Solutions
Golnaraghi,Kuo
(c) K I = 100
Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
G(s) =
100 ( K P s + 100 )
s s + 10 s + 100
2
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
596
30
40
100
1000
ymax
1.794
1.779
1.7788 1.7785
Chapter5Solutions
1.7756
1.779
WhenKP=25,minimumymax=1.7756
Use: close all to close all the figure windows.
597
Golnaraghi,Kuo
1.782
1.795
1.844
1.859
Chapter5Solutions
Golnaraghi,Kuo
5-64) MATLAB solution is the same as 5-63.

G(s) =
100 ( K P s + K I )
s s + 10 s + 100
2
For K v =
100 K I
100
= 10,
K I = 10
RouthTabulation:
s3 + 10 s 2 + 100 K + 1 s + 1000 = 0
P
100 + 100 K P
10
1000
100 K P
1000
Forstability,KP>0
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 1000
598
Chapter5Solutions
Golnaraghi,Kuo
(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.
KP
0.5
1.0
1.6
1.7
1.8
1.393
1.275
1.2317 1.2416 1.2424
1.9
2.0
3.0
5.0
10 20
1.2441
1.246
1.28
1.372
1.514
ymax
WhenKP=1.7,maximumymax=1.2416
5-65)
Gc ( s ) = K P + K D s +
where
KI
s
KDs + KPs + KI
2
K P = K P 2 + K D1 K I 2
= (1 + K D 1 s ) K P 2 +
KI 2
K D = K D1 K P 2
KI = KI 2
G ( s ) = Gc ( s )G p ( s ) =
100
(K
(
s2 + KP s + KI )
Andrenametheratios: K D / K P = A,
Thus
s s + 10 s + 100
2
K v = lim sG ( s ) = 100
s 0
KI / KP = B
KI
= 100
100
K I = 100
599
1.642
Chapter5Solutions
ForKDbeingsufficientlysmall:
G ( s ) =
100 ( K P s + 100 )
s s + 10 s + 100
2
s + 10 s + (100 + 100 K P ) s + 10, 000 = 0
3
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
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
To obtain a better response continue adjusting KD and KP.
5102
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
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
cs
ks
ks
cs
mw
mw
kw
cw
(a)
cw
kw
xw
y
(b)
y
(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 n z& (t ) + n 2 z (t ) = &&
y (t )
TheLaplacetransformofEq.(4323)yieldstheinputoutputrelationship
5103
(4-323)
Chapter5Solutions
Golnaraghi,Kuo
Z (s)
1
= 2
Y&&( s ) s + 2 n s + n 2
(4-324)
Now lets apply control see section 6-6 for more detail.
x
m
c
k
k f(t)
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 ) + 2n z& (t ) + n 2 z (t ) = &&
y (t ) + n 2 f (t )
s 2 + 2n s + n 2 = A( s ) + n 2 F ( s )
A( s ) = Y&&( s )
(4-324)
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
s
Z (s)
=
A( s )
Z (s)
1
K
s 2 + 2n s + n 2 1 + K P + K D s + I
s
Z (s)
s
= 3
2
2
A( s ) s + 2n s + n ( (1 + K P ) s + K D s 2 + K I )
See Equation (6-4).
For proportional control KD=KI=0.
5104
Pick = 0.707
Chapter5Solutions
and n = 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
Golnaraghi,Kuo
Chapter5Solutions
5-67) Replace F(s) with

K
F ( s ) = X ref K P + K D s + I X ( s )
s
B
2n =
M
K
n 2 =
M
X ( s)
1
=
K
X ref ( s )
s 2 + 2n s + n 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
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-68) From problem 4-3

a)
Rotational kinetic energy:

Translational kinetic energy:
Relation between translational displacement and rotational displacement:
1
2
Potential energy:
, then:
As we know
1
2
1
2
1
2
By differentiating, we have:
0
0
Since
cannot be zero, then
b)
c)
5107
Chapter5Solutions
1
2
where
1
2
Golnaraghi,Kuo
1
2
at the maximum energy.
1
2
1
2
Then:
1
2
1
2
Or:
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
Chapter5Solutions
Golnaraghi,Kuo
Uncontrolled
With a proportional controller one can adjust the oscillation amplitude the transfer function is
rewritten as:
Gcl ( s ) =
JK p
(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
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
Golnaraghi,Kuo
5-69) From Problem 4-6 we have:

a)
y1
y2
K ( y1 y 2 )
K ( y1 y 2 )
Mgy&1
mgy& 2
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
Chapter5Solutions
Golnaraghi,Kuo
By solving above equation:
1
2
Replace Force F with a proportional controller so that F=K(Z-Zref):
KP
Zref_FZ
1
2
1
2
5-70) Also see derivations in 4-9.
L
x(t)
F
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
Chapter5Solutions
Golnaraghi,Kuo
1)
2)
Let
. If is small enough then
1 and
, therefore
which gives:
s
F s
Ignoring friction
s
F s
where
0.
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 ) ) K D s ( R ( s ) )
The system transfer function is:
A( K p + KDs)
= 2
R (s + K D s + A ( K p B )
Control is achieved by ensuring stability (Kp>B)
5113
Chapter5Solutions
Golnaraghi,Kuo
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
Chapter5Solutions
Golnaraghi,Kuo
A ( K p + K D s ) 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
Chapter5Solutions
Golnaraghi,Kuo
clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
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 511-1.
5116
Automatic Control Systems, 9th Edition
Chapter 6
Chapter 6 Solutions
Golnaraghi, Kuo
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:
m =
Ra J m
,
Ra B + k b k m
B=
Ra J m k b k m m
= 0.000792kg m 2 / sec
Ra m
6-1
Chapter 6 Solutions
b. +15 V input:
c. 10 V input:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
3. Additional load inertia effect:
As the overall inertia of the system is increased by 0.005 / 5.2 2 and becomes 1.8493 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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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:
J=
m ( Ra B + K m K b )
Ra
0.22(1.35 0.001 + 0.01)

= 1.8496 10 3 kg.m2
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
Chapter 6 Solutions
7. Open loop speed response using Virtual Lab:

a. +5 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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:
G(s) =
9
,
0.23s + 1
where the time constant (0.23) is found at 5.68 rad/sec (63.2% of the final value).
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
b. 5 rad/sec (SIMLab):
c. 50 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
d. 0.5 rad/sec (Virtual Lab):
e. 5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
f. 50 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
10. Sine input to SIMLab and Virtual Lab (20 V. amplitude)

a. 0.5 rad/sec (SIMLab):
b. 5 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. 50 rad/sec (SIMLab):
d. 0.5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
e. 5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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 = 93.82 o for = 50.
6-1
Chapter 6 Solutions
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
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. -10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
12. Additional load inertia effect:

a. +5 V:
b. +15 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. -10 V:
13. Study of the effect of viscous friction:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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 o step input (SIMLab)
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
17. 0.1 N.m step disturbance
18. Examine the effect of integral control
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
20. Set B=0:
21. Study the effect of saturation
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
The above figure is obtained in the same conditions of part 20 but in this case we considered 10 V. and
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
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
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
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-3
a)
b)
c)
d)
50rad/sec
0.0795 seconds
2.5A. The current
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
Chapter 6 Solutions
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) 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) 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
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
a) It changes from 50 rad/sec to 30 rad/sec.

b) 50 - (50 - 30) 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
Chapter 6 Solutions
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 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
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-7
a) 9.434 rad/sec.
b) 63% of the steady state speed: 9.434 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) 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
Chapter 6 Solutions
6-10
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
a) 1 radian.
b) 1.203 radians.
c) 0.2215 seconds.
6-11
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
6-13 Let Kp = 1 is the best value.
As the derivative gain increases, overshoot decreases, but rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-14
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
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
Golnaraghi, Kuo
Chapter 6 Solutions
6-16
0.1 Hz
0.2 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
0.5 Hz
1 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
2Hz
5Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
10Hz
50Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
As proportional gain increases, the steady state error decreases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-18
Considering fast response time and low overshoot, Kp=1 is considered to be the best value.
6-1
Chapter 6 Solutions
6-19 It was found that the best Kp = 1
As Kd value increases, the overshoot decreases and the rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-20 From the Experiment Menu select the Open Loop Sine Input option.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Double click on the Sine wave block and choose the input values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Run simulation in SIMULINK.

Change run time to 20 sec (default is
5 sec)
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Golnaraghi, Kuo
Run simulation, and repeat the process for different gain values. Observe the steady state value change
with K.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
Run simulation, and repeat the process for different gain values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-23) If we choose Kp= 1, Ki= 0, and Kd= 0, we get
Increase Kd=0.1 we get:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-24) Here Kp=275 and Kd=12.
Next Kp=275 and Kd=20.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
You may try other parts and make observations.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
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
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c) A sample response
d)
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Other parts are trivial and follow section 6-6.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter7Solutions
Golnaraghi,Kuo
Chapter 7
7-1 (a) P ( s ) = s 4 + 4 s 3 + 4 s 2 + 8 s
Q( s ) = s + 1
Finite zeros of P(s):
0, 3.5098, 0.24512 j1.4897
Finite zeros of Q(s):
Asymptotes:
K > 0: 60 o , 180 o , 300 o
K < 0: 0 o , 120 o , 240 o
Intersect of Asymptotes:
1 =
(b) P ( s ) = s 3 + 5 s 2 + s
3.5 0.24512 0.24512 ( 1)

4 1
= 1
Q( s ) = s + 1
Finite zeros of P(s) :
0, 4.7912, 0.20871
Asymptotes:
K > 0: 90 o , 270 o
K < 0: 0 o , 180 o
1 =
(c) P ( s ) = s 2
4.7913 0.2087 ( 1)
31
Q( s ) = s + 3s + 2 s + 8
0, 0
3.156, 0.083156 j15874

.
Asymptotes:
K > 0: 180 o
K < 0: 0 o
71
= 2
Chapter7Solutions
Golnaraghi,Kuo
Q( s) = s 1 ( s + 3)
(d) P ( s ) = s 3 + 2 s 2 + 3 s
0, 1 j1.414
1, 1, 3
Asymptotes:
There are no asymptotes, since the number of zeros of P(s) and
Q(s) are
equal.
(e) P ( s ) = s 5 + 2 s 4 + 3 s 3
Q( s ) = s + 3s + 5
0, 0, 0, 1 j1.414
15
. j16583
.
Asymptotes:
K > 0: 60 o , 180 o , 300 o
K < 0: 0 o , 120 o , 240 o
1 =
(f) P ( s ) = s 4 + 2 s 2 + 10
1 1 ( 15)
. ( 15)
.
5 2
1
3
Q( s ) = s + 5
1.0398 j1.4426, 10398

.
j1.4426
Asymptotes:
K > 0: 60 o , 180 o , 300 o
K < 0: 0 o , 120 o , 240 o
1 =
10398
.
10398
.
+ 10398
.
+ 10398
.
( 5)
4 1
72
5
3
Chapter7Solutions
Golnaraghi,Kuo
7-2(a) MATLAB code:

s = tf('s')
num_GH=(s+1);
den_GH=(s^4+4*s^3+4*s^2+8*s);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
%number of poles of G(s)H(s)
m=length(GH_z)
%number of zeros of G(s)H(s)
%Asymptotes angles:
k=0;
Assymp1_angle=+180*(2*k+1)/(n-m)
Assymp2_angle=-180*(2*k+1)/(n-m)
k=1;
%Asymptotes intersection point on real axis:
sigma=(sum(GH_p)-sum(GH_z))/(n-m)
Root Locus
6
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Assymp1_angle =
60
Assymp2_angle = -60
Assymp3_angle = 180
73
Chapter7Solutions
Golnaraghi,Kuo
sigma = -1.0000 (intersect of asymptotes)

7-2(b) MATLAB code:
s = tf('s')
'Generating the transfer function:'
num_GH=(s+1);
den_GH=(s^3+5*s^2+s);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
m=length(GH_z)
%Asymptotes angles:
k=0;
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-5
-4
-3
-2
Real Axis
Assymp1_angle =
90
Assymp2_angle = -90
74
-1
Chapter7Solutions
Golnaraghi,Kuo
sigma = -2 (intersect of asymptotes)
7-2(c) MATLAB code:

s = tf('s')
num_GH=(s^3+3*s^2+2*s+8);
den_GH=(s^2);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
m=length(GH_z)
%Asymptotes angles:
k=0;
Root Locus
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-6
-5
-4
-3
-2
Real Axis
75
-1
Assymp1_angle =
Chapter7Solutions
Golnaraghi,Kuo
180
sigma = -3.0000 (intersect of asymptotes)
7-2(d) MATLAB code:

s = tf('s')
num_GH=((s^2-1)*(s+3));
den_GH=(s^3+2*s^2+3*s);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
m=length(GH_z)
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
No asymptotes
76
-0.5
0.5
1.5
Chapter7Solutions
Golnaraghi,Kuo
7-2(e) MATLAB code:

s = tf('s')
num_GH=(s^2+3*s+5);
den_GH=(s^5+2*s^4+3*s^3);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
m=length(GH_z)
%Asymptotes angles:
k=0;
k=1;
Root Locus
6
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Assymp1_angle =
60
77
Chapter7Solutions
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 0.3333 (intersect of asymptotes)
7-2(f) MATLAB code:
s = tf('s')
num_GH=(s+5);
den_GH=(s^4+2*s^2+10);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
xlim([-20 20])
ylim([-20 20])
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
m=length(GH_z)
%Asymptotes angles:
k=0;
k=1;
78
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-20
-15
-10
-5
10
Real Axis
Assymp1_angle =
60
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 1.6667 (intersect of asymptotes)
7-3)
Consider
As the asymptotes are the behavior of G(s)H(s) when |s| , then

|s| > |zi| for i = 1,2,,m and |s| > |pi| for i = 1,2,,n
therefore G(s)H(s)
According to the condition on angles:
G(s)H(s) =
79
15
20
If we consider
Chapter7Solutions
Golnaraghi,Kuo
, then:
G(s)H(s) =
or
7-4)
If
, then each point on root locus must satisfy the characteristic equation of
If
and
then
or
If the roots of above expression is considered as si for i = 1,2,,(n-m), then
since the intersect of (n-m) asymptotes lies on the real axis of the s-plane and
real, therefore
7-5)
Poles of GH is s = 0, -2, -1 + j, -1 j, therefore the center of asymptotes:
The angles of asymptotes:
710
is
Chapter7Solutions
Golnaraghi,Kuo
711
Chapter7Solutions
Golnaraghi,Kuo
7-6 (a) Angles of departure and arrival.
K > 0: 1 2 3 + 4 = 180o
1 90 45 + 90 = 180
o
1 = 135
K < 0: 1 90o 45o + 90o = 0o

1 = 45
(b) Angles of departure and arrival.
K > 0:
K < 0:
1 2 3 + 4 = 180
1 135 90 + 90 = 0
o
1 = 135
712
Chapter7Solutions
Golnaraghi,Kuo
(c) Angle of departure:
K > 0:
1 2 3 + 4 = 180
1 135 90 45 = 180
o
1 = 90
(d) Angle of departure
K > 0:
1 2 3 4 = 180
1 135 135 90 = 180

o
1 = 180
713
Chapter7Solutions
Golnaraghi,Kuo
(e) Angle of arrival
K < 0:
1 + 6 2 3 4 5 = 360
1 + 90 135 135 45 26.565 = 360

o
1 = 108.435
714
7-7)
Chapter7Solutions
G(s)H(s) =
a)
Golnaraghi,Kuo
=
=
=
we know that
therefore
As a result, D = G(s)H(s) 180o = 180 +

b)
Similarly:
G(s)H(s) =
=
=
=
Therefore:
As a result, =180
7-8)
zeros:
and poles:
Departure angles from:
715
, when -180o = 180o
Chapter7Solutions
Golnaraghi,Kuo
Arrival angles at
7-9)(a)
(b)
(d)
(c)
716
Chapter7Solutions
717
Golnaraghi,Kuo
Chapter7Solutions
718
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
7-10) The breaking points are on the real axis of
If
and must satisfy
and is a breakaway point, then
Finding where K is maximum or minimum
, therefore
or
7-11) (a) Breakaway-point Equation:
Breakaway Points:
3 s + 22 s + 65 s + 100 s + 86 s + 44 s + 12 = 0
1, 2.5
(c) Breakaway-point Equation:
3 s + 54 s + 347.5 s + 925 s + 867.2 s 781.25 s 1953 = 0
719
0.7275, 2.3887
(b) Breakaway-point Equation:
Breakaway Points:
2 s + 20 s + 74 s + 110 s + 48 s = 0
Chapter7Solutions
Golnaraghi,Kuo
2.5, 109
.
Breakaway Points:
s 8 s 19 s + 8 s + 94 s + 120 s + 48 = 0
(d) Breakaway-point Equation:
0.6428, 2.1208
Breakaway Points:
7-12) (a)
G( s) H ( s) =
Asymptotes:K>0:
90
K ( s + 8)
s( s + 5)( s + 6)
and 270
K<0:
and 180
IntersectofAsymptotes:
BreakawaypointEquation:
1 =
0 5 6 ( 8 )
31
= 15
.
2 s + 35 s + 176 s + 240 = 0
2.2178, 5.5724, 9.7098
BreakawayPoints:
RootLocusDiagram:
720
Chapter7Solutions
Golnaraghi,Kuo
712(b)
G( s) H ( s) =
K
s( s + 1)( s + 3)( s + 4 )
K<0:
0 , 90 , 180 , 270
Asymptotes:K>0:
45 , 135 , 225 , 315
1 =
0 1 3 4
4
= 2
4 s + 24 s + 38 s + 12 = 0
BreakawayPoints:
0.4189, 2, 3.5811
RootLocusDiagram:
721
Chapter7Solutions
Golnaraghi,Kuo
712(c)
G( s) H ( s) =
K( s + 4)
Asymptotes: K>0: 60 o , 180 o , 300 o
3 s + 24 s + 52 s + 32 s = 0
BreakawayPoints:
0, 1085
. , 2, 4.915
RootLocusDiagram:
s ( s + 2)
1 =
0 + 0 2 2 ( 4 )
4 1
= 0
722
K<0:
0 , 120 , 240
Chapter7Solutions
Golnaraghi,Kuo
712(d)
G( s) H ( s) =
K ( s + 2)
2
s( s + 2 s + 2 )
Asymptotes: K>0: 90 o , 270 o
1 =
K<0: 0 , 180
0 1 j 1 j ( 2 )
31
= 0
2s + 8s + 8s + 4 = 0
BreakawayPoints:
2.8393
Theothertwosolutionsarenotbreakawaypoints.
723
Chapter7Solutions
Golnaraghi,Kuo
RootLocusDiagram
712(e)
G(s) H (s) =
K ( s + 5)
BreakawayPoints:
s s + 2s + 2
2
1 =
K<0:
0 1 j 1 j ( 5)
31
= 15
.
2 s + 17 s + 20 s + 10 = 0
7.2091
Theothertwosolutionsarenotbreakawaypoints.
724
0 , 180
Chapter7Solutions
Golnaraghi,Kuo
712(f)
G(s) H (s) =
Asymptotes:K>0:
4 s + 18 s + 20 s + 8 = 0
BreakawayPoint:
3.0922
s ( s + 4 ) s + 2s + 2
o
1 =
0 1 j 1+ j 4
K<0: 0 , 90 , 180 , 270
= 15
.
Theothersolutonsarenotbreakawaypoints.
725
45 , 135 , 225 , 315
Chapter7Solutions
Golnaraghi,Kuo
712(g)
G( s) H ( s) =
K( s + 4)
2
s ( s + 8)
2
2
K<0: 0 , 180
IntesectofAsymptotes:
1 =
0 + 0 8 8 ( 4 ) ( 4 )
42
s + 20 s + 160 s + 640 s + 1040 s = 0
BreakawayPoints:
0,4,8,4j4,4+j4
726
Chapter7Solutions
Golnaraghi,Kuo
712(h)
G( s) H ( s) =
Asymptotes:K>0: 45o , 135o , 225o , 315o K<0: 0 o , 90 o , 180 o , 270 o
s + 12 s + 32 s = 0
BreakawayPoint:
0,4,8
s ( s + 8)
1 =
3
8 8
4
= 4
727
Chapter7Solutions
Golnaraghi,Kuo
712(i)
G(s) H (s) =
K s + 8s + 20
2
s ( s + 8)
2
Asymptotes:K>0: 90 o , 270 o K<0: 0 o , 180 o
1 =
8 8 ( 4 ) ( 4 )
42
= 4
s + 20 s + 128 s + 736 s + 1280 s = 0
BreakawayPoints:
4, 8, 4 + j 4.9, 4 j 4.9
728
Chapter7Solutions
Golnaraghi,Kuo
(j)
G(s) H (s) =
(s
Ks
2
Sincethenumberoffinitepolesandzerosof G ( s ) H ( s ) arethesame,therearenoasymptotes.
BreakawaypointEquation: 8 s = 0
BreakawayPoints:
s=0
729
Chapter7Solutions
Golnaraghi,Kuo
712(k)
G(s) H (s) =
K s 4
2
1 =
s 8 s 24 s = 0
BreakawayPoints:
0, 3.2132, 3.2132,
(s
)( s
+1
+4
2 + 2
42
4
K<0:
= 0
2
730
0 , 180
j15246
.
, j15246
.
Chapter7Solutions
Golnaraghi,Kuo
712(l)
K ( s 1)
2
G(s) H (s) =
Asymptotes:K>0:
(s
)( s
+1
+4
90 , 270
K<0:
1 =
1 + 1
42
= 0
s 2s 9s = 0
BreakawayPoints:
2.07, 2.07, j1.47,
731
0 , 180
j1.47
Chapter7Solutions
Golnaraghi,Kuo
(m)
G( s) H ( s) =
K ( s + 1)( s + 2)( s + 3)
3
s ( s 1)
732
Chapter7Solutions
180
Golnaraghi,Kuo
K<0: 0
Asymptotes:K>0:
s + 12 s + 27 s + 2 s 18 s = 0
BreakawayPoints:
1.21,2.4,9.07,0.683,0,0
733
Chapter7Solutions
Golnaraghi,Kuo
(n)
G( s) H ( s) =
K ( s + 5)( s + 40)
Asymptotes: K>0: 60 o , 180 o , 300 o
s ( s + 250)( s + 1000)
K<0:
0 , 120 , 240
Intersectofasymptotes:
1 =
0 + 0 + 0 250 1000 ( 5) ( 40 )
5 2
.
= 40167
BreakawayPoints:
7.288,712.2,0,0
734
8 4
10 3
11 2
BreakawaypointEquation: 3750 s + 335000 s + 5.247 10 s + 2.9375 10 s + 1875

.
10 s = 0
Chapter7Solutions
Golnaraghi,Kuo
712(o)
G( s) H ( s) =
K ( s 1)
s( s + 1)( s + 2 )
K<0:
735
0 , 180
Chapter7Solutions
1 =
1 2 1
31
Golnaraghi,Kuo
= 2
s 3s 1 = 0
BreakawayPoints;
0.3473,1.532,1.879
736
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
7-13(a) MATLAB code:
10
num=[1 7];
den=conv([1 0],[1 5]);
den=conv(den,[1 6]);
mysys=tf(num,den)
rlocus(mysys);
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Root Locus
10
8
6
7-13(b) MATLAB code:

Imaginary Axis
num=[0 1];
den=conv([1 0],[1 1]);
mysys=tf(num,den)
rlocus(mysys);
4
2
0
-2
-4
-6
-8
-10
-12
-10
-8
-6
-4
-2
Real Axis
737
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
7-13(c) MATLAB code:

num=[1 4];
den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
Imaginary Axis
-5
-10
-15
-12
-10
-8
-6
-4
-2
Real Axis
Root Locus
10
8
6
7-13(d) MATLAB code:
Imaginary Axis
4
2
0
-2
-4
num=[1 2];
den=conv([1 0],[1
(1+j)]);
den=conv(den,[1 (1j)]);
mysys=tf(num,den)
rlocus(mysys);
-6
-8
-10
-2.5
-2
-1
Real Axis
738
-1.5
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
7-13(e) MATLAB code:

num=[1 5];
den=conv([1 0],[1
(1+j)]);
den=conv(den,[1 (1j)]);
mysys=tf(num,den)
rlocus(mysys);
-20
-25
-6
-5
-3
-2
Real Axis
739
-4
-1
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
7-13(f) MATLAB code:
3
2
Imaginary Axis
num=conv([1 4],[1 4]);

den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
1
0
-1
-2
-3
-4
-5
-6
-5
-4
-3
-2
-1
Real Axis
Root Locus
10
8
7-13(g) MATLAB code:
6
4
Imaginary Axis
num=conv([1 4],[1 4]);

den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
2
0
-2
-4
-6
-8
-10
-9
-8
-7
-6
-5
-4
Real Axis
740
-3
-2
-1
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
7-13(h) MATLAB code:

Imaginary Axis
num=[0 1];
den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
10
15
20
-3
-2
-1
Real Axis
Root Locus
15
10
7-13(i) MATLAB code:

num=conv([1 4-2j],[1
4+2j])
den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
Imaginary Axis
-5
-10
-15
-9
-8
-7
-6
-5
-4
Real Axis
741
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
0.25
0.2
0.15
7-13(j) MATLAB code:

num=conv([1 0],[1 0]);
den=conv([1 2],[1 -2]);
mysys=tf(num,den)
rlocus(mysys);
Imaginary Axis
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
-2.5
-2
-1.5
-1
-0.5
0
Real Axis
7-13(k) MATLAB code:

num=conv([1 2],[1 -2]);
den=conv([1 -j],[1 j]);
den=conv(den,[1 -2j]);
den=conv(den,[1 2j]);
mysys=tf(num,den)
742
0.5
1.5
2.5
Chapter7Solutions
Golnaraghi,Kuo
rlocus(mysys);
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-2.5
-2
-1.5
-1
-0.5
0.5
1.5
2.5
Real Axis
7-13(l) MATLAB code:

num=conv([1 1],[1 -1]);
den=conv([1 -j],[1 j]);
den=conv(den,[1 -2j]);
den=conv(den,[1 2j]);
mysys=tf(num,den)
rlocus(mysys);
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-1.5
-1
-0.5
0
Real Axis
743
0.5
1.5
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
7-13(m) MATLAB code:
num=conv([1 1],[1 2]);

num=conv(num,[1 3]);
den=conv([1 0],[1 0]);
den=conv(den,[1 -1]);
mysys=tf(num,den)
rlocus(mysys);
Imaginary Axis
-2
-4
-6
-18
-16
-14
-12
-10
-8
-6
-4
-2
200
400
600
Real Axis
Root Locus
1500
1000
7-13(n) MATLAB code:
500
Imaginary Axis
num=conv([1 5],[1 40]);

den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
-500
-1000
-1500
-1400
-1200
-1000
-800
-600
-400
Real Axis
744
-200
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
Imaginary Axis
7-13(o) MATLAB code:

num=conv([1 5],[1 40]);
den=conv([1 0],[1 0]);
mysys=tf(num,den)
rlocus(mysys);
2
0
-2
-4
-6
-8
-10
-2.5
-2
-1.5
-1
-0.5
Real Axis
7-14)(a)
Q( s ) = s + 5
P ( s ) = s s + 3s + 2 = s ( s + 1)( s + 2)
2
1 =
K<0:
1 2 ( 5)
31
= 1
s + 9 s + 15 s + 5 = 0
BreakawayPoints:
0.4475,1.609,6.9434
745
0 , 180
0.5
1.5
Chapter7Solutions
Golnaraghi,Kuo
714(b)
Q( s ) = s + 3
P( s) = s s + s + 2
746
Asymptotes:
K>0:
Chapter7Solutions
90 , 270
K<0:
Golnaraghi,Kuo
o
0 , 180
1 =
s + 5s + 3s + 3 = 0
BreakawayPoints:
4.4798
1 ( 3)
31
= 1
Theothersolutionsarenotbreakawaypoints.
747
Chapter7Solutions
714(c)
Q( s ) = 5s
P ( s ) = s + 10
Asymptotes:
K>0:
180
K<0:
748
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
5 s 50 = 0
BreakawayPoints:
3.162, 3.162
749
Chapter7Solutions
Golnaraghi,Kuo
714(d)
Q( s ) = s s + s + 2
2
P ( s ) = s + 3s + s + 5s + 10
4
Asymptotes:K>0:
180
K<0:
s + 2 s + 8 s + 2 s 33 s 20 s 20 = 0
BreakawayPoints:
2,1.784.
750
Chapter7Solutions
Golnaraghi,Kuo
714(e)
Q( s ) = s 1 ( s + 2 )
2
P( s) = s s + 2s + 2
2
751
Chapter7Solutions
SinceQ( s ) and P ( s ) areofthesameorder,therearenoasymptotes.
6 s + 12 s + 8 s + 4 = 0
BreakawayPoints:
1.3848
752
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
714(f)
Q ( s ) = ( s + 1)( s + 4)
P(s) = s s 2
2
753
Chapter7Solutions
Golnaraghi,Kuo
Asymptotes:
K>0:
180
K<0:
Breakawaypointequations:
s + 10 s + 14 s 8 = 0
BreakawayPoints:
8.334, 0.623
754
Chapter7Solutions
Golnaraghi,Kuo
714(g)
Q( s ) = s + 4 s + 5
2
P( s ) = s
(s
+ 8s + 16
K<0: 0 , 180
1 =
8 ( 4 )
42
= 2
s + 10 s + 42 s + 92 s + 80 s = 0
BreakawayPoints:
0, 2, 4, 2 + j 2.45, 2 j 2.45
755
Chapter7Solutions
Golnaraghi,Kuo
714(h)
Q( s ) = s 2
2
) ( s + 4)
P( s) = s s + 2s + 2
2
Since Q ( s ) and P ( s ) areofthesameorder,therearenoasymptotes.
756
BreakawayPoints:
Chapter7Solutions
Golnaraghi,Kuo
2,6.95
757
Chapter7Solutions
Golnaraghi,Kuo
714(i)
Q( s ) = ( s + 2 )( s + 0.5)
P( s) = s s 1
Asymptotes: K>0: 180 o
s + 5s + 4 s 1 = 0
BreakawayPoints:
K<0:
4.0205,0.40245
758
Chapter7Solutions
Golnaraghi,Kuo
759
Chapter7Solutions
Golnaraghi,Kuo
714(j)
Q( s) = 2s + 5
P(s) = s
(s
+ 2s + 1 = s
( s + 1)
2
Asymptotes: K>0: 60 o , 180 o , 300 o
IntersectofAsymptotes;
1 =
0 + 0 1 1 ( 2.5)
4 1
0.5
6 s + 28 s + 32 s + 10 s = 0
BreakawayPoints:
0,0.5316,1,3.135
760
K<0: 0 , 120 , 240
= 0.167
Chapter7Solutions
Golnaraghi,Kuo
7-15 ) MATLAB code:

clear all;
close all;
s = tf('s')
%a)
num_GH_a=(s+5);
den_GH_a=(s^3+3*s^2+2*s);
GH_a=num_GH_a/den_GH_a;
figure(1);
rlocus(GH_a)
761
Chapter7Solutions
%b)
num_GH_b=(s+3);
den_GH_b=(s^3+s^2+2*s);
GH_b=num_GH_b/den_GH_b;
figure(2);
rlocus(GH_b)
%c)
num_GH_c= 5*s^2;
den_GH_c=(s^3+10);
GH_c=num_GH_c/den_GH_c;
figure(3);
rlocus(GH_c)
%d)
num_GH_d=(s^3+s^2+2);
den_GH_d=(s^4+3*s^3+s^2+15);
GH_d=num_GH_d/den_GH_d;
figure(4);
rlocus(GH_d)
%e)
num_GH_e=(s^2-1)*(s+2);
den_GH_e=(s^3+2*s^2+2*s);
GH_e=num_GH_e/den_GH_e;
figure(5);
rlocus(GH_e)
%f)
num_GH_f=(s+4)*(s+1);
den_GH_f=(s^3-2*s);
GH_f=num_GH_f/den_GH_f;
figure(6);
rlocus(GH_f)
%g)
num_GH_g=(s^2+4*s+5);
den_GH_g=(s^4+6*s^3+9*s^2);
GH_g=num_GH_g/den_GH_g;
figure(7);
rlocus(GH_g)
%h)
num_GH_h=(s^2-2)*(s+4);
den_GH_h=(s^3+2*s^2+2*s);
GH_h=num_GH_h/den_GH_h;
762
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
figure(8);
rlocus(GH_h)
%i)
num_GH_i=(s+2)*(s+0.5);
den_GH_i=(s^3-s);
GH_i=num_GH_i/den_GH_i;
figure(9);
rlocus(GH_i)
%j)
num_GH_j=(2*s+5);
den_GH_j=(s^4+2*s^3+2*s^2);
GH_j=num_GH_j/den_GH_j;
figure(10);
rlocus(GH_j)
%k)
num_GH_k=1;
den_GH_k=(s^5+2*s^4+3*s^3+2*s^2+s);
GH_k=num_GH_k/den_GH_k;
figure(11);
rlocus(GH_k)
Root Locus diagram 7-15(a):
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-6
-5
-4
-3
-2
Real Axis
763
-1
Chapter7Solutions
Golnaraghi,Kuo
Root Locus diagram 7-15(b):

Root Locus
15
10
Imaginary Axis
-5
-10
-15
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
Root Locus diagram 7-15(c):
764
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-5
-4
-3
-2
-1
Real Axis
Root Locus diagram 7-15(d):

Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-6
-5
-4
-3
-2
Real Axis
Root Locus diagram 7-15(e):

765
-1
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2.5
-2
-1.5
-1
-0.5
Real Axis
Root Locus diagram 7-15(f):

poles:
Asymptotes angle:
Therefore,
Departure angle from:
766
0.5
1.5
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-18
-16
-14
-12
-10
-8
Real Axis
Root Locus diagram 7-15(g):

Poles:
and zeroes:
Asymptotes angles:
767
-6
-4
-2
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-3.5
-3
-2.5
-2
-1.5
Real Axis
Root Locus diagram 7-15(h):

and zeros:
Poles:
The break away points:
which means:
or
768
-1
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
Root Locus diagram 7-15(i):

Poles:
breaking points:
which means :

Asymptotes angles:
or =
769
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-10
-8
-6
-4
-2
Real Axis
Root Locus diagram 7-15(j):

Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-10
-5
0
Real Axis
Root Locus diagram 7-15(k):

770
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
6
Imaginary Axis
-2
-4
-6
-6
-5
-4
-3
-2
-1
Real Axis
7-16) (a)Asymptotes: K>0: 45o , 135o , 225o , 315o
1 =
2 2 5 6 ( 4 )
51
= 2.75
BreakawayPoints:
When = 0.707,
K=13.07
0.6325,5.511(ontheRL)
771
4 s + 65 s + 396 s + 1100 s + 1312 s + 480 = 0
Chapter7Solutions
Golnaraghi,Kuo
716(b)Asymptotes: K>0: 45o , 135o , 225o , 315o
772
Chapter7Solutions
1 =
0 2 5 10
4
Golnaraghi,Kuo
= 4.25
When = 0.707, K=61.5
4 s + 51s + 160 s + 100 = 0
773
Chapter7Solutions
716(c)Asymptotes: K>0: 180 o
s + 4 s + 10 s + 300 s + 500 = 0
BreakawayPoints:
1.727
When = 0.707,
K=9.65
(ontheRL)
774
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
775
Chapter7Solutions
716(d)K>0:
90 , 270
1 =
When = 0.707,
2 2 5 6
42
= 7.5
K=8.4
776
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
7-17) MATLAB code:

clear all;
close all;
s = tf('s')
%a)
num_G_a=(s+3);
den_G_a=s*(s^2+4*s+4)*(s+5)*(s+6);
G_a=num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
777
Chapter7Solutions
num_G_b= 1;
den_G_b=s*(s+2)*(s+4)*(s+10);
G_b=num_G_b/den_G_b;
figure(2);
rlocus(G_b)
%c)
num_G_c=(s^2+2*s+8);
den_G_c=s*(s+5)*(s+10);
G_c=num_G_c/den_G_c;
figure(3);
rlocus(G_c)
%d)
num_G_d=(s^2+4);
den_G_d=(s+2)^2*(s+5)*(s+6);
G_d=num_G_d/den_G_d;
figure(4);
rlocus(G_d)
%e)
num_G_e=(s+10);
den_G_e=s^2*(s+2.5)*(s^2+2*s+2);
G_e=num_G_e/den_G_e;
figure(5);
rlocus(G_e)
%f)
num_G_f=1;
den_G_f=(s+1)*(s^2+4*s+5);
G_f=num_G_f/den_G_f;
figure(6);
rlocus(G_f)
%g)
num_G_g=(s+2);
den_G_g=(s+1)*(s^2+6*s+10);
G_g=num_G_g/den_G_g;
figure(7);
rlocus(G_g)
%h)
num_G_h=(s+3)*(s+2);
den_G_h=s*(s+1);
G_h=num_G_h/den_G_h;
figure(8);
rlocus(G_h)
778
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
%i)
num_G_i=1;
den_G_i=s*(s^2+4*s+5);
G_i=num_G_i/den_G_i;
figure(9);
rlocus(G_i)
By using Data Cursor tab on the figure window and clicking on the root locus diagram, gain and
damping values can be observed. Damping of ~0.707 can be observed on intersection of the root locus
diagram with two lines originating from (0,0) by angles of ArcCos(0.707) from the real axis. These
intersection points are shown for part (a) where the corresponding gain is 19. In the other figures for
section (b) to (i), similar points have been picked by the Data Cursor, and the gains are reported here.
Root Locus
15
10
System: G_a
Gain: 19
Pole: -0.584 + 0.589i
Damping: 0.704
Overshoot (%): 4.43
Frequency (rad/sec): 0.829
Imaginary Axis
0
System: G_a
Gain: 19
Pole: -0.584 - 0.589i
Damping: 0.704
Overshoot (%): 4.43
-5
-10
-15
-20
-15
-10
-5
0
Real Axis
Root Locus diagram 7-17(b): (K = 45.5 @ damping = ~0.0707)
779
10
15
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
10
15
20
-2
Real Axis
Root Locus diagram 7-17(c): (K = 12.8 @ damping = ~0.0707)

Root Locus
3
Imaginary Axis
-1
-2
-3
-18
-16
-14
-12
-10
-8
-6
-4
Real Axis
Root Locus diagram 7-17(d): (K = 8.3 @ damping = ~0.0707)

780
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Root Locus diagram 7-17(e): (K = 0 @ damping = 0.0707)

Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-15
-10
-5
5
Real Axis
Root Locus diagram 7-17(f): (K = 2.33 @ damping = ~0.0707)

781
10
15
20
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-7
-6
-5
-4
-3
-2
-1
-0.5
0.5
Real Axis
Root Locus diagram 7-17(g): (K = 7.03 @ damping = ~0.0707)

Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
Root Locus diagram 7-17(h): (no solution exists for damping =0.0707)
782
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
Real Axis
Root Locus diagram 7-17(i): (K = 2.93 @ damping = ~0.0707)

Root Locus
4
Imaginary Axis
-1
-2
-3
-4
-6
-5
-4
-3
-2
Real Axis
7-18) (a)Asymptotes:
K>0:
60 , 180 , 300
783
-1
Chapter7Solutions
Golnaraghi,Kuo
BreakawaypointEquation: 3 s + 60 s + 200 = 0 BreakawayPoint:(RL)4.2265,K=384.9
1 =
0 10 20
3
= 10
(b)Asymptotes:
K>0:
45 , 135 , 225 , 315
BreakawaypointEquation: 4 s + 27 s + 46 s + 15 = 0
BreakawayPoints:(RL)0.4258
1 =
0 1 3 5
4
= 2.25
K=2.879,
784
4.2537K=12.95
Chapter7Solutions
Golnaraghi,Kuo
c)
Zeros:
and poles:
Angle of asymptotes:
The breakaway points:

Then
d)
and
Poles:
breakaway points:
e)
Zeros:
and poles:
785
Chapter7Solutions
breakaway points:
f)
Poles:
Angles of asymptotes:
breakaway point:
7-19) MATLAB code:

clear all;
close all;
s = tf('s')
%a)
num_G_a=1;
den_G_a=s*(s+10)*(s+20);
figure(1);
rlocus(G_a)
%b)
num_G_b= 1;
den_G_b=s*(s+1)*(s+3)*(s+5);
figure(2);
rlocus(G_b)
%c)
num_G_c=(s-0.5);
den_G_c=(s-1)^2;
figure(3);
rlocus(G_c)
%d)
786
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
num_G_d=1;
den_G_d=(s+0.5)*(s-1.5);
figure(4);
rlocus(G_d)
%e)
num_G_e=(s+1/3)*(s+1);
den_G_e=s*(s+1/2)*(s-1);
figure(5);
rlocus(G_e)
%f)
num_G_f=1;
den_G_f=s*(s^2+6*s+25);
G_f=num_G_f/den_G_f;
figure(6);
rlocus(G_f)
Root Locus
60
40
System: G_a
Gain: 385
Pole: -4.23 - 1.45e-007i
Damping: 1
Overshoot (%): 0
Imaginary Axis
20
-20
-40
-60
-80
-60
-40
-20
Real Axis
787
20
40
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
System: G_b
Gain: 2.88
Pole: -0.426 - 1.02e-008i
Damping: 1
Overshoot (%): 0
Imaginary Axis
-5
System: G_b
Gain: 13
Pole: -4.25 + 0.0278i
Damping: 1
Overshoot (%): 0
-10
-15
-15
-10
-5
10
Real Axis

Root Locus
0.8
0.6
0.4
Imaginary Axis
0.2
System: G_c
Gain: 2
Pole: 0
Damping: -1
Overshoot (%): 0
Frequency (rad/sec): 0
-0.2
-0.4
-0.6
-0.8
-0.8
-0.6
-0.4
-0.2
0.2
Real Axis

788
0.4
0.6
0.8
1.2
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
1
System: G_d
Gain: 1
Pole: 0.5
Damping: -1
Overshoot (%): 0
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.5
0.5
1.5
Real Axis

Root Locus
1.5
Imaginary Axis
0.5
System: G_e
Gain: 5.34
Pole: -2.24 - 3.95e-008i
Damping: 1
Overshoot (%): 0
System: G_e
Gain: 0.211
Pole: 0.383
Damping: -1
Overshoot (%): 0
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
Root Locus diagram 7-19(f): (No breakaway points)
789
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
Real Axis
790
10
15
Chapter7Solutions
7-20)
791
Golnaraghi,Kuo
Chapter7Solutions
7-21) MATLAB code:

clear all;
close all;
s = tf('s')
%a)
n=1;
num_G_a= 1;
den_G_a=(s+4)^n;
figure(n);
rlocus(G_a)
%b)
n=2;
num_G_b= 1;
den_G_b=(s+4)^n;
figure(n);
rlocus(G_b)
%c)
n=3;
num_G_c= 1;
den_G_c=(s+4)^n;
figure(n);
rlocus(G_c)
%d)
n=4;
num_G_d= 1;
den_G_d=(s+4)^n;
figure(n);
rlocus(G_d)
%e)
n=5;
num_G_e= 1;
den_G_e=(s+4)^n;
figure(n);
rlocus(G_e)
792
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-16
-14
-12
-10
-8
-6
-4
-2
Real Axis

Root Locus
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-4.5
-4
-3.5
-3
-2.5
-2
Real Axis
793
-1.5
-1
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo

Root Locus
4
Imaginary Axis
-1
-2
-3
-4
-9
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis

Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-6
-5
-4
-3
-2
Real Axis
794
-1
Chapter7Solutions
Golnaraghi,Kuo

Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-9
-8
-7
-6
-5
-4
Real Axis
795
-3
-2
-1
7-22) P ( s ) = s 3 + 25 s 2 + 2 s + 100
Golnaraghi,Kuo
Q ( s ) = 100 s
o
Kt > 0: 90 , 270
Asymptotes:
Chapter7Solutions
1 =
25 0
31
= 12.5
s + 12.5 s 50 = 0
BreakawayPoints:
2.2037,
(RL)
12.162
7-23) MATLAB code:

796
Chapter7Solutions
Golnaraghi,Kuo
s = tf('s')
num_G= 100;
den_G=s^3+25*s+2*s+100;
G=num_G/den_G;
figure(1);
rlocus(G)
Root Locus diagram 7-23:
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-30
-25
-20
-15
-10
-5
Real Axis
7-24)Characteristicequation: s 3 + 5s 2 + Kt s + K = 0
(a) K t = 0 :
P(s) = s
( s + 5)
Q(s) = 1
Asymptotes:K>0:
1 =
60 , 180 , 300
5 0
3
= 1667
.
797
10
15
20
Chapter7Solutions
3 s + 10 s = 0
BreakawayPoints:
Golnaraghi,Kuo
0,3.333
798
724(b)
Chapter7Solutions
P ( s ) = s + 5 s + 10 = 0
Golnaraghi,Kuo
Q( s ) = s
Asymptotes:K>0: 90 o , 270 o
1 =
BreakawaypointEquation: 2 s + 5 s 10 = 0
TherearenobreakawaypointsonRL.
5 0
2 1
= 0
799
Chapter7Solutions
Golnaraghi,Kuo
7-25)
By collapsing the two loops, and finding the overall close loop transfer function, the characteristic
equation (denominator of closed loop transfer function) can be found as:
1 + GH =
s 3 + 5s 2 + K t s + K
s 2 ( s + 5) + K t s
For part (a):
Root locus diagram, part (a):
Kt =0. Therefore, assuming
Root Locus
15
Den(GH)= s 3 + 5s 2 and
10
Num(GH) =1, we can use rlocus

command to construct the root
For part (b):

K =10.
Imaginary Axis
locus diagram.
-5
Therefore, assuming
-10
Den(GH)= s 3 + 5 s 2 + 10 and
Num(GH) = s , we can use rlocus
-15
-20
command to construct the root

locus diagram.
-15
-10
-5
10
Real Axis
Root locus diagram, part (b):

Root Locus
15
MATLAB code (7-25):
%b)
num_G_b= s;
den_G_b=s^3+5*s^2+10;
GH_b=num_G_b/den_G_b;
figure(2);
rlocus(GH_b)
5
Imaginary Axis
s = tf('s')
%a)
num_G_a= 1;
den_G_a=s^3+5*s^2;
GH_a=num_G_a/den_G_a;
figure(1);
rlocus(GH_a)
10
-5
-10
-15
-6
-5
-3
-2
Real Axis
7100
-4
-1
7-26) P ( s ) = s 2 + 116.84 s + 1843
Chapter7Solutions
Golnaraghi,Kuo
Q ( s ) = 2.05 s ( s + 5)
o
J L = 0: 180
Asymptotes:
2.05 s 479 s 12532 s 37782 s = 0
BreakawayPoints:
0,204.18
(RL)
7-27) MATLAB code:

7101
Chapter7Solutions
Golnaraghi,Kuo
s = tf('s')
num_G = (2.05*s^3 + 10.25*s^2);
den_G = (s^2 + 116.84*s + 1843);
G = num_G/den_G;
figure(1);
rlocus(G)
Root locus diagram:
Root Locus
150
100
Imaginary Axis
50
-50
-100
-150
-400
-350
-300
-250
-200
-150
Real Axis
7102
-100
-50
50
7-28) (a) P( s ) = s ( s 2 1)
Chapter7Solutions
Golnaraghi,Kuo
Q ( s ) = ( s + 5)( s + 3)
o
Asymptotes: K>0:
s + 16 s + 46 s 15 = 0
BreakawayPoints:
0.5239,12.254
180
(RL)
7103
728(b) P( s ) = s ( s 2 + 10 s + 29 )
Chapter7Solutions
Q ( s ) = 10( s + 3)
1 =
0 10 ( 3)
31
= 3.5
20 s + 190 s + 600 s + 870 = 0
TherearenobreakawaypointsontheRL.
7104
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
7-29)
MATLAB code (7-29):
s = tf('s')
%a)
num_G_a = (s+5)*(s+3);
den_G_a = s*(s^2 - 1);
G_a = num_G_a/den_G_a;
figure(1);
rlocus(G_a)
7105
Chapter7Solutions
K=10;
%b)
num_G_b = (3*K+K*s);
den_G_b =
(s^3+K*s^2+K*3*s-s);
G_b = num_G_b/den_G_b;
figure(2);
rlocus(G_b)
Golnaraghi,Kuo
Root Locus
8
Imaginary Axis
-2
-4
-6
-8
-25
-20
-15
-10
-5
Real Axis

Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-6
-5
-4
-3
-2
Real Axis
7-30) Poles:
zeros:
7106
-1
Chapter7Solutions
Golnaraghi,Kuo
Angles of asymptotes:
breakaway points:
MATLAB code:
s = tf('s')
num_G=(s+0.4);
den_G=s^2*(s+3.6);
G=num_G/den_G;
figure(1);
rlocus(G)
Rootlocusdiagram:
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-4
-3.5
-3
-2.5
-2
-1.5
Real Axis
731(a)
P ( s ) = s( s + 12.5)( s + 1)
Q( s ) = 83.333
7107
-1
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo
Asymptotes:
BreakawayPoint:(RL) 0.4896
N>0:
60 , 180 , 300
1 =
0 12.5 1
3
= 4.5
3s + 27 s _12.5 = 0
731(b)
P ( s ) = s + 12.5 s + 833.333
Q ( s ) = 0.02 s ( s + 12.5)
7108
Chapter7Solutions
Golnaraghi,Kuo
A>0:180
BreakawayPoints:(RL)0
0.02 s + 0.5 s + 53.125 s + 416.67 s = 0
731c) P ( s ) = s 3 + 12.5 s 2 + 1666.67 = ( s + 17.78 )( s 2.64 + j 9.3)( s 2.64 j 9.3)

7109
Chapter7Solutions
Q( s ) = 0.02 s( s + 12.5)
Asymptotes:
BreakawayPoint:(RL) 5.797
Golnaraghi,Kuo
Ko > 0: 180
0.02 s + 0.5 s + 3.125 s 66.67 s 416.67 = 0
7110
Chapter7Solutions
7-32) MATLAB code:

s = tf('s')
%a)
A=50;
K0=50;
num_G_a = 250;
den_G_a = 0.06*s*(s + 12.5)*(A*s+K0);
figure(1);
rlocus(G_a)
%b)
N=10;
K0=50;
num_G_b = 0.06*s*(s+12.5)*s
den_G_b = K0*(0.06*s*(s+12.5))+250*N;
figure(2);
rlocus(G_b)
%c)
A=50;
N=20;
num_G_c = 0.06*s*(s+12.5);
den_G_c = 0.06*s*(s+12.5)*A*s+250*N;
G_c = num_G_c/den_G_c;
figure(3);
rlocus(G_c)
7111
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
10
20
-5
Real Axis

Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-25
-20
-15
-10
Real Axis
Root locus diagram, part (c):
7112
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
4
Imaginary Axis
2
0
-2
-4
-6
-8
-10
-35
-30
-25
-20
-15
-10
Real Axis
7-33) (a) A = Ko = 100:
P ( s ) = s( s + 12.5)( s + 1)
Asymptotes:
N>0: 60
1 =
180
300
0 1 12.5
3
Q( s ) = 4167
.
= 4.5
3 s + 27 s + 12.5 = 0
BreakawayPoints:(RL)
0.4896
7113
-5
Chapter7Solutions
Golnaraghi,Kuo
733(b) P ( s ) = s 2 + 12.5 + 1666.67 = ( s + 6.25 + j 40.34 )( s + 6.25 j 40.34 )
Q ( s ) = 0.02 s 2 ( s + 12.5)
7114
Chapter7Solutions
Asymptotes:A>0:180 o
0.02 s + 0.5 s + 103.13 s + 833.33 s = 0
BreakawayPoints:
Golnaraghi,Kuo
(RL)
7115
Chapter7Solutions
733(c) P ( s ) = s 3 + 12.5 s 2 + 833.33 = ( s + 15.83)( s 1.663 + j 7.063)( s 1.663 j 7.063)
Q( s ) = 0.01s( s + 12.5)
Asymptotes: Ko > 0: 180o
0.01s + 0.15 s + 1.5625 s 16.67 s 104.17 = 0
BreakawayPoint:
5.37
(RL)
7116
Golnaraghi,Kuo
Chapter7Solutions
Golnaraghi,Kuo
7-34) MATLAB code:

s = tf('s')
%a)
A=100;
K0=100;
num_G_a = 250;
den_G_a = 0.06*s*(s + 12.5)*(A*s+K0);
figure(1);
rlocus(G_a)
%b)
N=20;
K0=50;
7117
Chapter7Solutions
Golnaraghi,Kuo
num_G_b = 0.06*s*(s+12.5)*s
den_G_b = K0*(0.06*s*(s+12.5))+250*N;
figure(2);
rlocus(G_b)
%c)
A=100;
N=20;
num_G_c = 0.06*s*(s+12.5);
den_G_c = 0.06*s*(s+12.5)*A*s+250*N;
G_c = num_G_c/den_G_c;
figure(3);
rlocus(G_c)
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
Real Axis
7118
10
20
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
50
40
30
Imaginary Axis
20
10
0
-10
-20
-30
-40
-50
-30
-25
-20
-15
-10
-5
10
Real Axis
Root locus diagram, part (c):

Root Locus
8
Imaginary Axis
-2
-4
-6
-8
-30
-25
-20
-15
-10
Real Axis
7-35) a) zeros:
, poles:
7119
-5
Chapter7Solutions
Golnaraghi,Kuo
Breakaway points:
b) There is no closed loop pole in the right half s-plane; therefore the system is stable for all K>0
c) MATLAB code:
num_G=25*(s+2)^2;
den_G=(s^2+4)*(s+5)^2;
G_a=num_G/den_G;
figure(1);
rlocus(G_a)
Root locus diagram:
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-6
-5
-4
-3
-2
Real Axis
7120
-1
Chapter7Solutions
Golnaraghi,Kuo
7-36)(a)
P ( s ) = s ( s + 1)( s + 5)
Q ( s ) = 1
Asymptotes:K>0:
45 , 135 , 225 , 315
BreakawaypointEquation: 4 s + 18 s + 10 s = 0 Breakawaypoint:(RL)0,3.851
1 =
0 + 0 1 5
4
= 15
.
(b)
P ( s ) = s ( s + 1)( s + 5)
Q ( s ) = 5 s + 1
Asymptotes:
60 , 180 , 300
BreakawayPoints:(RL) 3.5026
K>0:
1 =
0 + 0 1 5 ( 0.2)
4 1
4
5.8
3
.
= 193
15 s + 64 s + 43 s + 10 s = 0
7121
Chapter7Solutions
Golnaraghi,Kuo
7-37)
MATLAB code (7-37):
%b)
num_GH_b= (5*s+1);
den_GH_b=s^2*(s+1)*(s+
5);
GH_b=num_GH_b/den_GH_b
;
figure(2);
rlocus(GH_b)
Root Locus
15
10
5
Imaginary Axis
s = tf('s')
%a)
num_GH_a= 1;
den_GH_a=s^2*(s+1)*(s+
5);
GH_a=num_GH_a/den_GH_a
;
figure(1);
rlocus(GH_a)
-5
-10
-15
-15
-10
-5
0
Real Axis
7122
10
15
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-25
-20
-15
-10
-5
10
Real Axis
7-38) a)
can be approximated by ( easy way to verify is to compare both funtions Taylor
series expansions)
Therefore:
Zeros:
and poles:
Angle of asymptotes :
Breakaway points:
Which means:
b)
S2
2+2k
7123
S
S0
Chapter7Solutions
3-k
(3-k)(2+2k)
Golnaraghi,Kuo
As a result:
Since K must be positive, the range of stability is then

c) In this problem, e Ts term is a time delay. Therefore, MATLB PADE command is used for pade
approximation, where brings e Ts term to the polynomial form of degree N.
s = tf('s')
T=1
N=1;
num_GH= pade(exp(-1*T*s),N);
den_GH=(s+1);
GH=num_GH/den_GH;
figure(5);
rlocus(GH)
Root locus diagram:
7124
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
4
Imaginary Axis
-1
-2
-3
-4
-4
-2
10
Real Axis
7-39)
(a) P ( s ) = s 2 ( s + 1)( s + 5) + 10 = ( s + 4.893)( s + 1896
. )( s 0.394 + j 0.96 )( s 0.394 + j 0.96 )
Q( s ) = 10 s
Asymptotes:
IntersectionofAsymptotes:
TherearenobreakawaypointsontheRL.
Td > 0: 60 , 180 , 300
1 =
4.893 1896
.
+ 0.3944 + 0.3944
4 1
7125
= 2
12
Chapter7Solutions
Golnaraghi,Kuo
(b) MATLAB code:

s = tf('s')
num_GH= 10*s;
den_GH=s^2*(s+1)*(s+5)+10;
GH=num_GH/den_GH;
figure(1);
rlocus(GH)
Root locus diagram:
7126
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-20
-15
-10
-5
10
Real Axis
7-40) (a)K=1: P ( s ) = s 3 ( s + 117.23)( s + 4882.8 )

o
K L > 0:
Asymptotes:
BreakawayPoint:(RL)0
90 , 270
Q ( s ) = 1010( s + 1.5948 )( s + 114.41)( s + 4884 )
1 =
117.23 4882.8 + 15948

.
+ 114.41 + 4884
5 3
7127
= 0.126
Chapter7Solutions
Golnaraghi,Kuo
740(b)K=1000:
P ( s ) = s ( s + 117.23)( s + 4882.8 )
3
Q ( s ) = 1010( s + 5000 s + 5.6673 10 s + 891089110 )
Asymptotes: K L > 0: 90 , 270
= 1010( s + 4921.6 )( s + 39.18 + j 423.7 )( s + 39.18 423.7 )

o
7 6
1 =
117.23 4882.8 + 49216

. + 39.18 + 39.18
10 5
5 3
13 4
16 3
= 0.033
18 2
2020 s + 2.02 10 s + 5.279 10 s + 1.5977 10 s + 18655

.
10 s + 1.54455 10 s = 0
Breakawaypoints:(RL)
0,87.576
7128
Chapter7Solutions
Golnaraghi,Kuo
7-41) MATLAB code:

s = tf('s')
Ki=9;
Kb=0.636;
Ra=5;
La=.001;
Ks=1;
n=.1;
Jm=0.001;
Jl=0.001;
Bm=0;
%a)
7129
Chapter7Solutions
Golnaraghi,Kuo
K=1;
num_G_a=((n^2*La*Jl+La*Jm)*s^3+(n^2*Ra*Jl+Ra*Jm+Bm*La)*s^2+Ra*Bm*s+Ki
*Kb*s+n*Ks*K*Ki);
den_G_a=((La*Jm*Jl)*s^5+(Jl*Ra*Jm+Jl*Bm*La)*s^4+(Ki*Kb*Jl+Ra*Bm*Jl)*s
^3);
figure(1);
rlocus(G_a)
%b)
K=1000;
num_G_b=((n^2*La*Jl+La*Jm)*s^3+(n^2*Ra*Jl+Ra*Jm+Bm*La)*s^2+Ra*Bm*s+Ki
*Kb*s+n*Ks*K*Ki);
den_G_b=((La*Jm*Jl)*s^5+(Jl*Ra*Jm+Jl*Bm*La)*s^4+(Ki*Kb*Jl+Ra*Bm*Jl)*s
^3);
figure(2);
rlocus(G_b)
Root Locus
1000
800
600
Imaginary Axis
400
200
0
-200
-400
-600
-800
-1000
-3500
-3000
-2500
-2000
-1500
Real Axis
7130
-1000
-500
500
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1000
800
600
Imaginary Axis
400
200
0
-200
-400
-600
-800
-1000
-4000
-3500
-3000
-2500
-2000
-1500
-1000
-500
500
Real Axis
7-42
(a) CharacteristicEquation:
3
s + 5000 s + 572,400 s + 900,000 + J L 10 s + 50,000 s

3
)= 0
P ( s ) = s + 5000 s + 572, 400 s + 900,000 = ( s + 1.5945)( s + 115.6 )( s + 4882.8 ) Q ( s ) = 10 s ( s + 5000 )
Sincethepoleat5000isveryclosetothezeroat4882.8, P ( s ) and Q( s ) canbeapproximatedas:
P ( s ) ( s + 1.5945)( s + 115.6 )
Q ( s ) 10.24 s
2
1200 s + 3775 s = 0
BreakawayPoints:(RL):0,3.146
7131
Chapter7Solutions
Golnaraghi,Kuo
(b) MATLAB code:

s = tf('s')
K=1;
Jm=0.001;
La=0.001;
n=0.1;
Ra=5;
Ki=9;
Bm=0;
Kb=0.0636;
Ks=1;
num_G_a = (n^2*La*s^3+n^2*Ra*s^2);
den_G_a = (La*Jm*s^3+(Ra*Jm+Bm*La)*s^2+(Ra*Bm+Ki*Kb)*s+n*Ki*Ks*K);
figure(1);
rlocus(G_a)
Root locus diagram:
Root Locus
300
200
Imaginary Axis
100
-100
-200
-300
-6000
-5000
-4000
-3000
-2000
Real Axis
7132
-1000
1000
7-43)(a) = 12: P ( s ) = s 2 ( s + 12 )
o
Asymptotes: K>0:
Golnaraghi,Kuo
Q ( s ) = s + 1
o
90 , 270
Chapter7Solutions
1 =
K<0:
0 + 0 12 ( 1)
= 5.5
31
0 , 180
2 s + 15 s + 24 s = 0
BreakawayPoints:0,2.314,5.186
743(b) = 4:
P( s) = s ( s + 4)
o
Q ( s ) = s + 1
o
Asymptotes:K>0: 90 , 270 K<0: 0 , 180
BreakawaypointEquation: 2 s + 7 s + 8 s = 0 BreakawayPoints:K>00.NoneforK<0.
1 =
0 + 0 4 ( 10
31
2
7133
.
= 15
Chapter7Solutions
Golnaraghi,Kuo
(c)BreakawaypointEquation: 2 s + ( + 3) s + 2 s = 0 Solutions: s =
+3
4
( + 3) 16
4
, s = 0
Foronenonzerobreakawaypoint,thequantityunderthesquarerootsignmustequalzero.
Thus, 10 + 9 = 0, = 1 or = 9. The answer is = 9. The = 1solutionrepresentspolezero
cancellationintheequivalent G ( s ). When = 9, thenonzerobreakawaypointisat s = 3. 1 = 4.
7134
Chapter7Solutions
Golnaraghi,Kuo
7-44)
For part (c), after finding the expression for:
dk 3 ( 1)( 9)
,
=
ds
4
there is one acceptable value of alpha that makes the square root zero ( = 9 ). Zero square root means
one answer to the breakaway point instead of 2 answers as a result of sign. = 1 is not acceptable
since it results in s = 1@
dk
0
= 0 and then k = .
ds
0
MATLAB code:
s = tf('s')
%(a)
alpha=12
num_GH= s+1;
den_GH=s^3+alpha*s^2;
GH=num_GH/den_GH;
figure(1);
rlocus(GH)
%(b)
alpha=4
num_GH= s+1;
GH=num_GH/den_GH;
figure(2);
rlocus(GH)
%(c)
alpha=9
num_GH= s+1;
GH=num_GH/den_GH;
figure(3);
rlocus(GH)
7135
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-14
-12
-10
-8
-6
-4
-2
Real Axis

Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-4.5
-4
-3.5
-3
-2.5
-2
Real Axis
7136
-1.5
-1
-0.5
0.5
Chapter7Solutions
Golnaraghi,Kuo
Root locus diagram, part (c): (alpha=9 resulting in 1 breakaway point)

Root Locus
8
Imaginary Axis
-2
-4
-6
-8
-10
-8
-6
-4
-2
Real Axis
7-45)(a) P ( s ) = s 2 ( s + 3)
Q( s ) = s +
3
2 s + 3(1 + ) s + 6 = 0
Therootsofthebreakawaypointequationare:
s=
3(1 + )
4
9(1 + ) 48
4
Fornobreakawaypointotherthanat s = 0 ,set 9(1 + ) 48 < 0 or 0.333 < < 3
RootLocusDiagramwithNoBreakawayPointotherthanats=0.
7137
Chapter7Solutions
Golnaraghi,Kuo
745(b)Onebreakawaypointotherthanats=0: = 0.333, Breakaway point at s = 1.
7138
Chapter7Solutions
Golnaraghi,Kuo
7139
Chapter7Solutions
Golnaraghi,Kuo
745(d)Twobreakawaypoints: > 3 :
7-46) First we can rearrange the system as:

e st
H 1 (s)
where
Now designing a controller is similar to the designing a controller for any unity feedback system.
7140
Chapter7Solutions
Golnaraghi,Kuo
7-47) Lettheangleofthevectordrawnfromthezeroat s = j12 toapoint s1 ontherootlocussnearthezero

be . Let
1 = angle of the vector drawn from the pole at j10 to s1 .
2 = angle of the vector drawn from the pole at 0 to s1 .

3 = angle of the vector drawn from the pole at j10 to s1 .
4 = angle of the vector drawn from the zero at j12 to s1 .
Thentheangleconditionsontherootlociare:
= 1 2 3 + 4 = odd multiples of 180

1 = 2 = 3 = 4 = 90
Thus,
=0
Therootlocishownin(b)arethecorrectones.
Answers to True and False Review Questions:

6. (F) 7. (T) 8. (T) 9. (F) 10. (F) 11. (T) 12. (T) 13. (T) 14. (T)
7141
Chapter8Solutions
Golnaraghi,Kuo
Chapter 8
81(a)K=5 n = 5 = 2.24 rad / sec
6.54
4.48
= 1.46
r = 0 rad / sec
Mr = 1
. = 4.62 rad / sec =

(b)K=21.39 n = 2139
6.54
9.24
= 0.707 M r =
1
2 1
=1
r = n 1 = 3.27 rad / sec
(c)K=100 n = 10 rad / sec =
6.54
20
= 0.327 M r = 1618
.
r = 9.45 rad / sec
8-2
Bode diagram (a) k=5: data points from top to bottom indicate
MATLAB code:
bandwidth BW, resonance peak Mr, and resonant frequency r.
% Question 8-2,
clear all;
close all;
s = tf('s')
Magnitude (dB)
-10
System: CL_a
Magnitude (dB): -9.4
-20
-30
-40
-50
0
Phase (deg)
%a)
num_G_a= 5;
den_G_a=s*(s+6.54);
CL_a=G_a/(1+G_a)
BW = bandwidth(CL_a)
bode(CL_a)
System: CL_a
Bode Diagram Magnitude (dB): -3
-45
%b)
-90
figure(2);
System: CL_a
num_G_b=21.38;
Phase (deg): -90.2
-135
den_G_b=s*(s+6.54);
10
10
Frequency (rad/sec)
CL_b=G_b/(1+G_b)
BW = bandwidth(CL_b) Bode diagram (b) k=21.38: data points from top to bottom
bode(CL_b)
indicate bandwidth BW, resonance peak Mr, and resonant frequency
%c)
r.
figure(3);
num_G_c=100;
den_G_c=s*(s+6.54);
-1
81
Chapter8Solutions
CL_c=G_c/(1+G_c)
BW = bandwidth(CL_c)
bode(CL_c)
Golnaraghi,Kuo
System: CL_b
Magnitude (dB): -3
Bode Diagram
0
-20
Magnitude (dB)
System: CL_b
-40
-60
-80
-100
0
-45
Phase
(deg)
-90
System: CL_b
Phase (deg): -89.9
-135
-180
0
10
10
10
Frequency (rad/sec)
Bode diagram (c) k=100: data points from top to bottom indicate
resonance peak Mr, bandwidth BW, and resonant frequency r.
Bode Diagram
20
Magnitude (dB)
0
System: CL_c
Magnitude (dB): 3.62
-20
System: CL_c
-40
-60
-80
0
Phase (deg)
-45
-90
System: CL_c
Frequency (rad/sec): 10
Phase (deg): -90
-135
-180
-1
10
10
10
Frequency (rad/sec)
82
10
10
8-3)
If
Chapter8Solutions
is the input, then
where
and
Therefore:
As a result:
8-4(a) Mr = 2.944 ( 9.38 dB)
r = 3 rad / sec
BW = 4.495 rad / sec
(b) M r = 15.34 ( 23.71 dB)
r = 4 rad / sec
BW = 6.223 rad / sec
(c) M r = 4.17 (12.4 dB)
r = 6.25 rad / sec
BW = 9.18 rad / sec
(d) M r = 1 ( 0 dB)
r = 0 rad / sec
BW = 0.46 rad / sec
(e) M r = 157
. ( 3.918 dB)
r = 0.82 rad / sec
BW = 1.12 rad / sec
83
Golnaraghi,Kuo
Chapter8Solutions
r = 15
. rad / sec
(f) Mr = ( unstable)
Golnaraghi,Kuo
BW = 2.44 rad / sec
(g) M r = 3.09 ( 9.8 dB)
r = 1.25 rad / sec
BW = 2.07 rad / sec
r = 3.5 rad / sec
BW = 5.16 rad / sec
(h) M r = 4.12 (12.3 dB)
85)
Thus, = 0.59
Maximum overshoot = 0.1
Mr =
Thus,minimum n = 17.7 rad / sec
MinimumBW= n
1
2 1
= 105
.
tr =
((1 2
1 0.416 + 2.917
= 0.1 sec
)+
Maximum M r = 105
.
4 4 + 2
4
1/ 2
= 20.56 rad/sec
86)

Maximum overshoot = 0.2
Mr =
Maximum M r = 1.232
1
2 1
Thus, 0.2 = e
= 1.232 t r =
1 0.416 + 2.917
= 0.2 Thus,minimum n = 14.168 rad/sec
((
MinimumBW= 1 2
)+
= 0.456
4 4 + 2
4
1/ 2
= 18.7 rad/sec
8-7) Maximumovershoot=0.3
Mr =
1
2 1
= 1.496 t r =
Thus, 0.3 = e
1 0.416 + 2.917
= 0.358
= 0.2 Thus,minimum n = 6.1246 rad/sec
84
Chapter8Solutions
Golnaraghi,Kuo
Maximum M r = 1.496
8-8)
(a)
((
MinimumBW= 1 2
)+
4 4 + 2
4
1/ 2
= 1.4106 rad/sec
At the gain crossover:
Therefore:
at = 1.5
(b)
MATLAB code:
%solving for k:
syms kc
omega=1.5
sol=eval(solve('0.25*kc^2=0.7079^2*((-0.25*omega^3+omega)^2+(0.375*omega^2+0.5*kc)^2)',kc))
%ploting bode with K=1.0370
s = tf('s')
K=1.0370;
num_G_a= 0.5*K;
den_G_a=s*(0.25*s^2+0.375*s+1);
CL_a = G_a/(1+G_a)
bode(CL_a);
Bode diagram: data point shows -3dB point at 1.5 rad/sec frequency which is the closed loop
bandwidth
85
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
0
System: CL_a
Magnitude (dB)
-20
-40
-60
-80
-100
Phase (deg)
-120
0
-90
-180
-270
-2
10
-1
10
10
Frequency (rad/sec)
8-9)
=
= 90 = 63o
Therefore:
As a result:
86
10
10
Chapter8Solutions
Therefore:
To change the crossover frequency requires adding gain as:
(b) MATLAB code:

s = tf('s')
%(b)
K = 0.95*2;
num_G_a = 0.5*K;
den_G_a = s*(0.25*s^2+0.375*s+1);
CL_a = G_a/(1+G_a)
bode(CL_a);
figure(2);
sisotool
Peak mag = 2.22 can be converted to dB units by: 20*Log(2.22)= 6.9271 dB
87
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
By using sisotool and importing the loop transfer function, the overall gain (0.5K) was changed until the
magnitude of the resonance in Bode was about 6.9 dB. At 0.5K=~0.95 or K=1.9, this resonance peak
was achieved as can be seen in the BODE diagram of the following figure:
Open-Loop Bode Editor for Open Loop 1 (OL1)
Root Locus Editor for Open Loop 1 (OL1)

6
20
-20
-40
-2
-60
-4
-80
-6
-8
-6
-4
-2
G.M.: 4.48 dB
-100 Freq: 2 rad/sec
Stable loop
-120
-90
Bode Editor for Closed Loop 1 (CL1)

6
4
-135
2
-180
0
-225
-180
P.M.: 59.1 deg

Freq: 1.11 rad/sec
-270
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
8-10)

M r = 1.4 =
1
2 1
Thus, = 0.387Maximumovershoot= e
= 0.2675 (26.75%)
r = 3 rad / sec = n 1 2 = 0.8367 n rad/sec n =
t max =
n 1
3.586 1 ( 0.387 )
= 0.95 sec
88
3
0.8367
= 3.586rad/sec
At = 0,
M = 0.9.
10
Chapter8Solutions
Golnaraghi,Kuo
Thisindicatesthatthesteadystatevalueoftheunitstepresponseis0.9.
UnitstepResponse:
8-11) a)
The closed loop transfer function is:
as
,which means = 0.387
According to the transfer function: n = 0.1 n = 0.129 rad/s

As n2 = 0.1K ; then, K = 10 n2 = 0.1669
b)
As K = 0.1664, then
which means
Accordingly PM = 42o
As
, then
89
Chapter8Solutions
Golnaraghi,Kuo
8-12)
BW(rad/sec)
Mr
________________________________________________________________
1.14
1.54
0.5
1.17
1.09
1.0
1.26
1.00
2.0
1.63
1.09
3.0
1.96
1.29
4.0
2.26
1.46
5.0
2.52
1.63
_________________________________________________________________
813)
BW(rad/sec)
Mr
_________________________________________________________________
1.14
1.54
0.5
1.00
2.32
1.0
0.90
2.65
2.0
0.74
2.91
3.0
0.63
3.18
4.0
0.55
3.37
5.0
0.50
3.62
_________________________________________________________________
8-14)
The Routh array is:
810
S3
S2
S1
S0
Chapter8Solutions
0.25
0.375
1-1/3
0.5K
1
0.5K
0
Therefore:
As
, if GH is rearranged as:
then
which gives
where
therefore,
(c)
MATLAB code:
Bode diagram:
s = tf('s')
%c)
K = 1.03697;
num_G_a = 0.5*K;
den_G_a =
s*(0.25*s^2+0.375*s+1
);
%create closed-loop
system
G_a =
num_G_a/den_G_a;
811
Golnaraghi,Kuo
Chapter8Solutions
CL_a = G_a/(1+G_a)
bode(CL_a);
Golnaraghi,Kuo
Bode Diagram
0
System: CL_a
1 - BW is verified by finding 3dB point at Freq = 1.5 rad/sec

in the Bode graph at calculated
k.
2- By comparison to diagram of
typical 2nd order poles with
different
damping
ratios,
damping ratio is approximated
as:
= ~ .707
-40
-60
-80
-100
-120
0
Phase (deg)
Notes:
Magnitude (dB)
-20
-90
-180
-270
-2
10
-1
10
Frequency (rad/sec)
812
10
10
10
Chapter8Solutions
Golnaraghi,Kuo
815(a)
L( s ) =
20
s(1 + 0.1s )(1 + 0.5s )
P = 1, P = 0
When = 0: L( j ) = 90o
L( j ) =
When = : L( j ) = 270
L( j ) = 0
L ( j ) =
0.6 + j 1 0.05
2
20 0.6 j 1 0.05
2
20
2
0.36 +
4
(1 0.05 )
2
) Setting Im L( j )
1 0.05 = 0 Thus, = 4.47 rad / sec
L( j 4.47 ) = 1667
.
11 = 270 = ( Z 0.5 P P ) 180 = ( Z 0.5 ) 180

o
Thus, Z =
360
180
= 2
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalf
splane.
MATLAB code:
s = tf('s')
%a)
figure(1);
num_G_a= 20;
den_G_a=s*(0.1*s+1)*(0.5*s+1);
nyquist(G_a)
NyquistPlotof L( j ):
813
= 0
Chapter8Solutions
Golnaraghi,Kuo
(b)
10
L( s ) =
realaxisbythe L( j ) plotisat0.8333,andthecorresponding is4.47rad/sec.
s(1 + 0.1s )(1 + 0.5s )
Basedontheanalysisconductedinpart(a),theintersectofthenegative
11 = 90 = Z 0.5 P P 180 = 180 Z 90
MATLAB code:
s = tf('s')
%b)
figure(1);
num_G_a= 10;
den_G_a=s*(0.1*s+1)*(0.5*s+1);
nyquist(G_a)
814
Thus, Z = 0. Theclosedloopsystemisstable.
Chapter8Solutions
Golnaraghi,Kuo
(c)
L( s ) =
100(1 + s )
s(1 + 0.1s )(1 + 0.2 s )(1 + 0.5s )
P = 1, P = 0.
When = 0: L( j 0) = 90o
When = : L( j ) = 270
L( j 0) = When = : L( j ) = 270 o L( j ) = 0
o
L( j ) = 0
When = : L( j ) = 270
L( j ) = 0
L ( j ) =
( 0.01
100(1 + j )
4
0.8
) + j (1 0.17 )
2
) j (1 0.17 )
) + (1 0.17 )
100(1 + j ) 0.01 0.8
( 0.01
0.8
Setting Im L( j ) = 0
0.01 0.8 1 + 0.17 = 0
Thus, = 64.55 = 8.03 rad/sec
100 ( 0.01 4 0.8 2 ) + 2 (1 0.17 2 )

L( j8.03) =
= 10
( 0.01 2 0.8 2 )2 + 2 (1 0.17 2 )2
=8.03
815
63 100 = 0
Chapter8Solutions
Golnaraghi,Kuo
11 = 270 = ( Z 0.5 P P ) 180 = ( Z 0.5 ) 180

o
Thus, Z = 2 Theclosedloopsystemis
unstable.
Thecharacteristicequationhastworootsintherighthalfsplane.
MATLAB code:
s = tf('s')
%c)
figure(1);
num_G_a= 100*(s+1);
den_G_a=s*(0.1*s+1)*(0.2*s+1)*(0.5*s+1);
nyquist(G_a)
816
Chapter8Solutions
Golnaraghi,Kuo
(d)
L( s ) =
10
2
s (1 + 0.2 s )(1 + 0.5s )
P = 2
P = 0
When = 0: L( j ) = 180o
L( j ) = When = : L( j ) = 360
L( j ) = 0
10
10 0.1 + j 0.7
4
L ( j ) =
Setting Im L( j ) = 0, = . TheNyquistplotof L( j ) doesnotintersecttherealaxisexceptatthe
originwhere = .
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalfsplane.
( 0.1
) j 0.7
( 0.1
+ 0.49
11 = ( Z 0.5 P P ) 180 = ( Z 1) 180

o
MATLAB code:
s = tf('s')
%d)
figure(1);
num_G_a= 10;
den_G_a=s^2* (0.2*s+1)*(0.5*s+1);
nyquist(G_a)
817
Thus, Z = 2.
Chapter8Solutions
Golnaraghi,Kuo
815(e)
L( s ) =
3( s + 2)
s s + 3s + 1
3
P = 1
P = 2
When = 0: L( j 0) = 90o
When = : L( j ) = 270
L( j 0 ) =
L( j ) = 0
L ( j ) =
3( j + 2)
4
) + j
3( j + 2) 3
(4
) j
Setting Im L( j ) = 0,
3 2 = 0
or
= 3.56
= 189
. rad/sec.
L( j189
. ) = 3
11 = ( Z 0.5 P P ) 180 = ( Z 2.5 ) 180 = 90

o
Thus, Z = 2
MATLAB code:
818
Chapter8Solutions
Golnaraghi,Kuo
s = tf('s')
%e)
figure(1);
num_G_a= 3*(s+2);
den_G_a=s*(s^3+3*s+1);
nyquist(G_a)
815(f)
L( s ) =
0.1
P = 1
s ( s + 1) s + s + 1
2
P = 0
When = 0: L( j 0) = 90
When = : L( j ) = 360
L( j 0 ) =
L( j ) = 0
0.1
L ( j ) =
= or = 0.5 = 0.707 rad / sec
) + j (1 2 )
2
819
Settiing Im L( j ) = 0
L( j 0.707 ) = 0.1333
11 = ( Z 0.5 P P ) 180 = ( Z 0.5 ) 180 = 90

o
) j (1 2 )
) + (1 2 )
0.1 2
Thus, Z = 0 Theclosedloopsystemisstable.
Chapter8Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
%f)
figure(1);
num_G_a= 0.1;
den_G_a=s*(s+1)*(s^2+s+1);
nyquist(G_a)
815(g)
100
L( s ) =
When = 0: L( j 0) = 90
Thephaseof L( j ) isdiscontinuousat = 1.414 rad/sec.
11 = 35.27 + 270 215.27
s ( s + 1) s + 2
P = 3
P = 0
L( j 0 ) =
= 90
When = : L( j ) = 360
11 = ( Z 1.5 ) 180 = 90 Thus, P11 =

o
820
L( j ) = 0
360
180
= 2
Chapter8Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
%g)
figure(1);
num_G_a= 100;
den_G_a=s*(s+1)*(s^2+2);
nyquist(G_a)
815(h)
10( s + 10)
L( s ) =
When = 0: L( j 0) = 90o
s( s + 1)( s + 100)
P = 1
P = 0
L( j 0 ) =
When = : L( j ) = 180
L ( j ) =
101 + j (100 )
2
10201 +
4
821
10( j + 10) 101 j 100

2
10( j + 10)
(100 )
2
L( j ) = 0
Chapter8Solutions
Golnaraghi,Kuo
Setting Im L( j ) = 0, = 0 istheonlysolution.Thus,theNyquistplotof L( j ) doesnotintersect
therealaxis,exceptattheorigin.
11 = ( Z 0.5 P P ) 180 = ( Z 0.5 ) 180 = 90
Theclosedloopsystemisstable.
MATLAB code:
s = tf('s')
%h)
figure(1);
num_G_a= 10*(s+10);
den_G_a=s*(s+1)*(s+100);
nyquist(G_a)
822
Thus, Z = 0.
Chapter8Solutions
Golnaraghi,Kuo
8-16
MATLAB code:
s = tf('s')
%a)
figure(1);
num_G_a= 1;
den_G_a=s*(s+2)*(s+10);
nyquist(G_a)
%b)
figure(2);
num_G_b= 1*(s+1);
den_G_b=s*(s+2)*(s+5)*(s+15);
nyquist(G_b)
%c)
figure(3);
num_G_c= 1;
den_G_c=s^2*(s+2)*(s+10);
nyquist(G_c)
%d)
figure(4);
num_G_d= 1;
den_G_d=(s+2)^2*(s+5);
823
Chapter8Solutions
Golnaraghi,Kuo
nyquist(G_d)
%e)
figure(5);
num_G_e= 1*(s+5)*(s+1);
den_G_e=(s+50)*(s+2)^3;
nyquist(G_e)
Nyquist graph, part(a):

Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
Nyquist graph, part(b):
824
-0.4
-0.3
-0.2
-0.1
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
4
Imaginary Axis
-1
-2
-3
-4
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
Nyquist graph, part(c):

Nyquist Diagram
0.5
0.4
0.3
Imaginary Axis
0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
-10
-8
-6
-4
Real Axis
Nyquist graph, part(d):

825
-2
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
0.04
0.03
0.02
Imaginary Axis
0.01
-0.01
-0.02
-0.03
-0.04
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.2
0.4
Real Axis
Nyquist graph, part (e):
Nyquist Diagram
0.01
0.008
0.006
Imaginary Axis
0.004
0.002
0
-0.002
-0.004
-0.006
-0.008
-0.01
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
826
Chapter8Solutions
Golnaraghi,Kuo
8-17(a)
K
G ( s ) =
G ( j 0 ) = 0
G ( j ) = 180
( s + 5)
P = 0
P = 0
( K > 0 )
o
(K>0)
G ( 0) = 180
( K < 0)
G ( j ) = 0 (K<0)
G ( j 0) =
K
25
G ( j ) = 0
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
0 < K < 11 = 0 Stable
K < 25
25 < K < 0 11 = 0 Stable
11 = 180 Unstable
o
Thesystemisstablefor25<K< .
817(b)
G ( s ) =
K
( s + 5)
P = 0
P = 0
G ( j 0 ) = 0
G ( j ) = 270
( K > 0 )
o
(K>0)
G ( 0) = 180
( K < 0)
G ( j 0) =
K
125
G ( j ) = 270 (K<0) G ( j ) = 0
o
827
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
0<K<1000
11 = 0
K > 1000
11 = 360
K < 125
11 = 180
125 < K < 0
11 = 0
Golnaraghi,Kuo
Chapter8Solutions
Stable
o
Unstable
Unstable
Stable
817(c)
G ( s ) =
K
( s + 5)
P = P = 0
G ( j 0 ) = 0
G ( j ) = 0
( K < 0)
(K>0)
G ( j ) = 180 (K<0) G ( j ) = 0
o
G ( j 0) =
G ( 0 ) = 180
828
( K > 0 )
625
Chapter8Solutions
Golnaraghi,Kuo
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
0 < K < 2500 11 = 0
K > 2500
11 = 360 Unstable
K < 625
11 = 180 Unstable
Stable
o
625 < K < 0 11 = 0
Stable
8-18) The characteristic equation:
or
if
, the cross real axis at s = 0.1. For stability
if K < 0, the Nyquist cross the real axis at
.So, for stability,
therefore, the rage of stability for the system is

MATLAB code:
s = tf('s')
K=1
G= K/(s^2+2*s+2);
H=1/(s+1);
GH=G*H;
sisotool
829
Chapter8Solutions
Golnaraghi,Kuo
K=10.15
G2= K/(s^2+2*s+2);
H2=1/(s+1);
GH2=G2*H2;
nyquist(GH2)
xlim[(-1.5,.5)]
ylim[(-1,1)]
After generating the feed-forward (G) and feedback (H) transfer functions in the MATLAB code, these
transfer functions are imported to sisotool. Nyquist diagram is added to the results of sisotool. The
overall gain of the transfer function is changed until Nyquist diagram passes through -1+0j point. Higher
values of K resulted in unstable Nyquist diagram. Therefore K<10.15 determines the range of stability
for the closed loop system.
Nyquist at margin of stability:
Nyquist Diagram
4
Imaginary Axis
-1
-2
-3
-4
-2
-1
2
Real Axis
8-19)
s s + 2s + s + 1 + K s + s + 1 = 0
3
830
Leq ( s ) =
K s + s +1
P = 1
s s + 2s + s + 1
3
Leq ( j ) =
Setting Im Leq ( j ) = 0
Golnaraghi,Kuo
P = 0 Leq ( j 0 ) = 90
) + j = K (
) + j (1 2 )
(
K 1
Chapter8Solutions
Leq ( j ) = 0180
) j ( 2 + 1)
) + (1 2 )
4
2 + 1 = 0
Thus, = 1rad/secaretherealsolutions.
Leq ( j1) = K
Forstability,
11 = ( 0.5P + P )180 = 90
WhenK=1thesystemismarginallystable.
K > 0
11 = 90
K < 0
11 = +90
Stable
Unstable
831
Chapter8Solutions
Golnaraghi,Kuo
RouthTabulation
s
s
K +1
K +1
K +1
K > 1
2
1
K 2K + 1
K +1
( K 1)
K +1
s K
K>0
WhenK=1thecoefficientsofthe s rowareallzero.Theauxiliaryequationis s + 1 = 0 Thesolutions
are = 1rad/sec.ThustheNyquistplotof Leq ( j ) intersectsthe1pointwhenK=1,when = 1
rad/sec.Thesystemisstablefor0<K< ,exceptatK=1.
8-20) Solution is similar to the previous problem. Lets use Matlab as an alternative approach
MATLAB code:
s = tf('s')
figure(1);
K=8.09
num_GH= K;
den_GH=(s^3+3*s^2+3*s+1);
GH=num_GH/den_GH;
nyquist(GH)
xlim([-1.5,.5])
ylim([-1,1])
sisotool;
832
Chapter8Solutions
Golnaraghi,Kuo
After generating the loop transfer function and analyzing Nyquist in MATLAB sisotool, it was found
that for values of K higher than ~8.09, the closed loop system is unstable. Following is the Nyquist
diagram at margin of stability.
Part(a), Nyquist at margin of stability:
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
Real Axis
Part(b), Verification by Routh-Hurwitz criterion:

Using Routh criterion, the coefficient table is as follows:
S3
S2
K+1
S1
(8-K)/3
S0
K+1
The system is stable if the content of the 1st column is positive:

(8-K)/3>0 K<8
833
0.5
Chapter8Solutions
Golnaraghi,Kuo
K+1>0 K>-1
which is consistent with the results of the Nyquist diagrams.
8-21)
Parabolicerrorconstant K a = lim s G ( s ) = lim10 ( K P + K D s ) = 10 K P = 100
CharacteristicEquation: s + 10 K D s + 100 = 0
Geq ( s ) =
Forstability,
s 0
s 0
Thus K P = 10
10 KD s
2
s + 100
P = 2
P = 0
11 = ( 0.5 P + P )180 = 180
Thesystemisstablefor 0 < K D < .
834
Chapter8Solutions
Golnaraghi,Kuo
822(a)Thecharacteristicequationis1 + G ( s ) G ( s ) 2 G ( s ) 2 = 1 2 G ( s ) 2 = 0
2 K
Geq ( s ) = 2 G ( s ) =
Geq ( j ) =
( 400 120
Geq ( j 0) =
= 0 and = 4.47 rad / sec
( s + 4 ) ( s + 5)
2 K
2
P = 0
P = 0
) + j ( 360 18 )
2
) j ( 360 18 )
) + ( 360 18 )
2 K 400 120 +
2
( 400 120
200
180
Geq ( j ) = 0180
Setting Im Geq ( j ) = 0
Geq ( j 4.47 ) =
800
Forstability,
11 = ( 0.5 P + P ) 180 = 0
o
Thesystemisstablefor K < 200
or K < 200
835
Chapter8Solutions
Golnaraghi,Kuo
822(b)
4
CharacteristicEquation: s + 18 s + 121s + 360 s + 400 2 K = 0
RouthTabulation
s
s
s
s
121
18
360
101
400 2 K
400 2 K
29160 - 36 K
29160 + 36 K > 0
101
s 0 400 2 K 2
K 2 < 200
Thusforstability, K < 200
823(a)
G ( s ) =
NyquistPlot
83.33N
s( s + 2)( s + 11767
. )
Forstability,N<3.89
ThusN<3sinceNmustbeaninteger.
836
(b)
G ( s) =
2500
s( 0.06 s + 0.706)( As + 100)
Chapter8Solutions
Golnaraghi,Kuo
CharacteristicEquation: 0.06 As 3 + ( 6 + 0.706 A) s 2 + 70.6 s + 2500 = 0
Geq ( s ) =
As ( 0.06 s + 0.706 )
2
6 s + 70.6 s + 2500
SinceGeq ( s ) hasmorezerosthanpoles,weshouldsketchtheNyquist
plotof1/ Geq ( s ) forstabilitystudy.
1 / Geq ( j 0 ) = 180 1 / Geq ( j ) = 0 90 Setting Im
1
Geq ( j )
100.156 0.36 = 0
( 2500 6 ) + j 70.6 = ( 2500 6 ) + j 70.6 ( 0.706 + j 0.06 )

A ( 0.706 j 0.06 )
A ( 0.498 + 0.0036 )
2
= 16.68 rad/sec
1
Geq ( j16.68)
= 0
Geq ( j )
4.23
Forstability,
11 = ( 0.5 P + P ) 180 = 180

o
For A > 4.23 11 = 180 Unstable
For 0 < A < 4.23 11 = 180 Stable
Thesystemisstablefor0<A<4.23.
(c)
837
G ( s ) =
Chapter8Solutions
2500
s( 0.06 s + 0.706 )( 50 s + Ko )
Golnaraghi,Kuo
s( 0.06 s + 0.706)(50 s + Ko ) + 2500 =0
Geq ( s ) =
Ko s( 0.06 s + 0.706)
3
P = 0
3s + 35.3s + 2500
P = 0 Geq ( j 0 ) = 0 90
Geq ( j ) = 0 90
K o ( 0.06 + 0.706 j )
3
)(
K o 0.06 + 0.706 j 2500 35.5

2
Geq ( j ) =
Setting Im Geq ( j ) = 0 + 138.45 9805.55 = 0
Geq ( j 7.18 ) = 0.004 K o
( 2500 35.3 ) j3
2
( 2500 35.3 )
2
= 516
.
+ 9
) + j3
= 7.18 rad/sec
Forstability, 11 = ( 0.5 P + P ) 180 = 0

o
Forstability, 0 < Ko < 217.4
838
Chapter8Solutions
Golnaraghi,Kuo
824(a) Kt = 0:
G(s) =
Y (s)
E ( s)
10000 K
s s + 10 s + 10000 K t
2
10000 K
s ( s + 10)
2
The(1,j0)pointisenclosedforall
valuesofK.Thesystemisunstable
forallvaluesofK.
(b) Kt = 0.01:
G(s) =
10000 K
s s + 10 s + 100
2
G ( j ) =
10000 K 10 j 100
100 +
4
(100 )
2
Setting Im G ( j ) = 0 2 = 100
= 10 rad / sec
G ( j10 ) = 10 K
Thesystemisstablefor0<K<0.1
839
Chapter8Solutions
Golnaraghi,Kuo
(c) Kt = 0.1:
G( s) =
10000 K 10 j 1000
2
10000 K
s s + 10 s + 1000
2
G ( j ) =
100 +
4
(1000 )
2
Setting Im G ( j ) = 0 2 = 100
= 31.6 rad/sec
G ( j 316
. ) = K
Forstability,0<K<1
825)ThecharacteristicequationforK=10is:
Geq ( s ) =
s + 10 s + 10,000 Kt s + 100,000 = 0
10,000 Kt s
3
P = 0
s + 10 s + 100,000
Geq ( j ) =
100, 000 10 j
(10, 000 10 )
2
840
10, 000 K t + j 10, 000 10

4
10, 000 K t j
2
P = 2
) Setting Im G
eq
( j ) = 0
Chapter8Solutions
Golnaraghi,Kuo
= 0, = 10,000
= 100 rad / sec Geq ( j100) = Kt
Forstability,
11 = ( 0.5 P + P ) 180 = 360

o
Thesystemisstablefor Kt > 0.
8-26)
a)
b)
c)
MATLAB code:
s = tf('s')
figure(1);
J=1;
B=1;
K=1;
Kf=0
G1= K/(J*s+B);
CL1=G1/(1+G1*Kf);
H2 = 1;
G1G2 = CL1/s;
L_TF=G1G2*H2;
nyquist(L_TF)
sisotool
841
Chapter8Solutions
Golnaraghi,Kuo
Part (a), Kf=0: by plotting the Nyquist diagram in sisotool and varying the gain, it was observed that
all values of gain (K) will result in a stable system. Location of poles in root locus diagram of the second
figure will also verify that.
Nyquist Diagram
20
15
10
Imaginary Axis
-5
-10
-15
-20
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
842
-0.4
-0.3
-0.2
-0.1
Chapter8Solutions
Golnaraghi,Kuo
40
20
0.5
0
0
-20
-0.5
-40
G.M.: Inf
Freq: Inf
Stable loop
-60
-1
-1
-0.8
-0.6
-0.4
-0.2
-80
-90
50
0
-50
-100
0
-135
-90
P.M.: 54.9 deg
Freq: 0.704 rad/sec
-180
-2
10
-180
-1
10
10
10
Frequency (rad/sec)
10
-2
-1
10
10
10
10
Frequency (rad/sec)
10
Part (b), Kf=0.1: The result and approach is similar to part (a), a sample of Nyquist diagram is
presented for his case as follows:
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
843
-0.4
-0.3
-0.2
-0.1
Chapter8Solutions
Golnaraghi,Kuo
Part (c), Kf=0.2: The result and approach is similar to part (a), a sample of Nyquist diagram is
presented for his case as follows:
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
-0.1
Real Axis
8-27)
MATLAB code:
s = tf('s')
figure(1);
J=1;
B=1;
K=10;
Kf=0.2
G1= K/(J*s+B);
CL1=G1/(1+G1*Kf);
H2 = 1;
G1G2 = CL1/s;
L_TF=G1G2*H2;
nyquist(L_TF)
After assigning K=10, different values of Kf has been used in the range of 0.01<K<104. The Nyquist
diagrams shows the stability of the closed loop system for all 0<K<. A sample of Nyquist diagram is
plotted as follows:
844
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-1.4
-1.2
-1
-0.8
-0.6
-0.4
Real Axis
8-28) a)
b)
K > 2 system is stable

0 < K < 1 and -2 < K < 0 -2 < K < 1 system is stable
MATLAB code:
s = tf('s')
%a)
figure(1);
K=1
num_GH_a= K*(s+1);
den_GH_a=(s-1)^2;
nyquist(GH_a)
%b)
figure(2);
K=1
num_GH_b= K*(s-1);
den_GH_b=(s+1)^2;
nyquist(GH_b)
845
-0.2
Chapter8Solutions
Golnaraghi,Kuo
sisotool
Part(a): Using MATLAB sisotool, the transfer function gain can be iteratively changed in order to
obtain different phase margins. By changing the gain so that PM=0 (margin of stability), K>~2 resulted
in stable Nyquist diagram for part(a). Following two figures illustrate the sisotool and Nyquist results at
margin of stability for part (a).

2
10
-5
-1
-2
-4
-3
-2
-1
-10 G.M.: -0.00581 dB

Freq: 1.73 rad/sec
Stable loop
-15
-90
P.M.: 0.0688 deg
-135 Freq: 1.73 rad/sec

100
50
0
-180
-50
180
-225
-270
-180
-2
10
-315
-360
-1
10
10
10
Frequency (rad/sec)
10
846
10
Frequency (rad/sec)
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
0.5
1.5
2.5
Real Axis
Part(b): Similar methodology applied as in part (a). K<1 results in closed loop stability. Following are
sisotool and Nyquist results at margin of stability (K=1):
0.5
-5
0
-10
-0.5
-15
-1
-5
-4
-3
-2
-1
G.M.: -0.00236 dB
Freq: 0 rad/sec
Unstable loop
-20
180
80
60
40
20
0
-20
-40
90
135
90
45
0
45
0
-45 P.M.: -4.01 deg

Freq: 0.0233 rad/sec
-90
-45
-90
-6
10
-4
10
-2
10
10
Frequency (rad/sec)
10
847
-2
10
-1
10
10
Frequency (rad/sec)
10
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.2
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
8-29)(a)
Td s
Let G ( s ) = G1 ( s )e
Let
Thus 100 +
Therealsolutionfor are = 1rad/sec.
Then
100
10 + j 100
2
(100 )
2
=1
or
G1 ( s ) =
s s + 10 s + 100
100
100 4 + 2 (100 2 )2
= 10, 000
1/ 2
=1
100 + 10, 000 10, 000 = 0

6
848
100
2
0.6
Chapter8Solutions
Golnaraghi,Kuo
100 2
o
= 264.23
G1 ( j1) = tan
10 =1
1
( 264.23
=
Equating Td
=1
180
o
180
84.23
180
= 1.47 rad
Thusthemaximumtimedelayforstability
is
Td = 1.47 sec.
(b) Td = 1 sec.
G( s) =
100 Ke
G ( j ) =
100 Ke
Attheintersectonthenegativerealaxis, = 1.42 rad/sec.
G ( j1.42) = 0.7107 K .
s s + 10 s + 100
2
10 + j 100
2
Thesystemisstablefor
0<K<1.407
849
Chapter8Solutions
Golnaraghi,Kuo
830(a)K=0.1
G ( s ) =
Let
Thus
10e
Td s
s s + 10 s + 100
2
= G1 ( s )e
10
10 + j 100
2
Td s
=1
10
or
100 4 + 2 (100 2 )2
1/ 2
= 1
100 + 10,000 100 = 0 Therealsolutionsfor is = 0.1rad/sec.

6
100 2
o
= 269.43
G1 ( j 0.1) = tan
10 = 0.1
1
( 269.43
=
Equate Td
Wehavethemaximumtimedelay
forstabilityis15.6sec.
= 0.1
180
180
= 1.56 radWehave Td = 15.6 sec.
830(b) Td = 0.1 sec.
G( s) =
100 Ke
0.1 s
G ( j ) =
Attheintersectonthenegativerealaxis,
s s + 10 s + 100
2
100 Ke
2
= 6.76 rad/sec. G ( j 6.76 ) = 0.1706 K
850
10 + j 100
0.1 j
2
Chapter8Solutions
Golnaraghi,Kuo
Thesystemisstablefor
0<K<5.86
8-31)
MATLAB code:
s = tf('s')
%a)
figure(1);
K=1
num_GH_a= K;
den_GH_a=s*(s+1)*(s+1);
nyquist(GH_a)
%b)
figure(2);
K=20
num_GH_b= K;
den_GH_b=s*(s+1)*(s+1);
nyquist(GH_b)
sisotool;
851
Chapter8Solutions
Golnaraghi,Kuo
By using sisotool and importing the loop transfer function, different values of K has been tested which
resulted in a stable system when K<2, and unstable system for K>2. Following diagrams correspond to
margin of stability:
30
20
10
0
0
-10
-1
-20
-2
-3
-4
-30
-3
-2
-1

100
G.M.: -0.282 dB
Freq: 1 rad/sec
1 -40
Unstable loop
-50
-90
0
-135
-100
-200
0
-180
-180
-225
-360
-540
-1
10
P.M.: -0.925 deg

Freq: 1.02 rad/sec
-270
0
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
Part(a): small K resulted in stable system as shown below for K=0.219:
852
Chapter8Solutions
Golnaraghi,Kuo
10
0
-10
-20
0
-30
-1
-40
-2
-50
-3
-4
-3
-2
-1
G.M.: 19.2 dB
Freq: 1 rad/sec
1 -60
Stable loop
-70
-90

0
-50
-135
-100
-150
0
-180
-225
-180
P.M.: 66.3 deg

Freq: 0.21 rad/sec
-270
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
Nyquist Diagram
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
Real Axis
Part(b): Large K resulted in unstable system as shown below for K=20:

853
-0.1
Chapter8Solutions
Golnaraghi,Kuo
50
40
30
1
20
0
10
-1
0
-10
-2
-20
-3
-4
-3
-2
-1

0
G.M.: -20 dB
Freq: 1 rad/sec
1 -30
Unstable loop
-40
-90
-135
-50
-100
0
-90
-180
-270
-360
-450
-1
10
-180
-225
P.M.: -47.8 deg
Freq: 2.59 rad/sec
-270
0
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
Nyquist Diagram
30
20
Imaginary Axis
10
-10
-20
-30
-15
-10
-5
Real Axis
854
Chapter8Solutions
Golnaraghi,Kuo
The system is stable for small value of K, since there is no encirclement of the s = -1
The system is unstable for large value of K, since the locus encirclement the
CCW; which means two poles are in the right half s-plane.
twice in
8-32)(a)Thetransferfunction(gain)forthesensoramplifiercombinationis10V/0.1in=100V/in.Thevelocity
offlowofthesolutionis
3
= 100 in/sec
ThetimedelaybetweenthevalveandthesensorisTd = D / v sec.Thelooptransferfunctionis
v=
10 in / sec
G( s) =
0.1 in
100 Ke
2
Td s
s + 10 s + 100
855
Chapter8Solutions
Golnaraghi,Kuo
856
Chapter8Solutions
Golnaraghi,Kuo
8-33)
(a)Thetransferfunction(gain)forthesensoramplifiercombinationis1V/0.1in=10V/in.Thevelocity
offlowofthesolutionsis
Thetimedelaybetweenthevalveandsensoris Td = D / v sec.Thelooptransferfunctionis
v=
G( s) =
10 in / sec
0.1 in
10 Ke
= 100 in / sec
Td s
s + 10 s + 100
(b)K=10:
G ( s ) = G1 ( s )e
Setting
Thus, 100 = 0
G1 ( j10) = tan
Thus,
Thus,
100
100
90
180
20
100e
j Td
(100 ) + j10
2
(100 )
2
+ 100 = 10, 000

2
Real solutions: = 0, = 10 rad / sec
10
o
= 90
2
100 =10
10Td =
=1
+ j10
Td =
G ( j ) =
Td s
rad
= 0.157 sec
Maximum D = vTd = 100 0.157 = 15.7 in
857
Chapter8Solutions
Golnaraghi,Kuo
(c)D=10in.
Td =
D
v
10
100
= 0.1 sec
G( s) =
10 Ke
0.1s
s + 10 s + 100
TheNyquistplotofG ( j ) intersectsthenegativerealaxisat = 12.09 rad/sec.G ( j ) = 0.0773K
Forstability,the
maximumvalueofKis12.94.
8-34)
The system (GH) has zero poles in the right of s plane: P=0.
According to Nyquist criteria (Z=N+P), to ensure the stability which means the number of right poles of
1+ GH=0 should be zero (Z=0), we need N clockwise encirclements of Nyquist diagram about -1+0j
point. That is N=-P or in other words, we need P counter-clockwise encirclement about -1+0j. In this
case, we need 0 CCW encirclements.
8-34(a) According to Nyquist diagrams, this happens when K<-1. The three Nyquist diagrams are
plotted with K=-10, K=-1, K=10 as examples:
MATLAB code:
s = tf('s')
%a)
figure(1);
K=-10
num_G_a = K ;
858
Chapter8Solutions
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
H_a = num_H_a/den_H_a;
OL_a = G_a*H_a
nyquist(OL_a)
Case 1) Nyquist graph, K=-10: margin of stability K<-1 unstable

figure(2);
K=-1
num_G_a = K ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
%CL_a = G_a/(1 + G_a*H_a);
OL_a = G_a*H_a
nyquist(OL_a)
859
Golnaraghi,Kuo
Chapter8Solutions
Case 2) Nyquist graph, K=-1: marginally unstable

figure(3);
K=10
num_G_a = K ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
%CL_a = G_a/(1 + G_a*H_a);
OL_a = G_a*H_a
nyquist(OL_a)
860
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
Case 3) Nyquist graph, K=10: stable case, -1<K no CCW encirclement about -1+0j point
861
Chapter8Solutions
Golnaraghi,Kuo
8-34 (b)
For K<-1 (unstable), there will be 1 real pole in the right hand side of s-plane for the closed loop system,
by running the following code.
K=-10
num_G_a = K ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
OL_a = G_a*H_a
nyquist(OL_a)
CL=1/(1+OL_a)
pole(CL)
K =
-10
Transfer function:
-10 s - 20
--------------------s^3 + 3 s^2 + 4 s + 2
Transfer function:
s^3 + 3 s^2 + 4 s + 2
---------------------s^3 + 3 s^2 - 6 s - 18
ans =
2.4495
-3.0000
-2.4495
For K=-1 (marginally unstable), there will be 2 negative complex conjugate poles and a pole at zero for
the closed loop system, by running the following code.
K=-1
num_G_a
den_G_a
num_H_a
den_H_a
= K ;
=(s+1);
= (s+2);
= (s^2+2*s+2);
862
Chapter8Solutions
OL_a = G_a*H_a
nyquist(OL_a)
CL=1/(1+OL_a)
pole(CL)
K=
-1
Transfer function:
-s - 2
--------------------s^3 + 3 s^2 + 4 s + 2
Transfer function:
s^3 + 3 s^2 + 4 s + 2
--------------------s^3 + 3 s^2 + 3 s
ans =
0
-1.5000 + 0.8660i
-1.5000 - 0.8660i
Note: you may also wish to use MATLAB sisotool.

See alternative solution to 8-38.
863
Golnaraghi,Kuo
Chapter8Solutions
8-34(c) The Characteristic Equation is: s3 + 3 s2 + (4+K) s + 2+2K

Using Routh criterions, the coefficient table is as follows:
s3
4+K
s2
2K+2
s1
K+10
s0
2K+2
The system is stable if the content of the 1st column is positive:

K+10>0 K>-10
2K+2>0 K>-1
which is consistent with the results of the Nyquist diagrams. For K>-1 system is stable.
8-35) (a) M r = 2.06, r = 9.33 rad / sec, BW = 15.2 rad / sec
(b)
M r =
1
2 1
+ 0.0589 = 0 Thesolutionfor < 0.707 is = 0.25.
= 2.06
r 1 2
= 9.33 rad / sec
Thus n =
9.33
0.9354
= 9.974 rad / sec
GL ( s ) =
s ( s + 2 n )
99.48
s ( s + 4.987)
19.94
s (1 + 0.2005 s )
864
BW=15.21rad/sec
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
8-36) Assuming a unity feedback loop (H=1), G(s)H(s)=G(s)

(a)
G ( s ) =
5
s(1 + 0.5s )(1 + 0.1s )
865
Chapter8Solutions
Golnaraghi,Kuo
836(b)
G ( s ) =
10
s(1 + 0.5s )(1 + 0.1s )
(c)
G ( s ) =
500
( s + 1.2)( s + 4 )( s + 10 )
866
Chapter8Solutions
Golnaraghi,Kuo
(d)
G ( s ) =
10( s + 1)
s( s + 2 )( s + 10 )
836(e)
G ( s ) =
0.5
s s + s +1
2
867
Chapter8Solutions
(f)
G ( s ) =
100e
s s + 10 s + 50
2
868
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
(g)
G ( s ) =
100e
s s + 10 s + 100
2
836(h)
G ( s ) =
10( s + 5)
s s + 5s + 5
2
(a)
869
Chapter8Solutions
MATLAB code:
s = tf('s')
num_G_a= 5;
den_G_a=s*(0.5*s+1)*(0.1*s+1);
G_a=num_G_a/den_G_a
margin(G_a)
Bode diagram:
(b)
MATLAB code:
s = tf('s')
num_G_a= 10;
den_G_a=s*(1+0.5*s)*(1+0.1*s);
G_a=num_G_a/den_G_a
margin(G_a)
870
Golnaraghi,Kuo
Chapter8Solutions
(c)
MATLAB code:
s = tf('s')
num_G_a= 500;
den_G_a=s*(s+1.2)*(s+4)*(s+10);
G_a=num_G_a/den_G_a
margin(G_a)
871
Golnaraghi,Kuo
Chapter8Solutions
(d)
MATLAB code:
s = tf('s')
num_G_a= 10*(s+1);
den_G_a=s*(s+2)*(s+10);
G_a=num_G_a/den_G_a
margin(G_a)
872
Golnaraghi,Kuo
Chapter8Solutions
(e)
MATLAB code:
s = tf('s')
num_G_a= 0.5;
den_G_a=s*(s^2+s+1);
G_a=num_G_a/den_G_a
margin(G_a)
873
Golnaraghi,Kuo
Chapter8Solutions
(f)
MATLAB code:
s = tf('s')
num_G_a= 100*exp(-s);
den_G_a=s*(s^2+10*s+50);
G_a=num_G_a/den_G_a
margin(G_a)
874
Golnaraghi,Kuo
Chapter8Solutions
(g)
MATLAB code:
s = tf('s')
num_G_a= 100*exp(-s);
den_G_a=s*(s^2+10*s+100);
G_a=num_G_a/den_G_a
margin(G_a)
875
Golnaraghi,Kuo
Chapter8Solutions
(h)
MATLAB code:
s = tf('s')
num_G_a= 10*(s+5);
den_G_a=s*(s^2+5*s+5);
G_a=num_G_a/den_G_a
margin(G_a)
876
Golnaraghi,Kuo
Chapter8Solutions
877
Golnaraghi,Kuo
Chapter8Solutions
8-37)
MATLAB code:
s = tf('s')
num_GH_a= 25*(s+1);
den_GH_a=s*(s+2)*(s^2+2*s+16);
GH_a=num_GH_a/den_GH_a
margin(GH_a)
878
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
8-38) MATLAB code:

s = tf('s')
num_G_a= 25*(s+1);
den_G_a=s*(s+2)*(s^2+2*s+16);
G_a=num_G_a/den_G_a
margin(G_a)
Bode diagram: PM=101 deg, GM=3.91 dB @ 4.22 rad/sec

Bode Diagram
Gm = 3.91 dB (at 4.22 rad/sec) , Pm = 101 deg (at 1.08 rad/sec)
20
Magnitude (dB)
0
-20
-40
-60
-80
-100
-45
Phase (deg)
-90
-135
-180
-225
-270
-1
10
10
10
Frequency (rad/sec)
8-38 Alternative solution

MATLABcode:
s = tf('s')
%a)
figure(1);
num_G_a = 1 ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
879
10
Chapter8Solutions
Golnaraghi,Kuo
CL_a = G_a/(1 + G_a*H_a);
margin(CL_a)
sisotool
Bodediagram:fork=1
Bode Diagram
Gm = Inf , Pm = Inf
0
Magnitude (dB)
-10
-20
-30
Phase (deg)
-40
0
-45
-90
-1
10
10
10
Frequency (rad/sec)
10
UsingMATLABsisotool,thetransferfunctiongaincanbeiterativelychangedinordertoobtaindifferentphase
margins. By changing the gain K between very small and very big numbers, it was found that the closed loop
systemarestable(positivePM)foreverypositiveKinthissystem.
K=0.034
880
Chapter8Solutions

10
-20
-40
-60
-80
-5
-10
-2
Golnaraghi,Kuo
-1.5
-1
-0.5
-100 G.M.: Inf

Freq: Inf
Stable loop
-120
0

0
-50
-45
-100
0
-90
-135
-45
P.M.: Inf
Freq: NaN
-90
-2
10
-180
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
K=59.9

10
40
20
-20
-5
-10
-2
-1.5
-1
-0.5
-40 G.M.: Inf

Freq: Inf
Stable loop
-60
0

40
20
-45
0
-20
90
-90
-135
P.M.: 7.67 deg

Freq: 7.89 rad/sec
-90
-1
10
-180
0
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
881
Chapter8Solutions
Golnaraghi,Kuo
InordertotestthenegativerangeofK,1wasmultipliedtothelooptransferfunctionthroughthefollowing
code,andsisotoolwasusedagain.
figure(1);
num_G_a = -1 ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
CL_a = G_a/(1 + G_a*H_a);
margin(CL_a)
sisotool
atK=1,marginofstabilityisobservedasPM~=0:
K=1
10
0
0.5
-10
-20
-30
-40
-0.5
-50
-60
-1
-4
-2

40
G.M.: -0.0609 dB
Freq: 0 rad/sec
-70
4
Unstable loop
-80
180
20
0
135
-20
-40
135
90
90
45
45
0
-4
10
P.M.: -11.8 deg

Freq: 0.137 rad/sec
0
-2
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
ThesystemisstableforK>1asfollows:K=0.6
882
Chapter8Solutions
0.5
-20
-40
-60
-0.5
-1
-6
Golnaraghi,Kuo
-4
-2
-80 G.M.: 4.37 dB

Freq: 0 rad/sec
Stable loop
-100
180

50
135
-50
180
90
45
90
P.M.: Inf
Freq: NaN
0
-2
10
0
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
AndthesystemisunstableforK<1:K=3
20
0.5
-20
-40
-0.5
-1
-6
-4
-2
-60 G.M.: -9.59 dB

Freq: 0 rad/sec
Unstable loop
-80
180

20
0
135
-20
-40
180
90
45
90
P.M.: -129 deg

Freq: 1.84 rad/sec
0
-2
10
0
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
*CombiningtheindividualrangesforK,thesystemwillbestableintherangeofK>1
883
Chapter8Solutions
Golnaraghi,Kuo
839SeesampleMATLABcodeinParte.TheMATLABcodesareidenticaltoproblem836.
(a)
G ( s ) =
K
s(1 + 0.1s )(1 + 0.5s )
TheBodeplotisdonewithK=1.
GM=21.58dBForGM=20dB,
Kmustbereducedby1.58dB.
ThusK=0.8337
PM= 60.42 .ForPM= 45

Kshouldbeincreasedby5.6dB.
Or,K=1.91
(b)
G( s) =
K ( s + 1)
s(1 + 0.1s )(1 + 0.2 s)(1 + 0.5s )

BodeplotisdonewithK=1.
The
GM=19.98dB.ForGM=20dB,
K 1.
PM= 86.9 .ForPM= 45
Kshouldbeincreasedby8.9dB.
Or,K=2.79.
884
Chapter8Solutions
Golnaraghi,Kuo
839 (c)Seethetopplot
G ( s ) =
K
( s + 3)
GM=46.69dB
PM=infinity.
ForGM=20dBKcanbe
increasedby26.69dBorK=21.6.
ForPM=45deg.Kcanbe
increasedby28.71dB,or
K=27.26.
(d)Seethemiddleplot
G( s) =
K
( s + 3)
GM=50.21dB
PM=infinity.
ForGM=20dBKcanbe
increasedby30.21dBorK=32.4
ForPM=45deg.Kcanbe
increasedby38.24dB,or
K=81.66
(e)Seethebottomplot
885
G ( s ) =
Ke
Chapter8Solutions
Golnaraghi,Kuo
s 1 + 0.1s + 0.01s
GM=2.97dB;PM=26.58deg
ForGM=20dBKmustbe
MATLAB code:
s = tf('s')
num_G_a= exp(-s);
den_G_a=s*(0.01*s^2+0.1*s+1);
G_a=num_G_a/den_G_a
margin(G_a)
decreasedby17.03dBor
K=0.141.
ForPM=45deg.Kmustbe
decreasedby2.92dBorK=0.71.
886
Chapter8Solutions
Golnaraghi,Kuo
839(f)
G ( s ) =
K (1 + 0.5s )
s s + s +1
2
GM=6.26dB
PM=22.24deg
ForGM=20dBKmustbedecreasedby13.74dBor
K=0.2055.
ForPM=45degKmustbedecreasedby3.55dBor
K=0.665.
840(a)
G ( s ) =
10 K
s(1 + 0.1s )(1 + 0.5s )
Thegainphaseplotisdonewith
K=1.
GM=1.58dB
PM=3.95deg.
ForGM=10dB,Kmustbedecreasedby8.42
dBorK=0.38.
ForPM=45deg,Kmustbedecreasedby14dB,orK=0.2.
For M r = 1.2 ,Kmustbedecreasedto0.16.
887
Chapter8Solutions
Golnaraghi,Kuo
SampleMATLAB code:
s = tf('s')
num_G_a= 10;
den_G_a=s*(1+0.1*s)*(0.5*s+1);
G_a=num_G_a/den_G_a
nichols(G_a)
(b)
888
G( s) =
5K ( s + 1)
s(1 + 0.1s )(1 + 0.2 s)(1 + 0.5s )
Chapter8Solutions
Golnaraghi,Kuo
TheGainphaseplotisdonewith
K=1.
GM=6dB
PM=22.31deg.
ForGM=10dB,Kmustbedecreasedby4
dBorK=0.631.
ForPM=45deg,Kmustbe
decreaseby5dB.
For M r = 1.2 ,Kmustbedecreasedto0.48.
840(c)
G ( s ) =
10 K
s 1 + 0.1s + 0.01s
Thegainphaseplotisdonefor
K=1.
GM=0dB M r =
PM=0deg
ForGM=10dB,Kmustbedecreasedby10
dBorK=0.316.
ForPM=45deg,Kmustbedecreasedby5.3
dB,or
K=0.543.
For M r = 1.2, K mustbedecreasedto0.2213.
(d)
889
Chapter8Solutions
Golnaraghi,Kuo
G ( s ) =
Ke
s 1 + 0.1s + 0.01s
Thegainphaseplotisdonefor
K=1.
GM=2.97dB M r = 3.09
PM=26.58deg
ForGM=10dB,Kmustbedecreasedby7.03
dB,K=0.445.
ForPM=45deg,Kmustbedecreasedby
2.92dB,or
K=0.71.
For M r = 1.2, K = 0.61.
890
Chapter8Solutions
8-41
MATLAB code:
s = tf('s')
%a)
num_GH_a= 1*(s+1)*(s+2);
den_GH_a=s^2*(s+3)*(s^2+2*s+25);
CL_a = GH_a/(1+GH_a)
figure(1);
bode(CL_a)
%b)
figure(2);
rlocus(GH_a)
%c)
num_GH_c= 53*(s+1)*(s+2);
den_GH_c=s^2*(s+3)*(s^2+2*s+25);
GH_c=num_GH_c/den_GH_c;
figure(3);
nyquist(GH_c)
xlim([-2 1])
ylim([-1.5 1.5])
%d)
num_GH_d= (s+1)*(s+2);
den_GH_d=s^2*(s+3)*(s^2+2*s+25);
GH_d=num_GH_d/den_GH_d;
CL_d = GH_d/(1+GH_d)
figure(4);
margin(CL_d)
sisotool
Part (a), Bode diagram:
891
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
50
Magnitude (dB)
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-2
-1
10
10
10
10
10
Frequency (rad/sec)
Part (b), Root locus diagram:

Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
10
20
Real Axis
Part (c), Gain and frequency that instability occurs: Gain=53, Freq = 4.98 rad/sec, as seen in the data
point in the figure:
892
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1.5
Imaginary Axis
0.5
System: GH_a
Real: -1
Imag: 0.0174
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
0.5
Real Axis
Part (d), Gain and

frequency that
instability occurs:
Gain=0.127 at PM
=20 deg:
By running sisotool
command in
MATLAB, the
transfer functions
are imported and the
gain is iteratively
changed until the
phase margin of
PM=20 deg is
achieved. The
Part (e): The corresponding gain margin is GM = 22.7 dB is seen in the
corresponding Gain
figure
is K= 0.127.
893
Chapter8Solutions
842(a)Gaincrossoverfrequency=2.09rad/sec
PM=115.85deg
GM=21.13dB
(b)Gaincrossoverfrequency=6.63rad/sec
PM=72.08deg
GM=15.11dB
(c)Gaincrossoverfrequency=19.1rad/sec
PM=4.07deg
GM=1.13dB
Phasecrossoverfrequency=20.31rad/sec
Golnaraghi,Kuo
(d)ForGM=40dB,reducegainby(4021.13)dB=18.7dB,orgain=0.116 nominalvalue.
(e)ForPM=45deg,themagntudecurvereads10dB.Thismeansthattheloopgaincanbeincreasedby
10dBfromthenominalvalue.Orgain=3.16 nominalvalue.
(f)Thesystemistype1,sincetheslopeof G ( j ) is20dB/decadeas 0.
(g)GM=12.7dB.PM=109.85deg.
(h)Thegaincrossoverfrequencyis2.09rad/sec.Thephasemarginis115.85deg.
Set
115.85
o
Td = 2.09Td =
180
= 2.022 rad
Thus,themaximumtimedelayis Td = 0.9674 sec.
894
Chapter8Solutions
Golnaraghi,Kuo
843(a)Thegainisincreasedtofourtimesitsnominalvalue.Themagnitudecurveisraisedby12.04dB.
Gaincrossoverfrequency=10rad/sec
PM=46deg
GM=9.09dB
(b)TheGMthatcorrespondstothenominalgainis21.13dB.TochangetheGMto20dBweneedto
increasethegainby1.13dB,or1.139timesthenominalgain.
(c)TheGMis21.13dB.Theforwardpathgainforstabilityis21.13dB,or11.39.
(d)ThePMforthenominalgainis115.85deg.ForPM=60deg,thegaincrossoverfrequencymustbe
movedtoapproximately8.5rad/sec,atwhichpointthegainis10dB.Thus,thegainmustbeincreased
by10dB,orbyafactorof3.162.
(e)Withthegainattwiceitsnominalvalue,thesystemisstable.Sincethesystemistype1,thesteadystate
errorduetoastepinputis0.
(f)Withthegainat20timesitsnominalvalue,thesystemisunstable.Thusthesteadystateerrorwouldbe
infinite.
(g)Withapuretimedelayof0.1sec,themagnitudecurveisnotchanged,butthethephasecurveissubject
toanegativephaseof 0.1 rad.ThePMis
Thenewphasecrossoverfrequencyisapproximately9rad/sec,wheretheoriginalphasecurveis
reducedby0.9rador51.5deg.Themagnitudeofthegaincurveatthisfrequencyis10dB.
Thus,thegainmarginis10dB.
PM = 115.85 0.1 gain crossover frequency = 115.85 0.209 = 115.64 deg
(h)Whenthegainissetat10timesitsnominalvalue,themagnitudecurveisraisedby20dB.Thenew
gaincrossoverfrequencyisapproximately17rad/sec.Thephaseatthisfrequencyis30deg.
Thus,setting
30
o
Td = 17Td =
180
= 0.5236
Thus Td = 0.0308 sec.
895
Chapter8Solutions
Golnaraghi,Kuo
8-44
MATLAB code:
s = tf('s')
%using pade cammand for PADE approximation of exponential term
num_G_a= pade((80*exp(-0.1*s)),2);
den_G_a=s*(s+4)*(s+10);
CL_a = G_a/(1+G_a)
OL_a = G_a*1;
%(a)
figure(1)
nyquist(OL_a)
%(b) and (c)
figure(2);
margin(CL_a)
Part (a), Nyquist diagram:

Nyquist Diagram
8
Imaginary Axis
-2
-4
-6
-8
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
Part (b) and (c), Bode diagram:

Using Margin command, the gain and phase margins are obtained as GM = 6.3 dB, PM = 42.6 deg:
896
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = 6.3 dB (at 4.02 rad/sec) , Pm = 42.6 deg (at 2.9 rad/sec)
50
Magnitude (dB)
-50
-100
-150
360
Phase (deg)
180
0
-180
-360
-1
10
10
10
Frequency (rad/sec)
897
10
10
Chapter8Solutions
Golnaraghi,Kuo
845(a)BodePlot:
Forstability:166(44.4dB)<K<7079(77dB)
Phasecrossoverfrequencies:7rad/secand85rad/sec
898
Chapter8Solutions
Golnaraghi,Kuo
NyquistPlot:
899
Chapter8Solutions
Golnaraghi,Kuo
845(b)RootLoci.
8100
Chapter8Solutions
Golnaraghi,Kuo
846(a)NyquistPlot
BodePlot
8101
Chapter8Solutions
Golnaraghi,Kuo
RootLocus
8102
Chapter8Solutions
8-47
MATLAB code:
%a)
k=1
num_GH= k*(s+1)*(s+5);
den_GH=s*(s+0.1)*(s+8)*(s+20)*(s+50);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1);
bode(CL)
figure(2);
OL = GH;
nyquist(GH)
xlim([-1.5 0.5]);
ylim([-1 1]);
sisotool
Part (a), Bode diagram:
8103
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
0
Magnitude (dB)
-50
-100
-150
Phase (deg)
-200
0
-90
-180
-270
-4
-3
10
10
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Part (a), Nyquist diagram:

Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
0.5
Real Axis
Part (a), range of K for stability: By running sisotool command in MATLAB, the transfer functions
are imported and the gain is iteratively changed until the phase margin of PM=0 deg is achieved (where
K = ) which is the margin of stability. The stable rang for K is K>8.16x104:
8104
Chapter8Solutions
Golnaraghi,Kuo
Part (b), Root-locus diagram, K and at the points where the root loci cross the j-axis:
As can be seen in the figure at K=8.13x104 and =33.8 rad/sec, the poles cross the j axis. Both of
these values are consistent with the results of part(a) from sisotool.
8105
Chapter8Solutions
Golnaraghi,Kuo
Root Locus
150
System: CL
Gain: 8.13e+004
Pole: 0.0788 + 33.8i
Damping: -0.00233
Overshoot (%): 101
100
Imaginary Axis
50
System: CL
Gain: 7.99e+004
Pole: -0.045 - 33.5i
Damping: 0.00134
Overshoot (%): 99.6
-50
-100
-150
-200
-150
-100
-50
Real Axis
8106
50
100
Chapter8Solutions
Golnaraghi,Kuo
848BodeDiagram
WhenK=1,GM=68.75dB,PM=90deg.ThecriticalvalueofKforstabilityis2738.
8107
Chapter8Solutions
849(a)Forwardpathtransferfunction:
G( s) =
where
L ( s)
E ( s)
= K aG p ( s ) =
K a Ki ( Bs + K )
o = 0.12 s ( s + 0.0325 ) s + 2.5675 s + 6667
= s 0.12 s + 0.312 s + 80.05 s + 26
G ( s ) =
43.33( s + 500)
s s + 2.6 s + 667.12 s + 216.67

3
(b)BodeDiagram:
8108
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
Gaincrossoverfrequency=5.85rad/sec
PM=2.65deg.
Phasecrossoverfrequency=11.81rad/sec GM=10.51dB
8109
Chapter8Solutions
Golnaraghi,Kuo
849(c)ClosedloopFrequencyResponse:
M r = 17.72, r = 5.75 rad / sec, BW = 9.53 rad / sec
8110
Chapter8Solutions
Golnaraghi,Kuo
8-50
(a)
(b)
(c) to (e)
MATLAB code:
s = tf('s')
m
r
d
g
L
J
=
=
=
=
=
=
0.11;
0.015;
0.03;
9.8;
1.0;
9.99*10^-6
K=1
num_GH= K*m*g*d;
den_GH=L*(J/r^2+m)*s^2;
GH=num_GH/den_GH;
CL = GH/(1+GH)
%c)
figure(1);
nyquist(GH)
xlim([-1.5 0.5]);
ylim([-1 1]);
%d)
figure(2);
margin(CL)
Part (c): since the system is a double integrator (1/s2), the phase is always -180 deg, and the system is
always marginally stable for any K, leading to a complicated control problem.
8111
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
0.5
Real Axis
Part (d), Bode diagram:

As explained in section (c), since the system is always marginally stable, GM=inf and PM = 0, as can be
seen by MATLAB MARGIN command, resulting in the following figure:
8112
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 0 deg (at 0.647 rad/sec)
150
System: CL
Magnitude (dB): 143
Magnitude (dB)
100
50
0
System: CL
-50
-100
-180
Phase (deg)
-225
-270
-315
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
Part (e), Mr,= 143 dB, r = 0.458 rad/sec, and BW= 0.712 rad/sec as can be seen in the data points in
the above figure.
8-51 (a)WhenK=1,thegaincrossoverfrequencyis8rad/sec.
(b)WhenK=1,thephasecrossoverfrequencyis20rad/sec.
(c)WhenK=1,GM=10dB.
(d)WhenK=1,PM=57deg.
(e)WhenK=1, M r = 1.2.
(f)WhenK=1, r = 3 rad/sec.
(g)WhenK=1,BW=15rad/sec.
(h)WhenK=10dB(0.316),GM=20dB
(i)WhenK=10dB(3.16),thesystemismarginallystable.Thefrequencyofoscillationis20rad/sec.
(j)Thesystemistype1,sincethegainphaseplotof G ( j ) approachesinfinityat90deg.Thus,the
steadystateerrorduetoaunitstepinputiszero.
8113
Chapter8Solutions
Golnaraghi,Kuo
8-52WhenK=5dB,thegainphaseplotof G ( j ) israisedby5dB.
(a)Thegaincrossoverfrequencyis~10rad/sec.
(b)Thephasecrossoverfrequencyis~20rad/sec.
(c)GM=5dB.
(d)PM=~34.5deg.
(e)WhenK=5,Mr=~2(smallestcircletangenttoanMcircle).
(f) r = 15 rad/sec
(g)BW=30rad/sec
(h)WhenK=30dB,theGMis40dB(shiftthegraphofK=1,30dbsdown).
WhenK=10dB,thegainphaseplotofG ( j ) israisedby10dB.
(a)Thegaincrossoverfrequencyis20rad/sec.
(b)Thephasecrossoverfrequencyis20rad/sec.
(c)GM=0dB.
(d)PM=0deg.
(e)WhenK=10,Mr=~1.1(smallestcircletangenttoanMcircle).
(f) r = 5 rad/sec
(g)BW=~40rad/sec
(h)WhenK=30dB,theGMis40dB(shiftthegraphofK=1,30dbsdown).
8-53
Since the function has exponential term, PADE command has been used to obtain the transfer function.
G ( s) H ( s) =
80e 0.1s
s ( s + 4)( s + 10)
MATLAB code:
s = tf('s')
%a)
8114
Chapter8Solutions
Golnaraghi,Kuo
num_GH= pade(80*exp(-0.1*s),2);
den_GH=s*(s+4)*(s+10);
GH=num_GH/den_GH;
CL = GH/(1+GH)
BW = bandwidth(CL)
bode(CL)
%b)
figure(2);
nichols(GH)
Part(a), Nicholas diagram:
Nichols Chart
40
20
Open-Loop Gain (dB)
0
-20
-40
-60
-80
-100
-120
-140
-270
-180
-90
0
Open-Loop Phase (deg)
Part(b), Bode diagram:
8115
90
180
270
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
50
Magnitude (dB)
-50
-100
-150
360
Phase (deg)
180
0
-180
-360
-1
10
10
10
10
10
Frequency (rad/sec)
8- 54) Note: GCL =
G
1+ G
To draw the Bode and polar plots use the closed loop transfer function, GCL, and find BW. Use G to
obtain the gain-phase plots and Gm and Pm. Use the Bode plot to graphically obtain Mr.
Sample MATLAB code:
s = tf('s')
%a)
num_G= 1+0.1*s;
den_G=s*(s+1)*(0.01*s+1);
G=num_G/den_G
figure(1)
nyquist(G)
figure(2)
margin(G)
GCL = G/(1+G)
BW = bandwidth(GCL)
figure(3)
bode(GCL)
8116
Chapter8Solutions
Transfer function:
0.1 s + 1
----------------------0.01 s^3 + 1.01 s^2 + s
Transfer function:
0.001 s^4 + 0.111 s^3 + 1.11 s^2 + s
-------------------------------------------------------------0.0001 s^6 + 0.0202 s^5 + 1.041 s^4 + 2.131 s^3 + 2.11 s^2 + s
BW =
1.2235
8117
Golnaraghi,Kuo
Chapter8Solutions
8118
Golnaraghi,Kuo
Chapter8Solutions
Golnaraghi,Kuo
8-55) (a)ThephasemarginwithK=1andTd = 0 secisapproximately57deg.ForaPMof40deg,thetimedelay
producesaphaselagof17deg.Thegaincrossoverfrequencyis8rad/sec.
Thus,
Td = 17 =
Td =
17
o
180
= 0.2967 rad / sec
Thus = 8 rad / sec
0.2967
8
= 0.0371sec
(b)WithK=1,formarginalstability,thetimedelaymustproduceaphaselagof57deg.
Thus,at = 8 rad/sec,
57
o
Td = 57 =
o
180
= 0.9948 rad
8119
Td =
0.9948
8
= 0.1244 sec
Chapter8Solutions
Golnaraghi,Kuo
856(a)ThephasemarginwithK=5dBandTd = 0 isapproximately34.5deg.ForaPMof30deg,thetime
delaymustproduceaphaselagof4.5deg.Thegaincrossoverfrequencyis10rad/sec.Thus,
4.5
o
Td = 4.5 =
o
180
= 0.0785 rad
Thus
Td =
0.0785
10
= 0.00785 sec
(b)WithK=5dB,formarginalstability,thetimedelaymustproduceaphaselagof34.5deg.
Thusat = 10 rad/sec,
34.5
o
Td = 34.5 =
o
180
= 0.602 rad
Thus Td =
0.602
10
= 0.0602 sec
857)ForaGMof5dB,thetimedelaymustproduceaphaselagof34.5degat = 10 rad/sec.Thus,
34.5
o
Td = 34.5 =
o
180
= 0.602 rad
Thus
Td =
0.602
10
= 0.0602 sec
G( s) =
Y ( s)
2 s
FromtheBodediagram,phasecrossoverfrequency=0.21rad/sec GM=21.55dB
E ( s)
(1 + 10 s )(1 + 25s )
8120
G(s) =
Chapter8Solutions
gaincrossoverfrequency=0rad/sec
Golnaraghi,Kuo
PM=infinite
(b)
(1 + 10 s )(1 + 25s ) (1 + 2 s + 2 s
FromtheBodediagram,phasecrossoverfrequency=0.26rad/sec GM=25dB
G(s) =
PM=infinite
(c)
1 s
(1 + s )(1 + 10 s )(1 + 2 s )
Sample MATLAB code

s = tf('s')
%a)
num_G=exp(-2*s);
den_G=(10*s+1)*(25*s+1);
G=num_G/den_G
figure(1)
margin(G)
8121
PM=infinite
Chapter8Solutions
Golnaraghi,Kuo
858(continued)Bodediagramsforallthreeparts.
8122
Chapter8Solutions
Golnaraghi,Kuo
G( s) =
G( s) =
(1 + 10 s )(1 + 25s )
PM=infinite
(b)
FromtheBodediagram,phasecrossoverfrequency=0.367rad/secGM=30.72dB
G( s) =
(1 + 10s )(1 + 25s ) (1 + s + 0.5s
PM=infinite
(c)
(1 0.5s )
FromtheBodediagram,phasecrossoverfrequency=0.3731rad/secGM=31.18dB
(1 + 10 s )(1 + 25s )(1 + 0.5 s )
8123
PM=infinite
Chapter8Solutions
Golnaraghi,Kuo
Plots859(ac)
8124
Chapter8Solutions
Golnaraghi,Kuo
860SensitivityPlot:
8125
Chapter8Solutions
Golnaraghi,Kuo
SG
max
= 17.15
max = 5.75 rad/sec
8-61)
(a)
(b)
(c)&(d)
MATLAB code:
s = tf('s')
%c)
K = 1
num_GH= K*(1.151*s+0.1774);
den_GH=(s^3+0.739*s^2+0.921*s);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
%(d)
figure(1)
margin(CL)
Part (c), range of K for stability:

Sisotool Result shows that by changing K between 0 and inf., all the roots of closed loop system remain
in the left hand side plane and PM remains positive. Therefore, the system is stable for all positive K.
8126
Chapter8Solutions
4
Root
Locus Editor for Open Loop 1 (OL1)
x 10
Golnaraghi,Kuo

200
2
180
1
160
0
-1
140
-2
-3
-0.4
-0.3
-0.2
-0.1

100
120 G.M.: Inf

Freq: Inf
0
Stable loop
100
0
-45
-100
0
-90
-135
-90
P.M.: 0.00149 deg

Freq: 2.26e+004 rad/sec
-180
-2
10
-180
0
10
10
10
Frequency (rad/sec)
10
Part (d), Bode, GM & PM for K=1:
8127
-2
10
-1
10
10
10
Frequency (rad/sec)
10
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 61.3 deg (at 1.59 rad/sec)
20
Magnitude (dB)
0
-20
-40
-60
-80
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
Frequency (rad/sec)
8128
10
10
Chapter9Solutions
Golnaraghi,Kuo
Chapter 9
91ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
s + ( 20 + a ) s + ( 200 + 20a ) s + 200a K

Ramperrorconstant:
s 0
K
200 + 20a
200 a
200 + 20 a
= 5
Thusa=10
K=2000
G ( s ) =
2000
s s + 30 s + 400
2
Gc ( s ) =
G(s)
Gp (s)
20 s + 10 s + 100
(s
+ 30 s + 400
Themaximumovershootoftheunitstepresponseis0percent.
G( s) =
M ( s)
1 M ( s)
K
3
s + ( 20 + a ) s + ( 200 + 20a ) s + 200a K

Ramperrorconstant:
s 0
K
200 + 20a
200 a
200 + 20 a
91
= 9
Thusa=90
K=18000
Chapter9Solutions
Golnaraghi,Kuo
G ( s ) =
18000
s s + 110 s + 2000
2
Gc ( s ) =
G(s)
G p ( s)
)
( s + 110s + 2000 )
180 s + 10 s + 100
2
Themaximumovershootoftheunitstepresponseis4.3percent.
Fromtheexpressionfortheramperrorconstant,weseethatasaorKgoestoinfinity, Kv approaches10.
Thusthemaximumvalueof Kv thatcanberealizedis10.ThedifficultieswithverylargevaluesofKand
aarethatahighgainamplifierisneededandunrealisticcircuitparametersareneededforthecontroller.
93)Thecloselooptransferfunctionis:
Comparingwithsecondordersystem:
and2
exp
0.254 =0.4
3
n=1.14
=1.09
K=1.42
9-4) The forward path transfer function of the system is:

G ( s) H ( s) =
24
s ( s + 1)( s + 6)
1. The steady state error is less than to /10 when the input is a ramp with a slope of 2 rad/sec
92
10
lim
As a result K
Chapter9Solutions
lim
24
s ( s + 1)( s + 6)
Golnaraghi,Kuo
4K
0.2
2. The phase margin is between 40 to 50 degrees

In this part of the solution, MATLAB sisotool can be very helpful. More detailed instructions
on using MATLAB sisotool is presented in the solutions for this particular problem. Similar
guidelinescouldbeusedforsimilarquestionsofthischapter.
SISOTOOLquickinstructions:
Once opening the sisotool by typing sisotool in MATLAB the command window (or in the m code), the
followingwindowpopsup:
WhereyoucaninserttransferfunctionsforC,G,H,andF,oryoucanleavesomeofthemasdefaultvalue(1),by
clickingonSystemData.Onceyousubstitutetransferfunctions,youwillseeagraphincludingtherootlocus
diagram, a closed loop Bode diagram, and an open loop Bode diagram indicating the Gain Margin and Phase
Marginaswell.
**Youcandragtheopenloopbodemagnitudediagramupanddowntoseetheeffectofgainchangeonallof
thegraphs.Sisotoolupdatesallthesegraphinstantly.Youcanalsodragthepolesandzerosontherootlocus
diagramtoobservetheeffectontheotherdiagrams.
93
Chapter9Solutions
Golnaraghi,Kuo
YoucanalsoopenAnalysisPlotstabtoaddothergraphssuchasNyquistdiagramasshowninthefollowing
figure:
94
Chapter9Solutions
Golnaraghi,Kuo
Inthisparticularquestion,youneedtoaddazerotoincludetheeffectof K d .Youcanaddazerobyusingthe
CompensatorEditortab,asshowninthefollowinggraph.Thelastthingyouneedtodoforthisproblem,isto
dragthelocationofzeroandgaininthefollowingdiagram(oredittheselocationsbyassigningCgainandZero
locationintheCompensatorEditortab),soitsatisfiesthePMof40to50deg;whilegainofCiskeptabove
0.2( K p 0.2 ,frompart(a)).
InthefollowingsnapshotofCompensatorEditor,Cgainor K p issetto1,andthezerolocationissetto2.7,
resultingin44.2[deg]phasemargin,presentedinthefollowingfigure.
95
Chapter9Solutions
Golnaraghi,Kuo

60
2000
40
Magnitude (dB)
Imag Axis
1000
-1000
20
0
-20
-2000
-6
-5
-4
-3
-2
-1
-40 G.M.: Inf

Freq: Inf
Stable loop
-60
-90

0
-20
-40
Phase (deg)
Magnitude (dB)
20
Phase (deg)
-60
0
-45
-150
-90
P.M.: 44.2 deg
Freq: 2.07 rad/sec
-135
-180
-1
10
-180
0
10
10
Frequency (rad/sec)
10
Finalanswers: K p = 1, K d = 0.3704
96
-120
-2
10
-1
10
10
10
Frequency (rad/sec)
10
Chapter9Solutions
PreliminaryMATLABcodefor94:
%solving for k:
syms kc
omega=1.5
sol=eval(solve('0.25*kc^2=0.7079^2*((-0.25*omega^3+omega)^2+(0.375*omega^2+0.5*kc)^2)',kc))
%ploting bode with K=1.0370

s = tf('s')
K=1.0370;
num_G_a= 0.5*K;
den_G_a=s*(0.25*s^2+0.375*s+1);
CL_a = G_a/(1+G_a)
bode(CL_a);
sisotool;
Alternatively we can use ACSYS.
97
Golnaraghi,Kuo
Chapter9Solutions
K p = 1, K d = 0.3704
98
Golnaraghi,Kuo
Chapter9Solutions
99
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-5)(a)RamperrorConstant:
K v = lim s
1000 ( K P + K D s )
s 0
s ( s + 10)
1000 K P
10
= 100 K P = 1000
Thus
K P = 10
s + (10 + 1000 K D ) s + 1000 K P = 0

2
n = 1000 K P = 10000 = 100 rad/sec
2 n = 10 + 1000 K D = 2 0.5 100 = 100
Thus
KD =
90
1000
= 0.09
910
Chapter9Solutions
Golnaraghi,Kuo
95(b)For K v = 1000 and = 0.707 ,andfrompart(a), n = 100 rad/sec,
2 n = 10 + 1000 K D = 2 0.707 100 = 141.4
Thus
KD =
131.4
= 0.1314
1000
(c)For K v = 1000 and = 1.0 ,andfrompart(a), n = 100 rad/sec,
2 n = 10 + 1000 K D = 2 1 100 = 200
Thus
KD =
190
1000
= 0.19
9-6)Theramperrorconstant:
K v = lim s
1000 ( K P + K D s )
s 0
s ( s + 10)
= 100 K P = 10, 000
Thus K P = 100
Theforwardpathtransferfunctionis:
G(s) =
1000 (100 + K D s )
s ( s + 10)
KD PM(deg)
GM
Mr
BW(rad/sec)
Maxovershoot(%)
1.814
13.5
493
46.6
0.2
36.58
1.817
525
41.1
0.4
62.52
1.291
615
22
0.6
75.9
1.226
753
13.3
0.8
81.92
1.092
916
8.8
1.0
84.88
1.06
1090
6.2
Thephasemarginincreasesandthemaximumovershootdecreasesmonotonicallyas K D increases.
911
Chapter9Solutions
Sample MATLAB CODE for time frequency responses

clear all
KD=1.0;
num = [-100/KD];
den = [0 -10];
G=zpk(num,den,1000);
figure(1)
margin(G)
M=feedback(G,1)
figure(2)
step(M);
figure(3)
bode(M)
Zero/pole/gain:
1000(s+100)
(s+111.3)(s+898.7)
Phase margin is Pm=180-95=85 Deg

Gm=
912
Golnaraghi,Kuo
Chapter9Solutions
UsethecursortoobtainthePOandtrvalues.
KDincreaseresultsintheminimumovershoot.
Bandwidth is 1090 rads/s.
913
Golnaraghi,Kuo
Chapter9Solutions
Use ACSYS to find the same results:
914
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-7)
PDcontrollerdesign
Theopenlooptransferfunctionofasystemis:
G(s) H (s) =
1
(2 s + 1)( s + 1)(0.5s + 1)
Thesolutionisverysimilarto94.Thetransferfunctionsareinsertedintosisotool,whereanotherrealzerois
addedtorepresenttheeffectof K d .Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthe
compensatortransferfunctioninsisotool.Theplaceofrealzerois Z = K p / K d ,andthegainofthe
compensatorisequalto K p ,asnotedinthefollowingsisotoolwindow:
915
Chapter9Solutions
Golnaraghi,Kuo
Byfixingthegainto9,andstartingtochangethezerolocation,PMcanbeadjustedtoabove25[deg]as
requiredbythequestion.Thecurrentsettinghasazeroat3.5,whichresultedin30[deg]phasemarginand
33.1dBgainmarginasseeninthefollowingdiagrams.
Thedesignrequires K p = 9 and K d = K p / Z = 9 / 3.6 = 2.5

15
20
10
10
5
0
0
-10
-5
-20
-10
-15
-4
G.M.: 33.1 dB
Freq: 10.8 rad/sec
Stable loop
-30
-3
-2
-1
-40
0
50
0
-45
-50
-90
-100
0
-135
-90
-180
-180
-270
-1
10
P.M.: 29.8 deg

Freq: 1.77 rad/sec
-225
0
10
10
Frequency (rad/sec)
10
-2
10
-1
10
10
10
Frequency (rad/sec)
10
s = tf('s')
Kp = 1
num_GH= Kp*1;
den_GH=(2*s+1)*(s+1)*(0.5*s+1);
916
Chapter9Solutions
Golnaraghi,Kuo
GH=num_GH/den_GH;
CL = GH/(1+GH)
Sisotool
9-8: PD controller design: The open-loop transfer function of a system is:
G ( s) H ( s) =
60
s (0.4 s + 1)( s + 1)( s + 6)
(a) Design a PD controller to satisfy the following specifications:

(i)
Kv =10
(ii)
the phase margin is 45 degrees.
lim
lim
60
0.4
As a result:
1
Therestoftheprocedureissimilarto97:
917
10
10
Chapter9Solutions
Golnaraghi,Kuo
Thetransferfunctionsareinsertedintosisotool,whereanotherrealzeroisaddedtorepresenttheeffectof K d
.Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthecompensatortransferfunctioninsisotool.
Theplaceofrealzerois Z = K p / K d ,andthegainofthecompensatorisequalto K p ,asnotedinthe
sisotoolwindow:
K p = 1 fixedto1,andzerolocationwaschangedintheentirerealaxis.However,2oftheclosedlooppoles
remainedintherighthandsideofSplaneintherootlocusdiagram,indicatinginstabilityforallKdvalues.
Solutionfor K v = 10 withPDcontrollerandPM=45[deg]doesnotexist.Unstablecloselooppolesare
indicatedintherootlocusdiagramofthefollowingfigure:
918
Chapter9Solutions
Golnaraghi,Kuo
98)
s = tf('s')
Kp = 1
num_GH= Kp*60;
den_GH=s*(0.4*s+1)*(s+1)*(s+6);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
919
Chapter9Solutions
Golnaraghi,Kuo
G ( s ) = Gc ( s )G p ( s ) =
4500 K ( K D + K P s )
s ( s + 361.2)
RampErrorConstant: K v = lim sG ( s ) =
e ss =
s 0
1
Kv
0.0802
KK P
4500 KK P
361.2
= 12.458 KK P
0.001Thus KK P 80.2 Let K P = 1 and K = 80.2
AttributesofUnitstepResponse:
KD
tr(sec)
ts (sec)
MaxOvershoot(%)
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
Select K D 0.0017
(b)BWmustbelessthan850rad/sec.
920
Chapter9Solutions
Golnaraghi,Kuo
KD
GM
PM(deg)
Mr
BW(rad/sec)
0.0005
48.45
1.276
827
0.0010
62.04
1.105
812
0.0015
73.5
1.033
827
0.0016
75.46
1.025
834
0.0017
77.33
1.018
842
0.00175
78.22
1.015
847
0.0018
79.07
1.012
852
Select K D 0.00175 .Alarger K D wouldyieldaBWlargerthan850rad/sec.
921
Chapter9Solutions
Golnaraghi,Kuo
9-10)
TheforwardpathTransferFunction:N=20
200 ( K P + K D s )
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P = 0.05
UnitstepResponseAttributes:
G(s) =
G(s) =
s ( s + 1)( s + 10)
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
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
0.06
3.039
0.10
4.317
When K D = 0.05 therisetimeis2.721sec,andthestepresponsehasnooversho
922
Chapter9Solutions
Golnaraghi,Kuo
9-11)
(a)For e ss = 1,
AttributesofFrequencyResponse:
s 0
s 0
200 ( K P + K D s )
s ( s + 1)( s + 10)
G ( s ) =
= 20 K P = 1 Thus K P = 0.05
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
KD
PM(deg)
GM(deg)
Mr
BW(rad/sec)
47.4
20.83
1.24
1.32
0.01
56.11
1.09
1.24
0.02
64.25
1.02
1.18
0.05
84.32
1.00
1.12
0.09
93.80
1.00
1.42
0.10
93.49
1.00
1.59
0.11
92.71
1.00
1.80
0.20
81.49
1.00
4.66
0.30
71.42
1.00
7.79
0.50
58.55
1.03
12.36
Formaximumphasemargin,thevalueof K D is0.09.PM=93.80deg.GM= , M r = 1,
andBW=1.42rad/sec.
923
Chapter9Solutions
Golnaraghi,Kuo
(b)SensitivityPlots:
ThePDcontrolreducesthepeakvalueofthesensitivityfunction SG ( j )
924
Chapter9Solutions
Golnaraghi,Kuo
9-12)
PDcontrollerdesign:The open loop transfer function of a system is:
G ( s) H ( s) =
100
s (0.1s + 1)(0.02 s + 1)
Design the PD controller so that the phase margin is greater than 50 degrees and the BW is greater than
20 rad/sec.
The transfer functions are generated and imported in sisotool as in 9-4:
MATLABcode:
s = tf('s')
Kp = 1
num_GH= Kp*100;
den_GH=s*(0.1*s+1)*(0.02*s+1);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
Followingsimilarstepsin94,thelooptransferfunctionsareinsertedintosisotool.Anotherrealzeroisaddedto
representtheeffectof K d .Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthecompensator
transferfunctioninsisotool.Theplaceofrealzerois Z = K p / K d ,andthegainofthecompensatorisequal
to K p .Thezerolocationand K p gainwerechangedinteractivelyinsisotooluntilthedesiredPM(59.5[deg])
andBWisachieved.FollowingfiguresshowsthisPMatcrossoverfrequencyof38.6rad/sec,whichinsuresBW
925
Chapter9Solutions
Golnaraghi,Kuo
of higher than 38.6 rad/sec (as the bandwidth is @ 3dB rather than 0 DB, i.e. bandwidth occurs at higher
frequencycomparedtocrossoverfrequency).
Finalpossibleanswer: K p = 0.25 and K d = K p / Z = 0.25 / 5 = 0.05
926
Chapter9Solutions
927
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-13)
Leadcompensatordesign:
G(s) H (s) =
1000 K
s (0.2 s + 1)(0.005s + 1)
Designacompensatorsuchthatthesteadystateerrortotheunitstepinputislessthan0.01andtheclosedloop
dampingratio>0.4.
Thetransferfunctionsaregeneratedandimportedinsisotoolasin94:
e ss =
1
< 0.01 1000 K p > 101 Therefore, K p isselectedas150:( K p =0.11)
1 + 1000 K p
Toachievetherequireddampingratio,thepolesoftheclosedloopsystemareplacedwithanangleoflessthan
ArcCos(=0.4),intherootlocusdiagramofsisotool.Thisisdonebyiterativelychangethelocationofpolesand
zeros of a lead compensator and setting K p =0.11. The pole and zero (which perform as a lead compensator
when the pole is further away from zero to the left) are inserted in sisotool as explained in 94. The lead
compensatorwillintroducesomephaseleadatlowerfrequenciesaboutthezerolocationwhichimprovesthe
closed loop response in terms of damping and phase margin. Following is the chosen location for lead
compensatorpoleandzero:
Pole@100rad/sec
Zero@1.08rad/sec
Whichresultedinsmallestanglesof dominant polelocations (theonesclosertoimaginaryaxis)with thereal
axis.Thissmallanglemeanshigherdampingofthepolesas=ArcCos(polesanglewithrealaxis).
928
Chapter9Solutions
Golnaraghi,Kuo

50
2
0
1
-50
0
-100
-1
-150
-2
G.M.: 17.3 dB
Freq: 3.64 rad/sec
Stable loop
-200
-2
-1
-250
-90
-135
-100
-180
-200
-225
0
-270
-90
-180
-315 P.M.: 56.7 deg

Freq: 0.975 rad/sec
-360
-270
-360
-2
10
10
10
Frequency (rad/sec)
10
-2
10
10
10
Frequency (rad/sec)
10
929
Chapter9Solutions
Golnaraghi,Kuo
Inthisparticularcase,closedloopcomplexpolescanbeobservedintheshownrootlocusdiagramatabout
0.81.2j.Thiscorrespondstodampingofabout:
cos(atan(1.2/0.8))=0.554
0.55
s = tf('s')
Kp = 1
num_GH= Kp*60;
den_GH=s*(0.4*s+1)*(s+1)*(s+6);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1)
margin(CL)
sisotool
930
Chapter9Solutions
Golnaraghi,Kuo
9-14)
PDcontrollerdesignedforamaximumovershootandamaximumsteadystateerror
1
0.005
lim
Therefore:
1
1
4
0.005 K p >
Kp >
250 K p
0.005 * 250
5
Let K p = 1 ,then:
M p = exp(
Let
) < 0.20 > 0.45
0.6;then:
0.2
Accordingly,
whichgives:
1250,or
1250
0.034
250
250
1
1
250
35.35.therefore,
5
2
1250
Thedesigncharacteristicscanbeobservedinthediagrambelow:
931
1250
1250
1
5
1250
2 0.6 0.35
Chapter9Solutions
Golnaraghi,Kuo
110
100
0.5
90
0
80
-0.5
-1
-4
0
70
G.M.: Inf
Freq: NaN
Stable loop
60
-3
-2
-1
Bode Editor for Closed Loop 1 (CL1) x 104
50
0
P.M.: 90 deg
Freq: 3.68e+004 rad/sec
-10
-20
-45
-30
0
-90
-45
-90
-2
10
-135
0
10
10
10
Frequency (rad/sec)
10
-4
10
-2
9-15)
Leadcompensatorcontrollerdesign
Thebodediagramofthesystemwithoutleadcompensatorisshownbelow:
932
10
10
Frequency (rad/sec)
10
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
20
Magnitude (dB)
0
-20
-40
-60
-80
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
10
IndicatingaPMof32.7[deg].Toreach45[deg]phasemargin,additional12.3[deg]phaseleadis
needed.At=17.3rad/scrossoverfrequency,ifin=12.3then
1
1
sin
sin
0.6488
17.3,then=0.0718
As=
Sincethegainisloweredby
Againcompensatorwithgainof0.7789isrequired,where,
1.2838
933
9-16) If r = 0.1
tan
sin
Chapter9Solutions
Golnaraghi,Kuo
55
tan
17.3
tan
17.3
tan
1.73
12.3
then from trial and error we found = 0.014088 and required gain would be 9.7185
9-17) K
lim
sG s G s
100K
100 K
First plot the bode diagram of uncompensated system when K = 1

Bode diagram for Loop T.F. is included for K=1
MATLAB CODE:
s = tf('s')
Kp = 1
num_GH= Kp*100;
den_GH=s*(0.2*s+1)*(0.05*s+1);
GH=num_GH/den_GH
lag_tf=(s/2+1)/(s/0.2+1)
lead_tf=(s/4+1)/(s/50+1)
LL=lag_tf*lead_tf
OL=GH*LL
CL =OL/(1+OL);
figure(1)
margin(GH)
figure(2)
margin(OL)
figure(3)
bode(CL)
grid on;
934
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -12 dB (at 10 rad/sec) , Pm = -28.3 deg (at 18.8 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
10
10
Frequency (rad/sec)
The bode diagram with K=1 shows -28 deg PM at 18.8 rad/sec.
According to the requirements the gain must be greater than
must be less than
or 0.01 for
200
or 250 for
0.2
/ and
In order to achieve above requirements, a lead-lag compensator will be appropriate.

Using a lag compensator will allow lower gain at frequencies less then 1 and using a lead
compensator will allow to increase phase margin
For the lag compensator,
1/10 is chosen to boost the low frequency amplitude

/2 1
/0.2 1
1
1
In order to introduce some phase lead to obtain the require PM, a lead compensator is also
designed as:
1
10
1
28.310
935
0.0112
Chapter9Solutions
Golnaraghi,Kuo
Where is overlaid with the crossover frequency (28.3 rad/sec) for applying the maximum
phase lead at this frequency. The Lead compensator T.F. will be as follows:
/5 1
/50 1
1
1
Resulting in the following Bode diagram for the compensated system, showing 44 deg PM:
To obtain a slightly higher PM, lead compensator zero was re-tuned, where the zero is pulled
closer to imaginary axis from -5 to -4:
1
1
/4 1
/50 1
This resulted in a higher PM as shown in the following bode diagram of loop transfer function:
Bode Diagram
Gm = 14.5 dB (at 30.7 rad/sec) , Pm = 45 deg (at 10.6 rad/sec)
100
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
936
10
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
20
Magnitude (dB)
0
-20
-40
-60
-80
Phase (deg)
-100
0
-90
-180
-270
-1
10
10
10
10
10
Frequency (rad/sec)
9-18)SeeChapter5solutionsforMATLABcodesforthisproblem.
100 K P +
G ( s ) =
Thus K I = 10.
KI
s + 10 s + 100
2
For K v = 10,
100 ( K P s + K I )
s 0
s s + 10 s + 100
s 0
= K I = 10
(b)Letthecomplexrootsofthecharacteristicequationbewrittenas s = + j15 and s = j15.
Thequadraticportionofthecharacteristicequationis
937
s + 2 s + + 225 = 0
2
Chapter9Solutions
Golnaraghi,Kuo
s + 10 s + (100 + 100 K P ) s + 1000 = 0

3
Thecharacteristicequationofthesystemis
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
s + (10 2 )
s + 2 s + + 225 s + 10 s + (100 + 100 K P ) s + 1000

2
s + 2 s + + 225 s
3
(
)
+ ( 20 4 ) s + (10 2 ) ( s
(10 2 ) s + 100 K P 125 s + 1000

2
(10 2 ) s
(100 K
+ 225
+ 3 20 125 s + 2 10 + 450 1250

2
Forzeroremainder,
2 10 + 450 1250 = 0
and
100 K P + 3 20 125 = 0
(1)
(2)
TherealsolutionofEq.(1)is = 2.8555 .FromEq.(2),
KP =
125 + 20 3
100
= 15765
.
Thecharacteristicequationrootsare: s = 2.8555 + j15, 2.8555 j15, and s = 10 + 2 = 4.289
(c)RootContours:
938
Geq ( s ) =
Chapter9Solutions
100 K P s
s + 10 s + 100 s + 1000
3
Golnaraghi,Kuo
100 K P s
( s + 10 ) ( s
+ 100
RootContours:
939
Chapter9Solutions
Golnaraghi,Kuo
9-19)
100 K P +
G ( s ) =
KI
s
For K = 10,
v
s + 10 s + 100
2
s 0
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 10
Thustheforwardpathtransferfunctionbecomes
G(s) =
10 (1 + 0.1K P s )
s 1 + 0.1s + 0.01s
AttributesoftheFrequencyResponse:
PM(deg)
GM(dB)
Mr
BW(rad/sec)
0.1
5.51
1.21
10.05
14.19
0.5
22.59
6.38
2.24
15.81
0.6
25.44
8.25
1.94
16.11
0.7
27.70
10.77
1.74
16.38
0.8
29.40
14.15
1.88
16.62
KP
940
Chapter9Solutions
Golnaraghi,Kuo
0.9
30.56
20.10
1.97
17.33
1.0
31.25
2.00
18.01
1.5
31.19
1.81
20.43
1.1
31.51
2.00
18.59
1.2
31.40
1.97
19.08
When K P = 11
. and K I = 10, K v = 10, thephasemarginis31.51deg.,andismaximum.
Thecorrespondingrootsofthecharacteristicequationrootsare:
5.4, 2.3 + j13.41, and 2.3 j13.41
ReferringtheserootstotherootcontoursinProblem108(c),thecomplexrootscorrespondsto
arelativedampingratiothatisnearoptimal.
(b)SensitivityFunction:
941
Chapter9Solutions
Golnaraghi,Kuo
Inthepresentcase,thesystemwiththePIcontrollerhasahighermaximumvalueforthesensitivity
function.
942
Chapter9Solutions
Golnaraghi,Kuo
9-20)
G(s) =
For K v = 100,
100 ( K P s + K I )
s s + 10 s + 100
2
s 0
s 0
(b)Thecharacteristicequationis
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 100
Thus K I = 100.
s + 10 s + (100 + 100 K P ) s + 100 K I = 0

3
RouthTabulation:
100 + 100 K P
10
10,000
100 K P 900
10,000
Forstability,100 K P 900 > 0
Thus
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 10,000
100 K P s
( s + 23.65)( s 6.825 + j19.4)( s 6.825 j19.4)
943
KP > 9
Chapter9Solutions
Golnaraghi,Kuo
(c) K I = 100
Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
G(s) =
100 ( K P s + 100 )
s s + 10 s + 100
2
KP
15
20
22
24
1.794
1.779
1.7788 1.7785
25
26
30
40
100
1000
1.7756
1.779
1.782
1.795
1.844
1.859
ymax
WhenKP=25,minimumymax=1.7756
944
Chapter9Solutions
Golnaraghi,Kuo
9-21)
G(s) =
100 ( K P s + K I )
s s + 10 s + 100
2
For Kv =
100 K I
100
= 10,
K I = 10
RouthTabulation:
100 + 100 K P
10
1000
100 K P
1000
RootContours:
Geq ( s ) =
s3 + 10 s 2 + 100 K + 1 s + 1000 = 0
P
Forstability,KP>0
100 K P s
3
s + 10 s + 100 s + 1000
945
Chapter9Solutions
Golnaraghi,Kuo
(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.
KP
0.5
1.0
1.6
1.7
1.8
1.393
1.275
1.2317 1.2416 1.2424
1.9
2.0
3.0
5.0
10 20
1.2441
1.246
1.28
1.372
1.514
ymax
WhenKP=1.7,maximumymax=1.2416
9-22) K
lim
sG s G s
20
20 K
let K = 6 and targeted PM = 45o . To include some integral action, Ki is set to 1.

First , lets take a look at uncompensated system:
The open loop bode shows as PM of -25.2 @ 4.35 rad/sec:
946
1.642
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -12.6 dB (at 2.2 rad/sec) , Pm = -25.2 deg (at 4.35 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
Phase (deg)
-150
-135
-180
-225
-270
-2
-1
10
10
10
10
10
10
Frequency (rad/sec)
To achieve the PM of 45 deg, we need to add a phase lead of (45 (-25.2)=70.2). By try and error, 2
compensators (a double lead compensator) each with phase lead of 55 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 52 deg
was obtained as seen in the bode diagram of compensated loop:
Double Lead filter design:
1
1
sin
sin
1
1
sin 55
sin 55
10.0590,
1
10.059
1
1510.0590
0.0210
The maximum phase lead of the compensators are placed at 15 rad/sec, which resulted in a larger PM
(=52.5 deg) compared to applying this phase lead at original cross over frequency of 4.35 rad/sec. This
was due to the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0
rad/sec.
The gain crossover frequency is 6.92 rad/sec. Bode diagram of compensated loop transfer
function can be observed in the following figure, showing a PM pf 52.5 deg:
947
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
100
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Bode Diagram
20
Magnitude (dB)
0
-20
-40
-60
-80
Phase (deg)
-100
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
948
10
10
Chapter9Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
Kp = 6;
Ki = 1;
num_GH= 24*(Kp+Ki/s);
den_GH=s*(s+1)*(s+6);
GH=num_GH/den_GH;
%lead design
PL=55
CRover=15
alpha=(1+sin(PL/180*pi))/(1-sin(PL/180*pi))
T=1/alpha^0.5/CRover
lead=(1+T*alpha*s)/(1+T*s)
LT=GH*lead*lead %double lead compensation
CL = LT/(1+LT);
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Bode(CL)
grid on;
9-23)
K
Lets consider
1
K
lim s G s G s
lim
0.05
40 K s K I
s 2 s 20
KI
20
21
As gain crossover frequency is
1 |G G j |
1.25
Lets see if the PM is in the required range. The bode of the loop transfer function shows a PM
of -57 deg at 3.31.
949
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -Inf dB (at 0 rad/sec) , Pm = -57.1 deg (at 3.31 rad/sec)
100
Magnitude (dB)
50
-50
Phase (deg)
-100
-180
-225
-270
-1
10
10
10
10
Frequency (rad/sec)
By try and error, a double lead compensator, each with phase lead of 53 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 35.4 deg
1
1
sin
sin
1
1
sin 53
sin 53
8.9322,
1
8.9322
1
7.58.9322
0.0446
The maximum phase lead of the compensators are placed at 7.5 rad/sec, resulting in a larger PM (= 52.5
deg) compared to applying this phase lead at original cross over frequency of 3.31 rad/sec. This was due
to the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0 rad/sec.
Then the gain crossover frequency is 6.8 rad/sec. Bode diagram of compensated loop can be
observed in the following figure, showing a PM pf 35.4 deg:
950
Chapter9Solutions
MATLAB code:
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Bode(CL)
grid on;
Bode Diagram
100
Magnitude (dB)
50
0
-50
-100
-150
-135
-180
Phase (deg)
s = tf('s')
Kp = 1.25;
Ki = 21;
den_GH=s*(s+2)*(s+20);
GH=num_GH/den_GH;
CL = GH/(1+GH);
%lead design
PL=53
CRover=7.5
alpha=(1+sin(PL/180*pi))/(1
-sin(PL/180*pi))
LT=GH*lead*lead
CL = LT/(1+LT);
Golnaraghi,Kuo
-225
-270
-1
10
10
10
10
Frequency (rad/sec)
Bode Diagram
50
Magnitude (dB)
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
951
10
10
10
Chapter9Solutions
Golnaraghi,Kuo
9-24)
To satisfy the unity DC gain (G(0)/(1+Kp*G(0)) = 1), Kp should be equal to 1: Kp=1
0.2 was chosen as the integral gain.
In order to add some integral action,
First, the bode plot of the Loop transfer function is obtained demonstrating a PM of -23.8 deg at 3
rad/sec cross over frequency:
Bode Diagram
Gm = -9.18 dB (at 1.82 rad/sec) , Pm = -23.8 deg (at 3 rad/sec)
100
Magnitude (dB)
50
-50
Phase (deg)
-100
-135
-180
-225
-270
-2
-1
10
10
10
10
10
Frequency (rad/sec)
First, the bode plot of the Loop transfer function is obtained demonstrating a PM of -23.8 deg at 3
rad/sec cross over frequency:
By try and error, a double lead compensator, each with phase lead of 48 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 41.9 deg
1
1
sin
sin
1
1
sin 48
sin 48
6.7865,
952
1
6.7865
1
98.9322
0.0427
Chapter9Solutions
Golnaraghi,Kuo
The maximum phase lead of the compensators are placed at 9 rad/sec, resulting in a larger PM (= 41.9
deg) compared to applying this phase lead at original cross over frequency of 3 rad/sec. This was due to
the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0 rad/sec.
Then the gain crossover frequency is 4.35 rad/sec. Bode diagram of compensated loop can be
observed in the following figure, showing a PM pf 35.4 deg:
Bode Diagram
100
Magnitude (dB)
50
0
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
Frequency (rad/sec)
MATLAB code:
s = tf('s')
Kp=1;
Ki=0.2;
den_GH=s*(5*s+7)*(s+3);
GH=num_GH/den_GH;
%lead design
PL=48
CRover=9
alpha=(1+sin(PL/180*pi))/(1-sin(PL/180*pi))
LT=GH*lead*lead
CL = LT/(1+LT);
953
10
10
Chapter9Solutions
Golnaraghi,Kuo
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Margin(CL)
Bode Diagram
50
Magnitude (dB)
0
System: CL
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-1
10
10
10
10
10
Frequency (rad/sec)
The Bandwidth can be obtained from -3dB in magnitude diagram of the Bode plot. He above data point
in the figure shows BW = 7.44 rad/sec
954
Chapter9Solutions
2 , therefore,
9-25)
Golnaraghi,Kuo
From bode plot of uncompensated loop, we have PM = -111 at = 0.363 rad/s:

Bode Diagram
Gm = -25.9 dB (at 0.0576 rad/sec) , Pm = -111 deg (at 0.363 rad/sec)
100
Magnitude (dB)
50
-50
Phase (deg)
-100
270
180
90
0
-3
10
-2
-1
10
10
10
10
Frequency (rad/sec)
A PI controller can be expressed as PI
sK . The effect is similar to adding a Zero at
K
K
. Lets
place this zero at 71/500 to cancel the Phase lag originating from the unstable zero of G at +71/500:
2353 K (71 500 s )
( G (s) =
).
71s ( 40 s + 13)(5000 s + 181)
The compensator can be expressed as:
PI
K
K
K s
71/500 , where K can be adjusted in sisotool as the overall gain of the
loop, until the required PM is achieved. At K

results:
37, PM=50 deg as seen in the following sisotool
955
Chapter9Solutions
Golnaraghi,Kuo
10
50
0
5
-50
0
-100
-150
-5
-200
-10
-10
-5

200
G.M.: 10.5 dB
10
Stable loop
-300
270
0
180
-200
90
-400
360
-90
P.M.: 50.5 deg
Freq: 0.0137 rad/sec
-360
-4
10
-180
-2
10
10
10
Frequency (rad/sec)
10
-4
10
-2
10
10
10
Frequency (rad/sec)
10
Considering the slow dynamic of the ship, and the RHS zero, the crossover frequency is relatively low.
The root locus diagram can be seen as:
Zoom in
956
Chapter9Solutions
Golnaraghi,Kuo
Root Locus
0.06
0.04
Imaginary Axis
0.02
-0.02
-0.04
-0.06
-0.08
-0.6
-0.5
-0.4
-0.3
-0.2
-0.1
0.1
0.2
Real Axis
Zoom out
Root Locus
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-8
-7
-6
-5
-4
-3
Real Axis
MATAB Code:
s = tf('s')
Kp=1;
Ki=1;
num_G= 2353*2*(71-500*s)
den_G=71*s*(40*s+13)*(5000*s+181)*(71+500*s)^2;
G=num_G/den_G;
%PI design
957
-2
-1
Chapter9Solutions
Golnaraghi,Kuo
Kp=1
Ki=71/500
PI=Kp+Ki*s
figure(100)
Margin(G)
figure(101)
rlocus(G*PI)
sisotool
9-26) a) Transfer functions G and H are generated in MATLAB and imported into sisotool:
MATLAB Code:
s = tf('s')
num_G= 2*10^5;
den_G=s*(s+20)*(s^2+50*s+10000);
G=num_G/den_G;
num_c1= 0.05*s+1;
den_c1=0.01*s+1;
c1=num_c1/den_c1;
num_c2= s/0.316+1;
den_c2=s/3.16+1;
c2=num_c2/den_c2;
sisotool
(a) The gain was changed until the cross over frequency matches 31.6 rad/sec as a requirement. At
K=30.3, the desired cross over frequency of 31.6 rad/sec happens as can be seen in the following
sisotool results:
958
Chapter9Solutions
Golnaraghi,Kuo
300
50
200
0
100
0
-50
-100
-200
-300
-300
-100
-200
-100
100
G.M.: 5.26 dB
Freq: 81.6 rad/sec
Stable loop
200
-150
-90
50
0
-50
-180
-100
0
-270
-180
P.M.: 62.5 deg
Freq: 31.6 rad/sec
-360
0
10
-360
1
10
10
Frequency (rad/sec)
10
959
10
10
10
10
Frequency (rad/sec)
10
b) K
K
lim
Lim
Golnaraghi,Kuo
30.3 , then
30.3
c) Again, K
K
sG s G s
Chapter9Solutions
lim
sG s G s
Lim
r. To have
100 , the overall gain of the PI controller should be equal to 100 (r = 100).
d & e) In this part, the PI pole is asked to be placed at -3.16 rad/sec and the crossover frequency needs to
be at 31.6 rad/sec. The zero and the gain of the PI controller needs to be designed.
r (s + 1)
, the corresponding
(rs + 1)
pole is set to -3.16 in sisotool. The place of the zero and the overall gain is iteratively changed in the
MATLAB sisotool to achieve the crossover frequency of 31.6 rad/sec.
Considering the structure of the PI controller given in the question, H ( s ) =
With a zero at -0.06321 rad/sec and overall gain of K=270, required crossover frequency (31.6 rad/sec)
and PM of 21.9 deg is obtained as shown in the following sisotool results:

300
150
200
100
100
50
-100
-50
-200
-100
-300
-300
-200
-100
100

100
G.M.: 6.61 dB
200
Stable loop
-200
-90
0
-100
-180
-200
0
-270
-180
P.M.: 21.9 deg
Freq: 31.6 rad/sec
-360
-2
10
-360
0
10
10
Frequency (rad/sec)
10
960
-4
10
-2
10
10
10
Frequency (rad/sec)
10
Chapter9Solutions
Golnaraghi,Kuo
e) the presented sisotool figure shows the compensated bode diagram and 21.9 deg of PM.
961
Chapter9Solutions
Golnaraghi,Kuo
9-27)
Gc ( s ) = K P + K D s +
where
KI
s
= (1 + K D 1 s ) K P 2 +
K P = K P 2 + K D1 K I 2
KDs + KPs + KI
2
K D = K D1 K P 2
KI 2
KI = KI 2
100 (1 + K D1 s )( K P 2 s + K I 2 )
G ( s ) = Gc ( s )G p ( s ) =
Thus
ConsideronlythePIcontroller,(with K D1 = 0 )
s s + 10 s + 100
2
K v = lim sG ( s ) = K I 2 = 100
s 0
K I = K I 2 = 100
s + 10 s + (100 + 100 K P 2 ) s + 10, 000 = 0
100 ( K P 2 s + 100 )
G ( s ) =
Forstability, K P 2 > 9 .Select K P 2 = 10 forfastrisetime.
s s + 10 s + 100
2
G(s) =
1000 (1 + K D1 s )( s + 10 )
s s + 10 s + 100
2
962
Chapter9Solutions
Golnaraghi,Kuo
When K D1 = 0.2, therisetimeand
overshootrequirementsaresatisfied.
K D = K D1 K P 2 = 0.2 10 = 2
K P = K P 2 + K D1 K I 2 = 10 + 0.2 100 = 30
Gc ( s ) = 30 + 2 s +
100
s
UnitstepResponse
963
Chapter9Solutions
Golnaraghi,Kuo
9-28)
ProcessTransferFunction:
Gp (s) =
Y (s)
U (s)
0.2 s
1 + 0.25s
(1 + 0.25s ) (1 + 0.2 s + 0.02 s
(a)PIController:
KP +
KI
200 ( K P s + K I )
s
=
2
2
1 + 0.2 s + 0.02 s
s ( s + 4 ) s + 10 s + 50
G ( s ) = Gc ( s )G p ( s )
For K v = 2,
Thus
Thefollowingvaluesoftheattributesoftheunitstepresponsearecomputedforthesystemwithvarious
valuesfor K P .
G(s) =
KP
(1 + 0.25s ) (
s 0
200 ( 2 + K P s )
s ( s + 4 ) s + 10 s + 50
2
200 K I
4 50
= KI = 2
Thus K I = 2
Maxovershoot
ts
ts
(%)
(sec)
(sec)
0.1
19.5
0.61
2.08
0.2
13.8
0.617
1.966
0.3
8.8
0.615
1.733
0.4
4.6
0.606
0.898
0.5
1.0
0.5905
0.878
0.6
0.568
0.851
0.7
0.541
1.464
0.8
0.5078
1.603
1.0
0.44
1.618
964
Chapter9Solutions
Golnaraghi,Kuo
965
Chapter9Solutions
966
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
967
Chapter9Solutions
9-29)
968
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-30) If there is no disturbance then

0.9
2
2
Lets consider PID controller as:
1/
If D is sufficiently smaller than I then the I has minor effect in PID controller. Lets examine
PID controller when D is varied.
0.5
100
If
180
90
10
65
0.5
20
so lets consider D
1
10, then
0.1
As I to be large enough with respect to D, let I
20 D
200
0.005
Now we have to determine the value of K so that the gain at the crossover frequency remains at 1.
If K=1 then |G s G s |
20. Therefore,
20, or K=0.05
9-31) Let
1
1
1
where
0.01. therefore,
which gives
10 . Now
required to achieve PM 45
10
10,then PM
100
40 . As a result, 91o phase lead is
The crossover frequency is 12.3 rad/sec as can be seen in the uncompensated bode diagram. The
lag compensator must position
5rad/sec, where its gain is 17.5 dB. Therefore the ratio of
lag compensator can be chosen for this purpose as 3
969
10
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
40
Magnitude (dB)
20
-20
-40
0
Phase (deg)
-45
-90
-135
-180
-2
-1
10
10
10
10
10
Frequency (rad/sec)
Now the gain, which is obtained from combination of lead and lag compensator, is
1
1
5
5
or
1
1
20
5
5
where
1 for 1 < 1. Since it is required that the final gain is increased by 17.5 dB,
lets choose
.
0.5
On the other hand, the corner frequency is

20
1
1
5
5
970
20
2. Therefore,
23.5
Chapter9Solutions
20
23.5
Golnaraghi,Kuo
17.5
5.33
As a result, the actual phase reduction is

The required phase lead is
53.33
By trial and error, we can find
45
5.33
0.068 and
971
53.33, where
0.35. Therefore
147 where
Chapter9Solutions
Golnaraghi,Kuo
9-32)
972
UnitstepResponse.
Chapter9Solutions
Golnaraghi,Kuo
Theunitstepresponseshowsamaximumovershootof26%.Althoughtherelativedampingratioofthe
complexrootsis0.707,therealpoleofthethirdordersystemtransferfunctionisat0.667whichadds
totheovershoot.
(c)
G ( s ) = Gc ( s )G p ( s ) =
0.00667 (1 + K D1 s )( K P 2 s + K I 2 )
For K v = 100, K I 2 = K I = 100. Letusselect K P 2 = 50. Then
Forasmallovershoot, K D1mustberelativelylarge.When K D1 = 100, themaximumovershootis
approximately4.5%.Thus,
G(s) =
s s + 0.00667
2
0.00667 (1 + K D1 s )( 50 s + 100 )
s s + 0.00667
2
973
Chapter9Solutions
Golnaraghi,Kuo
K P = K P 2 + K D1 K I 2 = 50 + 100 100 = 10050
K D = K D1 K P 2 = 100 50 = 5000
K I = 100
3
SystemCharacteristicEquation:
s + 33.35 s + 67.04 s + 0.667 = 0
0.01,2.138,31.2
UnitstepResponse.
Roots:
974
Chapter9Solutions
Golnaraghi,Kuo
9-33)(a)
G p ( s) =
Thetransferfunction G p ( s ) haspolesonthe j axis.Thenaturalundampedfrequencyis
n = 0.0816 rad/sec.
Z ( s)
F ( s)
1
2
Ms + K s
1
2
150 s + 1
0.00667
2
s + 0.00667
(b)PIDController:
0.00667 K D s + K P s + K I
2
G ( s ) = Gc ( s )G p ( s ) =
K v = lim sG ( s ) = K I = 100
For = 1 and n = 1rad/sec,thesecondordertermofthecharacteristicequationis s + 2 s + 1.
Dividingthecharacteristicequationbytheseondorderterm.
s 0
s s + 0.00667
2
Thus
K I = 100
s + 0.00667 K D s + 0.00667 (1 + K P ) s + 0.00667 K I = 0

3
s + ( 0.00667 K D 2 )
s + 2 s + 1 s + 0.00667 K D s + ( 0.00667 + 0.00667 K P ) s + 0.00667 K I

2
s + 2s + s
3
( 0.00667 K
( 0.00667 K
( 0.00667 K
2 ) s + ( 0.00667 K P 0.99333 ) s + 0.00667 K I
2 ) s + ( 0.01334 K D 4 ) s + 0.00667 K D 2
0.01334 K D + 3.00667 ) s + 0.00667 K I 0.00667 K D + 2
Forzeroremainder,
0.00667 K D + 0.00667 K I + 2 = 0
FromEq.(2),
FromEq.(1),
0.00667 K P 0.01334 K D + 3.00667 = 0
(1)
(2)
0.00667 K D = 0.00667 K I + 2 = 2.667
Thus
975
K D = 399.85
Chapter9Solutions
0.00667 K P = 0.01334 K D 3.00667 = 2.3273
G(s) =
Roots:1,1,0.667
UnitstepResponse.
s s + 0.00667
2
s + 2.667 s + 2.334 s + 0.667 = ( s + 1)

3
Thus K P = 348.93
0.00667 399.85s + 348.93s + 100
Golnaraghi,Kuo
)
2
( s + 0.667 ) = 0
Themaximumovershootis20%.
976
9-34) a) As
Chapter9Solutions
Golnaraghi,Kuo
, therefore,
or
b)
According to the second order system:
1.8
1.8
5
0.36
0.6
1
Let's first add a PD controller with G s
overshoot requirement.
K D s, and find KD which satisfy the maximum
After writing the closed-loop transfer function including the PD controller, the characteristic equation
(denominator of the closed loop T.F.) is:
Therefore:
1000 0.36
2
Also,
129.6
2 1000 0.6 0.36
Now lets add a PI controller with G s
KI
50
382 Nsec/m
, and find Kp and KI by using following table.
Now, for the PI part, K I should be selected so that the additional pole at
KI
K
does not interfere
with the system dynamics. This pole is usually placed at least 1 decade lower (frequency wise)
than the slowest existing poles of the system. In this case, since
KI
K
0.005, resulting in K I
K 0.005
129.6 0.005
0.05, lets have
0.648
The step response is obtained through the following MATLAB code, showing the rise time of
less than 5 sec, and almost no overshoot
977
Chapter9Solutions
Golnaraghi,Kuo
Step Response
1
0.99
0.98
0.97
Amplitude
0.96
0.95
0.94
0.93
0.92
0.91
0.9
0
10
15
20
25
Time (sec)
MATLAB code:
s = tf('s')
Kp = 129.6
Kd = 382
Ki = 0.648
num_GH= (Kp*Kd*s)*(1+Ki/s);
den_GH=(1000*s+50);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1)
step(CL)
xlim([-1 50])
ylim([0.9 1])
978
30
35
40
45
50
9-35)(a)ProcessTransferFunction:
G p ( s) =
ForwardpathTransferFunction
G ( s ) = Gc ( s )G p ( s ) =
4 ( KP + KD s)
s + 4 K D s + 4 K P = s + 1.414 s + 1 = 0 for = 0.707, n = 1rad/sec
K P = 0.25 and K D = 0.3535
Golnaraghi,Kuo
Chapter9Solutions
UnitstepResponse.
Maximumovershoot=20.8%
(b)Selectarelativelylargevaluefor K D andasmallvaluefor K P sothattheclosedlooppolesarereal.
Theclosedloopzeroat s = K P / K D isveryclosetooneoftheclosedlooppoles,andthesystem
dynamicsaregovernedbytheotherclosedlooppoles.Let K D = 10 andusesmallvaluesof K P .
Thefollowingresultsshowthatthevalueof K P isnotcriticalaslongasitissmall.
979
Chapter9Solutions
Golnaraghi,Kuo
Kp
Maxovershoot
tr
ts
(%)
(sec)
(sec)
0.1
0.0549
0.0707
0.05
0.0549
0.0707
0.2
0.0549
0.0707
(c)ForBW 40rad/secand M r = 1,wecanagainselect K D = 10 andasmallvaluefor K P .
Thefollowingfrequencydomainresultssubstantiatethedesign.
Kp
PM
Mr
BW
(deg)
(rad/sec)
0.1
89.99
40
0.05
89.99
40
0.2
89.99
40
980
Chapter9Solutions
G ( s ) = Gc ( s )G p ( s ) =
RouthTabulation:
10, 000 ( K P + K D s )
s
( s + 10 )
10,000 K D
10
10,000 K P
10,000 K D 1000 K P
Golnaraghi,Kuo
3
s + 10 s + 10,000 K D s + 10,000 K P = 0
Thesystemisstablefor K P > 0 and K D > 0.1K P
10,000 K P
(b)RootLocusDiagram:
G ( s ) =
10, 000 K P
s
( s + 10 )
981
Chapter9Solutions
Golnaraghi,Kuo
RootContours:
0 K D < , K P = 0.001, 0.002, 0.005, 0.01.
Geq ( s ) =
10,000 K D s
3
s + 10 s + 10,000 K P
(c)Therootcontoursshowthatforsmallvaluesof K P thedesignisinsensitivetothevariationof K P .This
meansthatifwechoose K P tobebetween0.001and0.005,thevalueof K D canbechosentobe0.005
forarelativedampingratioof0.707.Let K P = 0.001 and K D = 0.005. Gc ( s ) = 0.001 + 0.005 s.
Theforwardpathtransferfunctionbecomes
982
G(s) =
10 (1 + 5 s )
Sincethezeroof G ( s ) isats=0.2,whichisveryclosetos=0,G(s)canbeapproximatedas:
Forthesecondordersystem, = 0.707.UsingEq.(7104),therisetimeisobtainedas
UnitstepResponse:
Golnaraghi,Kuo
Chapter9Solutions
G(s)
tr =
50
s ( s + 10 )
( s + 10 )
1 0.4167 + 2.917
= 0.306 sec
(d)FrequencydomainCharacteristics:
G(s) =
10 (1 + 5 s )
s
( s + 10 )
PM
GM
(deg)
(dB)
63
Mr
(rad/sec)
1.041
983
BW
7.156
Chapter9Solutions
Golnaraghi,Kuo
9-37) This problem is extensively discussed in Chapters 5 and 6. Use the transfer function (5-123) for
the open-loop system, and a series PID compensator in a unity feedback system.
Gc
Reduce to:
Gc
in_Va
Where:
G (s) =
(s)
Kt
=
2
Va ( s ) s ( La Js + ( La B + Ra J ) s + Ra B + K t K b )
Gc ( s ) = K p + K D s +
2
KI KDs + K ps + KI
=
s
s
With
the rotor inertia (J) = 0.01 kg.m2/s2
damping ratio of the mechanical system (B) = 0.1 Nms
back-emf constant (Kb) = 0.01 Nm/Amp
torque constant (Kt) = 0.01 Nm/Amp
armature resistance (Ra) = 1
armature inductance (La) = 0.5 H
Starting systematically, set KI=KD=0. Assume a small electric time constant (or small inductance) and
simplify to Equation (5-126):
m ( s )
in ( s )
KK m K s
Ra
KK
KK K
( e s + 1) J m s 2 + B + b m s + m s
Ra
Ra
984
(5-125)
Chapter9Solutions
Golnaraghi,Kuo
WhereKsisthesensorgain,and,asbefore,e=(La/Ra)maybeneglectedforsmallLa.
KK t K s
m ( s )
Ra J
=
in ( s )
R B + Kt Kb
KK t K s
s2 + a
s+
Ra J
Ra J
KK t K s
m ( s )
Ra J
=
in ( s )
R B + Kt Kb
KK t K s
s2 + a
s+
Ra J
Ra J
m ( s )
=
in ( s )
(5-126)
K p 0.1
0.01
K p 0.1
0.1
(0.01)(0.01)
+
s2 +
s+
0.01
0.01
10 K p
m ( s )
=
in ( s ) s 2 + 12 s + 10 K p
Where Ks=0.
Using ts
3 .2
; for a less than 2 sec settling time n 1.6
For a PO of 4.3, =0.707, resulting in n=2.26.

Then a standard 2nd order prototype system that will have the desired response, with zero steady state
error, takes the following form
m ( s )
5.12
= 2
in ( s ) s + 3.2 s + 5.12
For obvious reasons

10 K p
m ( s )
5.12
= 2
2
in ( s ) s + 12 s + 10 K p s + 3.2 s + 5.12
Lets add a PD controller

Gc ( s ) = K p + K D s
985
Chapter9Solutions
Golnaraghi,Kuo
10 ( K D s + K p )
m ( s )
5.12
= 2
2
in ( s ) s + (12 + 10 K D ) s + 10 K p s + 3.2 s + 5.12
(12 + 10 K D ) = 5.12
10 K p = 5.12
K D = 0.688
K p = 0.512
Although the two systems are not the same because one has a zero, we chose the controller gain values
by matching the two characteristic equations as an initial approximation. The resulting zero in the right
hand plane is troubling.
Lets find the response of the system through ACSYS:
Looking at the TF poles, it seems prudent to design the controller by placing its zero farther to LHS of
the s-plane. Set z=-Kp/KD=-20 and vary KD to find the root locus or the response.
986
Chapter9Solutions
Done!
9-38) The same as 9-37
987
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-39)
0
25.92
A =
0
2.36
1
s
25.92 s
sI A =
0
0
0
2.36
0 0 1
0 0 0
0
0
25.92
1 = s
2.36
= sI A = s 0 s 1 +
(s
25.92
s3
2
1 25.92 s
=
2.36 s
2
2.36 s
s
0
0
3
2
2.36 s 25.92 s s 25.92
3
2.36 s
0
s 25.92 s
s
( sI A )
0.0732 s 2
0
0.0732 1 0.0732 s 3
1
1
s
s
I
A
B
I
A
(
)
(
) 0 =
2
0.0976 s 2.357
3
0.0976
0.0976 s 2.357 s
Y ( s ) = D ( sI A
B = [0
0 ] sI A
B=
0.0976 s 24.15
2
CharacteristicEquation: s + 0.0976 s + ( 0.0976 K P 25.92 ) s 2.357 K D s 2.357 K P = 0
ThesystemcannotbestabilizedbythePDcontroller,sincethe s andthe s termsinvolve K D which
requireoppositesignsfor K D .
(s
25.92
988
Chapter9Solutions
Golnaraghi,Kuo
9-40)
LetusfirstattempttocompensatethesystemwithaPIcontroller.
Gc ( s ) = K P +
KI
s
Then G ( s ) = Gc ( s )G p ( s ) =
100 ( K P s + K I )
s s + 10 s + 100
2
SincethesystemwiththePIcontrollerisnowatype1system,thesteadystateerrorofthesystemduetoa
stepinputwillbezeroaslongasthevaluesof K P and K I arechosensothatthesystemisstable.
Letuschoosetheramperrorconstant K v = 100 .Then, K I = 100. Thefollowingfrequencydomain
performancecharacteristicsareobtainedwith K I = 100 andvariousvalueof K P rangingfrom10to100.
KP
PM
GM
Mr
BW
(deg)
(dB)
10
1.60
29.70
50.13
20
6.76
7.62
69.90
30
7.15
7.41
85.40
40
6.90
8.28
98.50
50
6.56
8.45
106.56
100
5.18
11.04
160.00
(rad/sec)
ThemaximumphasemarginthatcanbeachievedwiththePIcontrollerisonly7.15degwhen K P = 30.
Thus,theovershootrequirementcannotbesatisfiedwiththePIcontrolleralone.
Next,wetryaPIDcontroller.
989
Chapter9Solutions
KI
(1 + K s )( K
s + KI 2 )
s + 100 )
Gc ( s ) = K P + K D s +
BasedonthePIcontrollerdesign,letusselect K P 2 = 30. Thentheforwardpathtransferfunction
becomes
ThefollowingattributesofthefrequencydomainperformanceofthesystemwiththePIDcontroller
areobtainedforvariousvaluesof K D1rangingfrom0.05to0.4.
G(s) =
D1
P2
100 ( 30 s + 100 )(1 + K D1 s )
s s + 10 s + 100
2
(1 + K s )( K
Golnaraghi,Kuo
D1
P2
KD1
PM
GM
Mr
BW
(deg)
(dB)
0.05
85.0
1.04
164.3
0.10
89.4
1.00
303.8
0.20
90.2
1.00
598.6
0.30
90.2
1.00
897.0
0.40
90.2
1.00
1201.0
(rad/sec)
Weseethatforvaluesof K D1greaterthan0.2,thephasemarginnolongerincreases,butthe
bandwidthincreaseswiththeincreasein K D1.Thuswechoose
K D1 = 0.2, K I = K I 2 = 100, K D = K D1 K P 2 = 0.2 30 = 6 ,
K P = K P 2 + K D1 K I 2 = 30 + 0.2 100 = 50
Gc ( s ) = 50 + 6 s +
100
ThetransferfunctionofthePIDcontrolleris
Theunitstepresponseisshowbelow.Themaximumovershootiszero,andtherisetimeis0.0172sec.
990
Chapter9Solutions
Golnaraghi,Kuo
991
Chapter9Solutions
Golnaraghi,Kuo
9-41)
3.6
3.6
Lets consider the characteristic equation like:
3.6
for 2% settling time.
0.5 and
Therefore we can choose
where 2
3. Now, we can choose pole p
far enough from pole dominant of second order. Let p = 10, then the characteristic equation
would be:
36
where
9
160 ,
14
0.29, and
160
0.065
160 0.065
Verify using MATLAB
992
56
0.29
Chapter9Solutions
Golnaraghi,Kuo
9-42)
(a)
Gp (s) =
G ( s ) = Gc ( s )G p ( s ) =
RootContours:(Tisfixedandavaries)
4 (1 + aTs )
s (1 + Ts )
2
Geq ( s ) =
4 aTs
3
Ts + s + 4
SelectasmallvalueforTandalargevaluefora.LetT=0.02anda=100.
Thecharacteristicequationis
s + 50 s + 400 s + 200 = 0
Therootsare:
0.5355,9.3,40.17
Thesystemtransferfunctionis
Gc ( s ) =
1+ 2s
1 + 0.02 s
G(s) =
400 ( s + 0.5 )
s
( s + 50 )
Y (s)
R(s)
400 ( s + 0.5 )
( s + 0.5355 )( s + 9.3 )( s + 40.17 )

993
Chapter9Solutions
Golnaraghi,Kuo
Sincethezeroat0.5isveryclosetothepoleat0.5355,thesystemcanbeapproximatedbyasecond
ordersystem,
Theunitstepresponseisshownbelow.Theattributesoftheresponseare:
UnitstepResponse.
Y (s)
R(s)
373.48
( s + 9.3 )( s + 40.17 )
Maximumovershoot=5% t s = 0.6225sec t r = 0.2173 sec
Thefollowingattributesofthefrequencydomainperformanceareobtainedforthesystemwiththe
phaseleadcontroller.
PM=77.4degGM=infiniteMr=1.05BW=9.976rad/sec
(b)TheBodeplotoftheuncompensatedforwardpathtransferfunctionisshownbelow.Thediagram
showsthattheuncompensatedsystemismarginallystable.ThephaseofG ( j ) is180degatall
994
Chapter9Solutions
Golnaraghi,Kuo
frequencies.Forthephaseleadcontrollerweneedtoplace m atthenewgaincrossoverfrequency
torealizethedesiredphasemarginwhichhasatheoreticalmaximumof90deg.
Foradesiredphasemarginof80deg,
a=
1 + sin 80
1 sin 80
= 130
Thegainofthecontrolleris 20 log10 a = 42 dB.Thenewgaincrossoverfrequencyisat
Or
G ( j ) =
G ( j ) =
= 0.0877
42
2
= 21dB
2
= 45.61
Thus
= 6.75 rad/sec
1
T
= a m = 130 6.75 = 77
Thus
T = 0.013
1
aT
= 0.592
Gc ( s ) =
1 + aTs
1 + Ts
Thus
aT = 169
.
1 + 1.702 s
G (s) =
1 + 0.0131s
BodePlot.
995
4 (1 + 1.702 s )
s (1 + 0.0131s )
2
Chapter9Solutions
Golnaraghi,Kuo
996
Chapter9Solutions
Golnaraghi,Kuo
1000 (1 + aTs )
aT
G ( s ) = Gc ( s )GP ( s ) =
=
1
s ( s + 10 )(1 + Ts )
s ( s + 10 ) s +
T
1000a s +
Set1/aT=10sothatthepoleofG ( s ) ats=10iscancelled.Thecharacteristicequationofthesystem
becomes
n = 1000 a
s +
2 n =
1
T
1
T
s + 1000 a = 0
= 2 1000 a
Thusa=40andT=0.0025
ControllerTransferFunction:
Gc ( s ) =
1 + 0.01s
1 + 0.0025 s
G ( s ) =
40, 000
s ( s + 400 )
Theattributesoftheunitstepresponseofthecompensatedsystemare:
Maximumovershoot=0 t r = 0.0168 sec
t s = 0.02367 sec
(b)FrequencydomainDesign
TheBodeplotoftheuncompensatedforwardpathtransferfunctionismadebelow.
G(s) =
1000
Mr=3.117,andBW=48.53rad/sec.
s ( s + 10 )
TheattributesofthesystemarePM=17.96deg,GM=infinite.
997
Chapter9Solutions
Golnaraghi,Kuo
Torealizeaphasemarginof75deg,weneedmorethan57degofadditionalphase.Letusaddan
additional10degforsafety.Thus,thevalueof m forthephaseleadcontrollerischosentobe
67deg.Thevalueofaiscalculatedfrom
a=
1 + sin 67
1 sin 67
= 24.16
Thegainofthecontrolleris 20 log10 a = 20 log10 24.16 = 27.66 dB.Thenewgaincrossoverfrequency
isat
FromtheBodeplot m isfoundtobe70rad/sec.Thus,
'
G ( j m ) =
27.66
2
= 13.83 dB
'
= aT = 24.16 70 = 344
or T = 0.0029
aT = 0.0702
Thus
Thecompensatedsystemhasthefollowingfrequencydomainattributes:
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.0702 s
1 + 0.0029 s
PM=75.19deg
GM=infinite
Mr=1.024
BW=91.85rad/sec
Theattributesoftheunitstepresponseare:
Risetimetr=0.02278sec
Settlingtimets=0.02828secMaximumovershoot=3.3%
998
Chapter9Solutions
Golnaraghi,Kuo
999
Chapter9Solutions
Golnaraghi,Kuo
9-44) Also see Chapter 6 for solution to this problem.

Mathematical Model:
Draw free body diagrams (Assume both xc and xw are positive and are measured from
equilibrium). Refer to Chapter 4 problems for derivation details.
kc ( xc xw )
cc ( x&c x&w )
mw
k w ( xw y )
mw
0
mc
kc ( xc xw )
cw ( x&w y& )
0 &&
xw cw + cc
+
mc &&
xc cc
cc x&w kw + kc
+
cc x&c kc
kc xw cw
=
kc xc 0
cc ( x&c x&w )
0 y& kw
+
0 0 0
0 y
0 0
To Solve we need to simplify, since the problem is very difficult.

Assume the wheel is very stiff; hence k w = , which implies xw=y. Then
mc &&
xc + cc x&c + kc xc = cc y& + kc y
or
&&
xc + 2n x&c + n2 xc = 2n y& + n2 y
Placing an actuator between the two masses (ignore actuator dynamics for simplicity), and use a
PD control: the control force is (mc is added to make the final equation look simpler):
F = mc K D ( x&c x&w ) + mc K P ( xc xw )
where
xw = y, x&w = y&
The transfer function of the system is:
9100
Chapter9Solutions
( 2n + K D ) s + (n2 + K P )
Xc
= 2
Y
s + ( 2n + K D ) s + ( 2n + K D )
The rest is a standard PD controller design.
9101
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
9-45)(a)ForwardpathTransferFunction:(N=10)
G ( s ) = Gc ( s )G p ( s ) =
200 (1 + aTs )
s ( s + 1)( s + 10 )(1 + Ts )
Startingwitha=1000,wevaryTfirsttostabilizethesystem.Thefollowingtimedomainattributes
areobtainedbyvaryingthevalueofT.
MaxOvershoot
tr
ts
(%)
0.0001
59.4
0.370
5.205
0.0002
41.5
0.293
2.911
0.0003
29.9
0.315
1.83
0.0004
22.7
0.282
1.178
0.0005
18.5
0.254
1.013
0.0006
16.3
0.230
0.844
0.0007
15.4
0.210
0.699
0.0008
15.4
0.192
0.620
0.0009
15.5
0.182
0.533
0.0010
16.7
0.163
0.525
ThemaximumovershootisataminimumwhenT=0.0007orT=0.0008.Themaximumovershoot
is15.4%.
9102
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponse.(T=0.0008seca=1000)
(b)FrequencydomainDesign.
Similartothedesigninpart(a),weseta=1000,andvarythevalueofTbetween0.0001and0.001.
Theattributesofthefrequencydomaincharacteristicsaregivenbelow.
GM
BW
Mr
PM
(deg)
(rad/sec)
(dB)
T
0.0001
17.95
60.00
3.194
4.849
0.0002
31.99
63.53
1.854
5.285
0.0003
42.77
58.62
1.448
5.941
0.0004
49.78
54.53
1.272
6.821
0.0005
53.39
51.16
1.183
7.817
0.0006
54.69
48.32
1.138
8.869
0.0007
54.62
45.87
1.121
9.913
0.0008
53.83
43.72
1.125
10.92
0.0009
52.68
41.81
1.140
11.88
0.0010
51.38
40.09
1.162
12.79
Thephasemarginisatamaximumof54.69degwhenT=0.0006.Theperformanceworsensifthevalueofaislessthan
1000.
9103
Chapter9Solutions
Golnaraghi,Kuo
946(a)BodePlot.
Theattributesofthefrequencyresponseare:
PM=4.07deg
GM=1.34dB
Mr=23.24
BW=4.4rad/sec
(b)SinglestagePhaseleadController.
G(s) =
6 (1 + aTs )
Wefirstseta=1000,andvaryT.Thefollowingattributesofthefrequencydomaincharacteristics
areobtained.
s (1 + 0.2 s )(1 + 0.5 s )(1 + Ts )
PM
(deg)
0.0050
17.77
3.21
0.0010
43.70
1.34
0.0007
47.53
1.24
0.0006
48.27
1.22
0.0005
48.06
1.23
0.0004
46.01
1.29
0.0002
32.08
1.81
0.0001
19.57
2.97
Mr
Thephasemarginismaximumat48.27degwhenT=0.0006.
9104
Chapter9Solutions
Golnaraghi,Kuo
Next,wesetT=0.0006andreduceafrom1000.Wecanshowthatthephasemarginisnotvery
sensitivetothevariationofawhenaisnear1000.Theoptimalvalueofaisaround980,andthe
correspondingphasemarginis48.34deg.
Witha=980andT=0.0006,theattributesoftheunitstepresponseare:
tr=0.262sec
ts=0.851sec
(c)TwostagePhaseleadController.(a=980,T=0.0006)
G(s) =
6 (1 + 0.588s ) 1 + bT s
2
Again,letb=1000,andvary T2 .Thefollowingresultsareobtainedinthefrequencydomain.
T2
s (1 + 0.2 s )(1 + 0.5s )(1 + 0.0006 s ) 1 + T s

2
PM
Mr
(deg)
0.0010
93.81
1.00
0.0009
94.89
1.00
0.0008
96.02
1.00
0.0007
97.21
1.00
0.0006
98.43
1.00
0.0005
99.61
1.00
0.0004
100.40
1.00
0.0003
99.34
1.00
0.0002
91.98
1.00
0.0001
73.86
1.00
Reducingthevalueofbfrom1000reducesthephasemargin.Thus,themaximumphasemarginof
100.4degisobtainedwithb=1000andT2=0.0004.Thetransferfunctionofthetwostagephase
leadcontrolleris
9105
Gc ( s ) =
Chapter9Solutions
Golnaraghi,Kuo
(1 + 0.588s )(1 + 0.4 s )
(1 + 0.0006 s )(1 + 0.0004 s )
(c)UnitstepResponses.
9106
Chapter9Solutions
Golnaraghi,Kuo
9-47) Also see derivations in 4-9.
L
x(t)
F
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:
1)
2)
Let
. If is small enough then
1 and
, therefore
which gives:
s
F s
Ignoring friction
s
F s
where
0.
Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
9107
Chapter9Solutions
KP+KDs
R_F
F ( s) = K p ( R ( s ) ) K D s ( R ( s ) )
The system transfer function is:
A( K p + KDs)
= 2
R (s + K D s + A ( K p B )
Control is achieved by ensuring stability (Kp>B)
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];
G=tf(num,den)
step(G)
Transfer function:
50 s + 100
-------------s^2 + 5 s + 20
9108
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
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.
A ( K p + K D s ) 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
9109
Chapter9Solutions
Golnaraghi,Kuo
Forz=10,alargeKD=0.805resultsin:
clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
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 =
9110
Chapter9Solutions
Golnaraghi,Kuo
-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 511-1 and Chapter 9 PD design examples.
9111
Chapter9Solutions
Golnaraghi,Kuo
9-48)(a)Thelooptransferfunctionofthesystemis
G(s) H (s) =
10 K p K a K e
1 + R2 Cs
68.76
1 + R2 10 s
Thecharacteristicequationis s + 20 s + 6.876 10 R2 s + 687.6 = 0
Forrootlocusplotwith R2 asthevariableparameter,wehave
Ns (1 + 0.05 s )
R1Cs
s (1 + 0.05 s )
2s
6.876 10 R2 s
Geq ( s ) =
RootLocusPlot.
s + 20 s + 687.6
3
6.876 10 R2 s
( s + 21.5 )( s 0.745 +
j 5.61)( s 0.745 j 5.61)
9112
Chapter9Solutions
Golnaraghi,Kuo
When R2 = 2.65 10 ,therootsareat6.02 j 7.08 ,andtherelativedampingratiois0.65whichis
maximum.Theunitstepresponseisplottedattheendtogetherwiththoseofparts(b)and(c).
(b)PhaseleadController.
G(s) H (s) =
68.76 (1 + aTs )
CharacteristicEquation: Ts + (1 + 20T ) s + ( 20 + 1375.2 aT ) s + 1375.2 = 0
WithT=0.01,thecharacteristicequationbecomes
Thelastequationisconditionedforarootcontourplotwithaasthevariableparameter.
Thus
Fromtherootcontourplotonthenextpageweseethatwhena=3.4thecharacteristicequationroots
areat39.2, 40.4 + j 43.3, and 40.4 j 43.3,andtherelativedampingratioismaximumandis
0.682.
s (1 + 0.05 s )(1 + Ts )
Geq ( s ) =
3
2
s + 120 s + ( 2000 + 1375.2a ) s + 137520 = 0
1375.2as
3
s + 120 s + 2000 s + 137,520
RootContourPlot(avaries).
9113
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponses.
9114
Chapter9Solutions
Golnaraghi,Kuo
(c)FrequencydomainDesignofPhaseleadController.
Foraphasemarginof60deg,a=4.373andT=0.00923.Thetransferfunctionofthecontrolleris
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.04036 s
1 + 0.00923 s
949(a)TimedomainDesignofPhaselagController.
ProcessTransferFunction:
Fortheuncompensatedsystem,thetwocomplexcharacteristicequationrootsareat s = 0.475 + j 0.471
and0.475 j 0.471whichcorrespondtoarelativedampingratioof0.707,whentheforwardpathgain
is4.5(asagainst200).Thus,thevalueofaofthephaselagcontrollerischosentobe
Gp (s) =
200
s ( s + 1)( s + 10 )
a=
4.5
Then
UnitstepResponse.
200
Gc ( s ) =
= 0.0225
1 + aTs
1 + Ts
SelectT=1000whichisalargenumber.
1 + 22.5 s
1 + 1000 s
G ( s ) = Gc ( s )G p ( s ) =
9115
4.5 ( s + 0.0889) )
s ( s + 1)( s + 10 )( s + 0.001)
Chapter9Solutions
Golnaraghi,Kuo
Maximumovershoot=13.6
tr=3.238sec
ts=18.86sec
BodePlot(withphaselagcontroller,a=0.0225,T=1000)
9116
Chapter9Solutions
Golnaraghi,Kuo
PM=59deg.
GM=27.34dB Mr=1.1BW=0.6414rad/sec
(b)FrequencydomainDesignofPhaselagController.
ForPM=60deg,wechoosea=0.02178andT=1130.55.Thetransferfunctionofthephaselag
controlleris
Gc ( s ) =
1 + 24.62 s
1 + 1130.55s
GM=27.66dBMr=1.093BW=0.619rad/sec
9117
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponse. Maxovershoot=12.6%,tr=3.297sects=18.18sec
950(a)TimedomainDesignofPhaseleadController
ForwardpathTransferFunction.
G ( s ) = Gc ( s )G p ( s ) =
K (1 + aTs )
s ( s + 5 ) (1 + Ts )
2
s 0
K
25
= 10 ThusK=250
WithK=250,thesystemwithoutcompensationismarginallystable.Fora>1,selectasmallvaluefor
Tandalargevaluefora.Leta=1000.ThefollowingresultsareobtainedforvariousvaluesofT
rangingfrom0.0001to0.001.WhenT=0.0004,themaximumovershootisnearminimumat23%.
MaxOvershoot
tr
ts
(%)
(sec)
(sec)
0.0010
33.5
0.0905
0.808
0.0005
23.8
0.1295
0.6869
0.0004
23.0
0.1471
0.7711
9118
Chapter9Solutions
Golnaraghi,Kuo
0.0003
24.4
0.1689
0.8765
0.0002
30.6
0.1981
1.096
0.0001
47.8
0.2326
2.399
Asitturnsouta=1000isnearoptimal.Ahigherorlowervalueforawillgivelargerovershoot.
UnitstepResponse.
(b)FrequencydomainDesignofPhaseleadController
G(s) =
250 (1 + aTs )
Settinga=1000,andvaryingT,thefollowingattributesareobtained.
( s + 5 ) (1 + Ts )
2
9119
Chapter9Solutions
Golnaraghi,Kuo
PM
(deg)
0.00050
41.15
1.418
16.05
0.00040
42.85
1.369
14.15
0.00035
43.30
1.355
13.16
0.00030
43.10
1.361
12.12
0.00020
38.60
1.513
10.04
Mr
BW
(rad/sec)
Whena=1000,thebestvalueofTforamaximumphasemarginis0.00035,andPM=43.3deg.
Asitturnsoutvaryingthevalueofafrom1000doesnotimprovethephasemargin.Thusthe
transferfunctionofthecontrolleris
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.35 s
1 + 0.00035 s
and
G(s) =
250 (1 + 0.35 s )
s ( s + 5 ) (1 + 0.00035s )
2
(c)TimedomainDesignofPhaselagController
Withoutcompensation,therelativedampingiscriticalwhenK=18.5.Then,thevalueofais
chosentobe
Wecanusethisvalueofaasareference,andconductthedesignaroundthispoint.Thevalueof
Tispreferrablytobelarge.However,ifTistoolarge,riseandsettlingtimeswillsuffer.
Thefollowingperformanceattributesoftheunitstepresponseareobtainedforvariousvaluesof
aandT.
a =
18.5
250
= 0.074
9120
Chapter9Solutions
MaxOvershoot
Golnaraghi,Kuo
tr
ts
(%)
0.105
500
2.6
1.272
1.82
0.100
500
2.9
1.348
1.82
0.095
500
2.6
1.422
1.82
0.090
500
2.5
1.522
2.02
0.090
600
2.1
1.532
2.02
0.090
700
1.9
1.538
2.02
0.090
800
1.7
1.543
2.02
0.090
1000
1.4
1.550
2.22
0.090
2000
0.9
1.560
2.22
0.090
3000
0.7
1.566
2.22
Asseenfromtheresults,whena=0.09andforT 2000,themaximumovershootisless
than1%andthesettlingtimeislessthan2.5sec.WechooseT=2000anda=0.09.
Thecorrespondingfrequencydomaincharacteristicsare:
PM=69.84deg
GM=20.9dB Mr=1.004 BW=1.363rad/sec
(d)FrequencydomainDesignofPhaselagController
9121
G ( s ) =
Chapter9Solutions
250 (1 + aTs )
Golnaraghi,Kuo
a <1
s ( s + 5 ) (1 + Ts )
2
TheBodeplotoftheuncompensatedsystemisshownbelow.Letusaddasafetyfactorby
requiringthatthedesiredphasemarginis75degrees.Weseethataphasemarginof75degrees
canberealizedifthegaincrossoverismovedto0.64rad/sec.ThemagnitudeofG ( j ) atthis
frequencyis23.7dB.Thusthephaselagcontrollermustprovideanattenuationof23.7dBat
thenewgaincrossoverfrequency.Setting
20 log10 a = 23.7 dB
Wecansetthevalueof1/aTtobeatleastonedecadebelow0.64rad/sec,or0.064rad/sec.Thus,
wegetT=236.LetuschooseT=300.Thetransferfunctionofthephaselagcontrollerbecomes
Gc ( s ) =
1 + aTs
1 + Ts
wehavea=0.065
1 + 19.5s
1 + 300 s
9122
Chapter9Solutions
Golnaraghi,Kuo
9123
Chapter9Solutions
Golnaraghi,Kuo
Theattributesofthefrequencyresponseofthecompensatedsystemare:
PM=71deg
GM=23.6dB
Mr=1.065
Maximumovershoot=6%tr=2.437sec
Comparingwiththephaselagcontrollerdesignedinpart(a)whichhasa=0.09andT=2000,
thetimeresponseattributesare:
ThemaindifferenceisinthelargevalueofTusedinpart(c)whichresultedinlessovershoot,
riseandsettlingtimes.
BW=0.937rad/sec
ts=11.11sec
tr=1.56sec
ts=2.22sec
9124
Chapter9Solutions
Golnaraghi,Kuo
9-51)
9-52)ForwardpathTransferFunction(Nocompensation)
G(s) = Gp (s) =
6.087 10
s s + 423.42 s + 2.6667 10 s + 4.2342 10

3
Theuncompensatedsystemhasamaximumovershootof14.6%.Theunitstepresponseisshown
below.
(a)PhaseleadController
Gc ( s ) =
1 + aTs
1 + Ts
(a>1)
ByselectingasmallvalueforT,thevalueofabecomesthecriticaldesignparameterinthiscase.
Ifaistoosmall,theovershootwillbeexcessive.Ifthevalueofaistoolarge,theoscillationin
thestepresponsewillbeobjectionable.Bytrialanderror,thebestvalueofaisselectedtobe6,
andT=0.001.Thefollowingperformanceattributesareobtainedfortheunitstepresponse.
Maximumovershoot=0%tr=0.01262sec
ts=0.1818sec
However,thestepresponsestillhasoscillationsduetothecomplianceinthemotorshaft.Theunit
stepresponseofthephaseleadcompensatedsystemisshownbelow,togetherwiththatofthe
uncompensatedsystem.
(b)PhaseleadandSecondorderController
9125
Chapter9Solutions
Golnaraghi,Kuo
Thepolesoftheprocess G p ( s ) areat161.3,131+j1614.7and131j1614.7.Thesecond
ordertermis s + 262 s + 2,624, 417.1.Letthesecondordercontrollertransferfunctionbe
Gc1 ( s ) =
s + 262 s + 2,624,417.1
Thevalueof n issetto 2,624, 417.1 = 1620 rad/sec,sothatthesteadystateerrorisnotaffected.
s + 2 p n s + n
LetthetwopolesofGc1 ( s ) beat s = 1620 and 1620. Then, p = 405 .
Gc1 ( s ) =
s + 262 s + 2,624,417.1
G ( s ) = Gc ( s )Gc1 ( s )G p ( s ) =
Theunitstepresponseisshownbelow,andtheattributesare:
s + 3240 s + 2,624,417.1
6.087 10
10
(1 + 0.006 s )
s ( s + 161.3 ) s + 3240 s + 2, 624, 417.1 (1 + 0.001s )

2
Maximumovershoot=0.2tr=0.01012sec
Thestepresponsedoesnothaveanyripples.
UnitstepResponses
9126
ts=0.01414sec
Chapter9Solutions
Golnaraghi,Kuo
953(a)SystemEquations.
ea = Ra ia + Kb m
Tm = Ki ia
Tm = J m
d m
dt
K L ( m L ) + BL ( m L ) = J L
d L
dt
StateEquationsinVectormatrixForm:
9127
+ Bm m + K L ( m L ) + BL ( m L )
d L
dt 0
K
d L L
dt J L
d = 0
m
dt K L
d m J
m
dt
Chapter9Solutions
KL
JL
JL
BL
Jm
0
BL
L 0
JL
L
+ 0 ea
1
m K
a
B + Bl K i K b m
m
R
J
a m
Jm
J m Ra
BL
Golnaraghi,Kuo
KL
Jm
StateDiagram:
TransferFunctions:
m (s)
Ea ( s )
K i s + BL s + K L / Ra
2
J m J L s + ( K e J L + BL J L + BL J m ) s + ( J m K L + J L K L + K e BL ) s + K L K e
2
L (s)
Ea ( s )
K i ( BL s + K L ) / Ra
J m J L s + ( K e J L + B L J L + B L J m ) s + ( J m K L + J L K L + K e BL ) s + K L K e
3
9128
m (s)
Ea ( s )
Chapter9Solutions
133.33 s + 10 s + 3000
2
s + 318.15 s + 60694.13s + 58240

3
Golnaraghi,Kuo
133.33 s + 10 s + 3000
2
( s + 0.9644 )( s + 158.59 +
j187.71)( s + 158.59 j187.71)
L (s)
Ea ( s )
1333.33 ( s + 300 )
( s + 0.9644 )( s + 158.59 +
(b)DesignofPIController.
j187.71)( s + 158.59 j187.71)
G ( s ) =
L (s)
E (s)
s ( s + 0.9644 )
KI
( s + 300 )
KP
2
s + 317.186 s + 60388.23
1333.33 K P s +
s 0
1333.33 300 K I
0.9644 60388.23
= 6.87 K I = 100
Thus K I = 14.56
With K I = 14.56 ,westudytheeffectsofvarying K P .Thefollowingresultsareobtained.
KP
tr
ts
MaxOvershoot
(sec)
(sec)
(%)
20
0.00932
0.02778
4.2
18
0.01041
0.01263
0.7
17
0.01113
0.01515
16
0.01184
0.01515
15
0.01303
0.01768
10
0.02756
0.04040
0.6
With K I = 14.56 and K P rangingfrom15to17,thedesignspecificationsaresatisfied.
9129
Chapter9Solutions
UnitstepResponse:
(c)FrequencydomainDesignofPIController(KI=14.56)
G(s) =
1333.33 ( K P s + 14.56 )( s + 300 )
s s + 318.15s + 60694.13s + 58240

3
9130
Golnaraghi,Kuo
Chapter9Solutions
Golnaraghi,Kuo
Thefollowingresultsareobtainedbysetting K I = 14.56 andvaryingthevalueof K P .
KP
PM
GM
(deg)
(dB)
20
65.93
18
69.76
17
Mr
BW
MaxOvershoot
tr
ts
(rad/sec)
(%)
(sec)
(sec)
1.000
266.1
4.2
0.00932
0.02778
1.000
243
0.7
0.01041
0.01263
71.54
1.000
229
0.01113
0.01515
16
73.26
1.000
211.6
0.01184
0.01515
15
74.89
1.000
190.3
0.01313
0.01768
10
81.11
1.005
84.92
0.6
0.0294
0.0404
82.66
1.012
63.33
1.3
0.04848
0.03492
83.14
1.017
54.19
1.9
0.03952
0.05253
83.29
1.025
45.81
2.7
0.04697
0.0606
82.88
1.038
38.12
4.1
0.05457
0.0606
Fromtheseresultsweseethatthephasemarginisatamaximumof83.29degreeswhen K P = 6 .
However,themaximumovershootoftheunitstepresponseis2.7%,and M r isslightlygreaterthan
one.Inpart(b),theoptimalvalueof K P fromthestandpointofminimumvalueofthemaximum
overshootisbetween15and17.Thus,thephasemargincriterionisnotagoodindicatorinthepresent
case.
9131
Chapter9Solutions
Golnaraghi,Kuo
954(a)ForwardpathTransferFunction
G p ( s ) =
K m (s)
Tm ( s )
(
=
+ 2100 s + 10, 000 ) s ( s + 4.937 ) ( s
100 K s + 10 s + 100
s s + 20 s
3
10, 000 s + 10 s + 100

2
+ 15.06 s + 2025.6
Theunitstepresponseisplottedasshownbelow.Theattributesoftheresponseare:
Maximumovershoot=57%
tr=0.01345sec ts=0.4949sec
(b)DesignoftheSecondorderNotchController
Thecomplexzerosofthenotchcontrolleraretocancelthecomplexpolesoftheprocesstransfer
function.Thus
Gc ( s ) =
s + 15.06 s + 2025.6
2
s + 90 p s + 2025.6
(
and G ( s ) = G ( s )G ( s ) =
s ( s + 4.937 ) ( s
10, 000 s + 10 s + 100
+ 90 p s + 2025.6
Thefollowingresultsareobtainedfortheunitstepresponsewhenvariousvaluesof p areused.
Themaximumovershootisataminimumof4.1%when p = 1.222 .Theunitstepresponseis
plottedbelow,alongwiththatoftheuncompensatedsystem.
p
2 n
MaxOvershoot
(%)
2.444
200
7.3
2.333
210
6.9
2.222
200
6.5
9132
Chapter9Solutions
1.667
150
4.9
1.333
120
4.3
1.222
110
4.1
1.111
100
5.8
1.000
90
9.8
Golnaraghi,Kuo
UnitstepResponse
(c)FrequencydomainDesignoftheNotchController
Theforwardpathtransferfunctionoftheuncompensatedsystemis
9133
Chapter9Solutions
(
G ( s) =
s ( s + 4.937 ) ( s
10000 s + 10 s + 100
2
Golnaraghi,Kuo
TheBodeplotofG ( j ) isconstructedinthefollowing.Weseethatthepeakvalueof G ( j ) is
approximately22dB.Thus,thenotchcontrollershouldprovideanattentuationof22dBor0.0794
attheresonantfrequencyof45rad/sec.UsingEq.(10155),wehave
+ 15.06 s + 2025.6
Gc ( j 45) =
0.167
NotchControllerTransferFunction
= 0.0794 Thus
p = 2.1024
ForwardpathTransferFunction
Gc ( s ) =
s + 15.06 s + 2025.6
2
s + 189.216 s + 2025.6
(
G ( s ) =
s ( s + 4.937 ) ( s
10, 000 s + 10 s + 100
BodePlots
9134
+ 189.22 s + 2025.6
Chapter9Solutions
Golnaraghi,Kuo
Attributesofthefrequencyresponse:PM=80.37degGM=infinite M r = 1097
.
BW=66.4rad/sec
Attributesofthefrequencyresponseofthesystemdesignedinpart(b):
.
BW=126.5rad/sec
PM=59.64deg GM=infinite M r = 1048
9135
Chapter9Solutions
Golnaraghi,Kuo
955(a)ProcessTransferFunction
Gp ( s) =
500 ( s + 10 )
s s + 10 s + 1000
2
TheBodeplotisconstructedbelow.Thefrequencydomainattributesoftheuncompensated
systemare:
PM=30deg
GM=infinite
Theunitstepresponseisoscillatory.
M r = 186
. andBW=3.95rad/sec
(b)DesignoftheNotchController
Fortheuncompensatedprocess,thecomplexpoleshavethefollowingconstants:
n = 1000 = 316
. rad / sec
Thetransferfunctionofthenotchcontrolleris
2 n = 10
Thus
= 0.158
Gc ( s ) =
s + 2 z n s + n
Forthezerosof Gc ( s ) tocancelthecomplexpolesof G p ( s ) , z = = 0.158 .
FromtheBodeplot,weseethattobringdownthepeakresonanceof G ( j n ) inorder
tosmoothoutthemagnitudecurve,thenotchcontrollershouldprovideapproximately
s + 2 p s + n
9136
Chapter9Solutions
Golnaraghi,Kuo
26dBofattenuation.Thus,usingEq.(10155),
26
= 10
20
= 0.05
Thus
p =
Thetransferfunctionofthenotchcontrolleris
0.158
0.05
= 31525
.

500 ( s + 10 )
Gc ( s ) =
s + 10 s + 1000
2
s + 199.08 s + 1000
G ( s ) = Gc ( s )G p ( s ) =
s s + 199.08s + 1000
2
Theattributesofthecompensatedsystemare:
PM=72.38deg GM=infinite M r = 1
BW=5.44rad/sec
t r = 0.3868 sec t s = 0.4848 sec
BodePlots
9137
Chapter9Solutions
Golnaraghi,Kuo
StepResponses
9138
Chapter9Solutions
Golnaraghi,Kuo
(c)TimedomaindesignoftheNotchController
. ,theforwardpathtransferfunctionofthecompensatedsystemis
With z = 0.158 and n = 316
G ( s ) = Gc ( s )G p ( s ) =
500 ( s + 10 )
s s + 63.2 p s + 1000
2
Thefollowingattributesoftheunitstepresponseareobtainedbyvaryingthevalueof p .
2 n
MaxOvershoot
tr
ts
(%)
(sec)
(sec)
1.582
100
0.4292
0.5859
1.741
110
0.4172
0.5657
1.899
120
0.4074
0.5455
2.057
130
0.3998
0.5253
2.215
140
0.2
0.3941
0.5152
2.500
158.25
0.9
0.3879
0.4840
3.318
209.7
4.1
0.3884
0.4848
When p = 2.5 themaximumovershootis0.9%,therisetimeis0.3879secandthesetting
timeis0.4840sec.Theseperformanceattributesarewithintherequiredspecifications.
9139
Chapter9Solutions
956Letthetransferfunctionofthecontrollerbe
Golnaraghi,Kuo
20, 000 s + 10 s + 50
Gc ( s ) =
( s + 1000 )
Then,theforwardpathtransferfunctionbecomes
G ( s ) = Gc ( s )G p ( s ) =
20, 000 K s + 10 s + 50
s s + 10 s + 100
2
) ( s + 1000 )
For Gcf ( s ) = 1,
10 K
s 0
10
= 50
Thus the nominal K = 5000
For 20%variationinK, K min = 4000 and K max = 6000. Tocancelthecomplexclosedlooppoles,
welet
ClosedloopTransferFunction:
Gcf ( s ) =
50 ( s + 1)
s + 10 s + 50
2
wherethe(s+1)termisaddedtoreducetherisetime.
Y (s)
R(s)
10 K ( s + 1)
6
s s + 10 s + 100
2
)( s + 1000 ) + 20, 000 K ( s

2
+ 10 s + 50
7 2
K=4000:
s + 2010 s + 1,020,100 s + 9.02 10 s + 9 10 + 4 10 = 0
Roots:
97.7, 648.9, 1252.7, 5.35 + j 4.6635, 5.35 j 4.6635
Maxovershoot 6.7%
Risetime<0.04sec
9140
Chapter9Solutions
Golnaraghi,Kuo
8 2
K=5000:
s + 2010 s + 1,020100 s + 11
. 10 s + 11
. 10 s + 5 10 = 0
Roots:
132.46, 587.44, 1279.6, 5.272 + j 4.7353, 5.272 j 4.7353
Maxovershoot 4%
K=6000
s + 2010 s + 1,020,100 s + 13
. 10 s + 13
. 10 s + 6 10 = 0
Roots:
176.77, 519.37, 1303.4, 5.223 + j 4.7818, 5.223 j 4.7818
Maxovershoot 2.5%
Risetime<0.04sec
8 2
Risetime<0.04sec
ThusalltherequiredspecificationsstaywithintherequiredtoleranceswhenthevalueofKvariesby
plusandminus20%.
UnitstepResponses
9141
Chapter9Solutions
Golnaraghi,Kuo
957Letthetransferfunctionofthecontrollerbe
Gc ( s ) =
200 s + 10 s + 50
2
( s + 100 )
G ( s ) = Gc ( s )G p ( s ) =
200, 000 K s + 10 s + 50
2
s ( s + a )( s + 100 )
Fora=10,
7
s 0
10 K
10
= 100 K = 100
Thus
K = 1
CharacteristicEquations:(K=1)
5 2
a=10:
s + 210 s + 2.12 10 s + 2.1 10 s + 10 = 0
Roots:
4.978 + j 4.78, 4.978 j 4.78, 100 + j 447.16 100 j 447.16
a=8:
s + 208 s + 2.116 10 s + 2.08 10 s + 10 = 0
Roots: 4.939 + j 4.828, 4.939 j 4.828, 99.06 + j 446.97, 99.06 j 446.97
5 2
s + 212 s + 2.124 10 + 2.12 10 s + 10 = 0
a=12:
Roots: 5.017 + j 4.73, 5.017 j 4.73, 100.98 + j 447.36, 100.98 j 447.36
9142
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponses:Allthreeresponsesfora=8,a=10,and12aresimilar.
G (s) =
Y ( s)
E (s)
s ( s + 1)( s + 10 ) + KK t s
s 0
K
=1
10 + KK t
CharacteristicEquation: s + 11s + (10 + KK t ) s + K = s + 11s + Ks + K = 0
Forrootloci,
Geq ( s ) =
K ( s + 1)
s
( s + 11)
9143
Chapter9Solutions
Golnaraghi,Kuo
RootLocusPlot(Kvaries)
Therootlocishowthatarelativedampingratioof0.707canberealizedbytwovaluesofK.K=22
and59.3.Asstipulatedbytheproblem,weselectK=59.3.
9144
Chapter9Solutions
Golnaraghi,Kuo
G(s) =
10 K
s ( s + 1)( s + 10 ) + 10 K t s
s 0
10 K
10 + 10 Kt
K
1 + Kt
Thus Kt = K 1
= 1
CharacteristicEquation: s ( s + 1)( s + 10 ) + 10 K t + 10 K = s + 11s + 10 Ks + 10 K = 0

3
WhenK=5.93and Kt = K 1 = 4.93 ,thecharacteristicequationbecomes
Therootsare:10.046,
s + 11s + 10.046 s + 4.6 = 0
0.47723 + j 0.47976,
0.47723 j 0.47976
G(s) =
K (1 + aTs )
s ( (1 + Ts ) s + 10 s + KK t
2
s 0
1
Kt
= 100
Thus
Kt = 0.01
LetT=0.01anda=100.Thecharacteristicequationofthesystemiswritten:
s + 110 s + 1000 s + K 0.001s + 101s + 100 = 0

4
ToconstructtherootcontoursasKvaries,weformthefollowingequivalentforwardpathtransfer
function:
Geq ( s ) =
0.001K s + 101, 000 s + 100, 000

s
( s + 10 )( s + 100 )
9145
) = 0.001K ( s + 1)( s + 50499 )

s
( s + 10 )( s + 100 )
Chapter9Solutions
Golnaraghi,Kuo
Fromtherootcontourdiagramweseethattwosetsofsolutionsexistforadampingratioof0.707.
Theseare:
K=20:
K=44.6:Complexroots:4.0957 + j 4.0957, 4.0957 j 4.0957
TheunitstepresponsesofthesystemforK=20and44.6areshownbelow.
Complexroots: 1158
.
+ j1155
. ,
UnitstepResponses:
9146
1158
.
j1155
.
Chapter9Solutions
Golnaraghi,Kuo
G(s) =
K s KK1 K i N
s J t La s + ( Ra J t + La Bt + K1 K 2 J t ) s + Ra Bt + K1 K 2 Bt + K b K i + KK1 K i K t
2
1.5 10 K
7
G ( s) =
s s + 3408.33s + 1, 204, 000 + 1.5 10 KK t

2
15 K
RampErrorConstant:
Thus
s 0
1.204 + 150 KKt
1.204 + 150 KKt = 0.15 K
9147
= 100
Chapter9Solutions
1.5 10 K
Golnaraghi,Kuo
G(s) =
CharacteristicEquation: s + 3408.33 s + 150,000 Ks + 15

. 10 K = 0
WhenK=38.667therootsofthecharacteristicequationareat
0.1065,
UnitstepResponse
s s + 3408.33s + 150, 000 K

2
1651
+ j165
.
. ,
( 0.707 forthecomplexroots)
1651
.
j165
.
G(s) =
5.8 10
s s + 3408.33s + 5.8 10
2
9148
Chapter9Solutions
Golnaraghi,Kuo
Unitstepresponseattributes:Maximumovershoot=0Risetime=0.0208secSettlingtime=0.0283sec
962 (a)DisturburncetoOutputTransferFunction
Y (s)
TL ( s )
==
r =0
2 (1 + 0.1s )
s (1 + 0.01s )(1 + 0.1s ) + 20 K
Gc ( s ) = 1
For TL ( s ) = 1 / s
lim y ( t ) = lim sY ( s ) =
s 0
1
10 K
0.01
Thus
(b)PerformanceofUncompensatedSystem.K=10,Gc ( s ) = 1
9149
K 10
G(s) =
Chapter9Solutions
200
s (1 + 0.01s )(1 + 0.1s )
Golnaraghi,Kuo
TheBodediagramof G ( j ) isshownbelow.Thesystemisunstable.Theattributesofthe
frequencyresponseare:PM=9.65degGM=5.19dB.
(c)SinglestagePhaseleadControllerDesign
Torealizeaphasemarginof30degrees,a=14andT=0.00348.
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.0487 s
1 + 0.00348 s
TheBodediagramofthephaseleadcompensatedsystemisshownbelow.Theperformance
attributesare:PM=30deg GM=10.66dB M r = 1.95 BW=131.6rad/sec.
(d)TwostagePhaseleadControllerDesign
Startingwiththeforwardpathtransferfunction G ( s ) =
200 (1 + 0.0487 s )
s (1 + 0.1s )(1 + 0.01s )(1 + 0.00348 s )
Theproblembecomesthatofdesigningasinglestagephaseleadcontroller.Foraphasemargin
or55degrees,a=7.385andT=0.00263.Thetransferfunctionofthesecondstagecontrolleris
Gc1 ( s ) =
1 + aTs
1 + Ts
1 + 0.01845 s
1 + 0.00263 s
9150
Thus
G(s) =
Chapter9Solutions
200 (1 + 0.0487 s )(1 + 0.01845 s )
s (1 + 0.1s )(1 + 0.01s )(1 + 0.00348 s )(1 + 0.00263s )
Golnaraghi,Kuo
TheBodediagramisshownonthefollowingpage.Thefollowingfrequencyresponseattributes
areobtained:
PM=55deg
GM=12.94dB M r = 111
.
BodePlot[parts(b),(c),and(d)]
9151
BW=256.57rad/sec
Chapter9Solutions
Golnaraghi,Kuo
9152
Chapter9Solutions
Golnaraghi,Kuo
963(a)TwostagePhaseleadControllerDesign.
Theuncompensatedsystemisunstable.PM=43.25degandGM=18.66dB.
Withasinglestagephaseleadcontroller,themaximumphasemarginthatcanberealizedaffectively
is12degrees.SettingthedesiredPMat11deg,wehavetheparametersofthesinglestagephase
leadcontrollerasa=128.2andT1 = 0.00472 .Thetransferfunctionofthesinglestagecontroller
is
Startingwiththesinglestagecontrollercompensatedsystem,thesecondstageofthephaselead
controllerisdesignedtorealizeaphasemarginof60degrees.Theparametersofthesecondstage
controllerare:b=16.1andT2 = 0.0066 .Thus,
Gc ( s ) = Gc1 ( s )Gc 2 ( s ) =
Gc1 ( s ) =
Gc 2 ( s ) =
1 + aT1 s
1 + T1 s
1 + bT2 s
1 + T2 s
1 + 0.6057 s
1 + 0.00472 s
1 + 0.106 s
1 + 0.0066 s
1 + 0.6057 s 1 + 0.106 s
1 + 0.00472 s 1 + 0.0066 s
Attributesofthefrequencyresponseofthecompensatedsystemare:
G ( s ) = Gc1 ( s )Gc 2 ( s )G p ( s ) =
1, 236, 598.6 ( s + 1.651)( s + 9.39 )

s ( s + 2)( s + 5 )( s + 211.86 )( s + 151.5 )
GM=19.1dB
PM=60deg
M r = 1.08
BW=65.11rad/sec
Theunitstepresponseisplottedbelow.Thetimeresponseattributesare:
t s = 0.1212 sec t r = 0.037 sec
9153
Chapter9Solutions
Golnaraghi,Kuo
(b)SinglestagePhaselagControllerDesign.
Withasinglestagephaselagcontroller,foraphasemarginof60degrees,a=0.0108andT=1483.8.
FromtheBodeplot,thefollowingfrequencyresponseattributesareobtained:
Gc ( s ) =
1 + 16.08 s
1 + 1483.8 s
G ( s ) = Gc ( s )G p ( s ) =

s
s + 2
s + 5s + 0.000674
6.5 s + 0.0662
PM=60deg
GM=20.27dB M r = 1.09
Theunitstepresponsehasalongrisetimeandsettlingtime.Theattributesare:
BW=1.07rad/sec
t s = 12.6 sec
t r = 2.126 sec
(c)LeadlagControllerDesign.
Fortheleadlagcontroller,wefirstdesignthephaselagportionfora40degreephasemargin.
Theresultisa=0.0238andT1 = 350 .Thetransferfunctionofthecontrolleris
Thephaseleadportionisdesignedtoyieldatotalphasemarginof60degrees.Theresultis
b=4.8and T2 = 0.2245.Thetransferfunctionofthephaseleadcontrolleris
Gc1 ( s ) =
Gc 2 ( s ) =
1 + 8.333 s
1 + 350 s
1 + 1076
.
s
1 + 0.2245s
9154
Chapter9Solutions
Golnaraghi,Kuo
Theforwardpathtransferfunctionoftheleadlagcompensatedsystemis
Frequencyresponseattributes:PM=60degGM=13.07dB M r = 1.05 BW=3.83rad/sec
.
sec
Unitstepresponseattributes:Maximumovershoot=5.9% t s = 1512
G(s) =
68.63 ( s + 0.12 )( s + 0.929 )

s ( s + 2 )( s + 5 )( s + 0.00286 )( s + 4.454 )
t r = 0.7882 sec
UnitstepResponses.
964(a)Theuncompensatedsystemhasthefollowingfrequencydomainattributes:
PM=3.87deg
GM=1dB
M r = 7.73BW=4.35rad/sec
TheBodeplotof G p ( j ) showsthatthephasecurvedropsoffsharply,sothatthephaselead
controllerwouldnotbeveryeffective.Considerasinglestagephaselagcontroller.Thephase
9155
Chapter9Solutions
Golnaraghi,Kuo
marginof60degreesisrealizedifthegaincrossoverismovedfrom2.8rad/secto0.8rad/sec.
Theattenuationofthephaselagcontrollerathighfrequenciesisapproximately15dB.
Choosinganattenuationof17.5dB,wecalculatethevalueofafrom
Theuppercornerfrequencyofthephaselagcontrollerischosentobeat1/aT=0.064rad/sec.
Thus,1/T=0.00854orT=117.13.Thetransferfunctionofthephaselagcontrolleris
FromtheBodeplotof G ( j ) ,thefollowingfrequencydomainattributesareobtained:
20 log10 a = 17.5 dBThus
Gc ( s ) =
G ( s ) = Gc ( s ) G p ( s ) =
1 + 15.63 s
1 + 117.13
a=0.1334
5 (1 + 15.63s )(1 0.05 s )

s (1 + 0.1s )(1 + 0.5 s )(1 + 117.13s )(1 + 0.05 s )
PM=60deg
GM=18.2dB
M r = 1.08 BW=1.13rad/sec
Theunitstepresponseattributesare:
maximumovershoot=10.7% t s = 10.1 sec
BodePlots
9156
t r = 2.186 sec
Chapter9Solutions
Golnaraghi,Kuo
9157
Chapter9Solutions
Golnaraghi,Kuo
964(b)Usingtheexactexpressionofthetimedelay,thesamedesignholds.Thetimeandfrequencydomain
attributesarenotmuchaffected.
965(a)UncompensatedSystem.
G(s) =
10
TheBodeplotof G ( j ) isshownbelow.
Theperformanceattributesare:PM=10.64degGM=2.26dB
Theuncompensatedsystemisunstable.
(1 + s )(1 + 10 s )(1 + 2 s )(1 + 5s )
(b)PIControllerDesign.
G (s) =
10 ( K p s + K I )
RamperrorConstant: K v = lim sG ( s ) = 10 K I = 0.1
s (1 + s )(1 + 10 s )(1 + 2 s )(1 + 5 s )
s 0
G ( s) =
K I = 0.01
Thus
0.1 (1 + 100 K P s )
s (1 + s )(1 + 10 s )(1 + 2 s )(1 + 5 s )
Thefollowingfrequencydomainattributesareobtainedforvariousvaluesof K P .
KP
PM
GM
(deg)
(dB)
0.01
24.5
5.92
2.54
0.13
0.02
28.24
7.43
2.15
0.13
0.05
38.84
11.76
1.52
0.14
9158
Mr
BW
(rad/sec)
Chapter9Solutions
Golnaraghi,Kuo
0.10
50.63
12.80
1.17
0.17
0.12
52.87
12.23
1.13
0.18
0.15
53.28
11.22
1.14
0.21
0.16
52.83
10.88
1.16
0.22
0.17
51.75
10.38
1.18
0.23
0.20
49.08
9.58
1.29
0.25
Thephasemarginismaximumat53.28degreeswhen K P = 0.15.
Theforwardpathtransferfunctionofthecompensatedsystemis
G ( s) =
0.1 (1 + 15 s )
s (1 + s )(1 + 10 s )(1 + 5 s )(1 + 2 s )
Theattributesofthefrequencyresponseare:
PM=53.28deg GM=11.22dB M r = 114

.
BW=0.21rad/sec
t r = 10.68 sec
BodePlots
9159
t s = 48 sec
Chapter9Solutions
Golnaraghi,Kuo
9160
Chapter9Solutions
Golnaraghi,Kuo
965(c)TimedomainDesignofPIController.
Bysetting K I = 0.01andvarying K P wefoundthatthevalueof K P thatminimizesthemaximum
overshootoftheunitstepresponseisalso0.15.Thus,theunitstepresponseobtainedinpart(b)
isstillapplicableforthiscase.
966ClosedloopSystemTransferFunction.
Y (s)
R(s)
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3
Forzerosteadystateerrortoastepinput, k1 = 1.Forthecomplexrootstobelocatedat1+jand1j,
2
wedividethecharacteristicpolynomialby s + 2 s + 2 andsolveforzeroremainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2
s +
3
2s
+ 2s
(2 + k ) s
(2 + k ) s
3
+ (1 + k 2 + k 3 ) s + 1
+ ( 4 + 2 k3 ) s
( -3+k
+ 4 + 2 k3
k3 ) s 3 2k3
3 2 k3 = 0
Thus
k3 = 15
.
3 + k 2 k3 = 0
Thus
k 2 = 15
.
Forzeroremainder,
Thethirdrootisat0.5.Notalltherootscanbearbitrarilyassigned,duetotherequirementonthe
steadystateerror.
9161
Chapter9Solutions
Golnaraghi,Kuo
967(a)OpenloopTransferFunction.
G ( s) =
X 1 (s)
E (s)
k3
s s + ( 4 + k 2 ) s + 3 + k1 + k 2
2
Sincethesystemistype1,thesteadystateerrorduetoastepinputiszeroforallvaluesof k1 , k 2 , and k3
thatcorrespondtoastablesystem.Thecharacteristicequationoftheclosedloopsystemis
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k 3 = 0
3
Fortherootstobeat1+j,1j,and10,theequationshouldbe:
s + 12 s + 22 s + 20 = 0
Equatinglikecoefficientsofthelasttwoequations,wehave
4 + k 2 = 12
Thus
3 + k1 + k 2 = 22
k3 = 20
k2 = 8
k1 = 11
Thus
Thusk3=20
(b)OpenloopTransferFunction.
Y (s)
E ( s)
Gc ( s )
( s + 1)( s + 3 )
20
s s + 12 s + 22
2
Thus Gc ( s ) =
9162
20 ( s + 1)( s + 3 )
s s + 12 s + 22
2
Chapter10Solutions
Golnaraghi,Kuo
Chapter 10_________________________________________________________________________
x1 = y, x 2 =
10-1)(a)Statevariables:
dy
dt
Stateequations:
Outputequation:
dx1
dt 0 1 x1 0

=
x + 5 r
dx
2
2
dt
(b)Statevariables: x1 = y, x 2 =
dy
dt
d y
dt
dx1
dt
1
0 x1 0
0
dx
2
= 0

0
1 x2 + 0 r

dt
1
2.5
1.5
x3 0.5
dx
3
dt
Stateequations:
y ( ) d ,
x2 =
dx1
Stateequations:
1
x&1 0
x& 0
0
2
=
0
x&3 0
&
x4 1 2.5
dy
dt
x1
x
2
y = [1 0 0 0 ] = x1
x3

x4
d y
dt
, x4 =
d y
dt
Outputequation:
0 x1
101
x4 =
dt
, x3 =
d y
Outputequation:
0
x
1
0
2+ r
0
1 x3 0

0 1.5 x4 1
0
x1
y = [1 0 0 ] x2 = x1

x3
x3 =
x&1 0 1 0 0 x1 0
x& 0 0 1 0 x 0
2
2 + r
=
x&3 0 0 0 1 x3 0
&

x4 1 1 3 5 x4 1
dt
Outputequation:
dt
Stateequations:
dy
(d)Statevariables: x1 = y, x 2 =
0]
, x3 =
(c)Statevariables: x1 =
x1
= x1
x2
y = [1
x1
x
2
y = [1 0 0 0 ] = x1
x3

x4
Chapter10Solutions
Golnaraghi,Kuo
10-2) a)
Let
Then
2
and
If
, then
3
2
or
3
2
1
0
1
1
3
b)
6
11
Let X s
11
, therefore
and Let
, then
6
11
6
or
6
11
6
If
, then
6 1
11 0
6 0
102
0
1
0
0
0 u
6
. As a result:
Chapter10Solutions
Golnaraghi,Kuo
1 0 0
c)
12
Let
12
, then
7
12
Let
and
. As a result:
, then
7
12
1
0
1
2
d)
4
39
108
11
Let X s
, then
39
, therefore
Now, let
sX s
sX s
Let X s
U s
250
. If
4
39
108
11
35
36
250
103
250
35
, or
, then
U s
11
, then
Let X s
Let
39Y s
X s
11
35
108Y s
U s
s
s
, then:
Chapter10Solutions
Golnaraghi,Kuo
or
4
39
108
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
10-3) (a) Alternatively use equations (10-225), (10-232) and (10-233)

3
3
Thestatevariablesaredefinedas
x1 ( t ) = y ( t )
x2 ( t ) =
dy ( t )
dt
Thenthestateequationsarerepresentedbythevectormatrixequation
dx ( t )
dt
= Ax ( t ) + Bu ( t )
wherex(t)isthe21statevector,u(t)thescalarinput,and
0 1
A=
2 3
C = [1 0]
3
B=
1 (Alsoseesection233or106)
D=0
G ( s ) = C ( sI A ) B + D
1
104
0
1
0
11
35
250
Chapter10Solutions
MATLAB
>> clear all
>> syms s
>> A=[0,1;-2,-3]
A=
0
-2
-3
>> B=[0;1]
B=
0
1
>> C=[3,1]
C=
3
>> s*eye(2)-A
ans =
[ s, -1]
[ 2, s+3]
>> inv(ans)
ans =
[ (s+3)/(s^2+3*s+2),
[
-2/(s^2+3*s+2),
1/(s^2+3*s+2)]
s/(s^2+3*s+2)]
>> C*ans*B
ans =
3/(s^2+3*s+2)+s/(s^2+3*s+2)
105
Golnaraghi,Kuo
Chapter10Solutions
Use ACSYS as demonstrate in section 10-19-2

1)
2)
3)
4)
5)
6)
Activate MATLAB
Go to the folder containing ACSYS
Type in Acsys
Click the Transfer Function Symbolic pushbutton
Enter the transfer function
Use the State Space option as shown below:
You get the next window. Enter the A,B,C, and D values.
106
Golnaraghi,Kuo
Chapter10Solutions
------------------------------------------------------------State Space Analysis

------------------------------------------------------------Inputs:
A=| 0 1|
|-2 -3|
C=|3 1|
B=|0|
|1|
D=|0|
State Space Representation:

Dx = | 0 1|x + |0|u
|-2 -3| |1|
107
Golnaraghi,Kuo
Chapter10Solutions
y = |3 1|x + |0|u
Determinant of (s*I-A):
2
s +3s+2
Characteristic Equation of the Transfer Function:
2
s +3s+2
The eigen values of A and poles of the Transfer Function are:
-1
-2
Inverse of (s*I-A) is:
[
s+3
[ -----------[ 2
------------]
2
[s +3s+2
]
s + 3 s + 2]
[
[
]
2
[- -----------[ 2
------------]
2
[ s +3s+2
]
s + 3 s + 2]
State transition matrix (phi) of A:

[ 2 exp(-t) - exp(-2 t)
[
[-2 exp(-t) + 2 exp(-2 t)
exp(-t) - exp(-2 t) ]
]
-exp(-t) + 2 exp(-2 t)]
Transfer function between u(t)and y(t) is:

108
Golnaraghi,Kuo
Chapter10Solutions
s+3
-----------2
s +3s+2
No Initial Conditions Specified
States (X) in Laplace Domain:
[
[---------------]
[(s + 2) (s + 1)]
[
[
]
s
[---------------]
[(s + 2) (s + 1)]
Inverse Laplace x(t):
[ exp(-t) - exp(-2 t) ]
[
[-exp(-t) + 2 exp(-2 t)]

Output Y(s):
s+3
--------------(s + 2) (s + 1)
Inverse Laplace y(t):
2 exp(-t) - exp(-2 t)
109
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
Use the same procedure for parts b, c and d.
10-4) a) x
0.5
0.5
As a result:
0
0
1
0
0
0
0
1
1
0
0
0
b)
2
0.5
0
1
1
0
0
0
As a result:
2
2
1
0
3
1
0
0
6
1
1
0
1 0 1
5
c)
4
1010
Chapter10Solutions
Golnaraghi,Kuo
As a result:
5
1
0
0
0
2
1
0
0
0
1
4
2
0
0
0
0
1
1 u
0
0
10-5)Weshallfirstshowthat
( s ) = ( sI A ) =
1
I
s
A
s
1 A
2! s
+L
Wemultiplybothsidesoftheequationby ( sI A ) ,andwegetI=I.TakingtheinverseLaplacetransform
onbothsidesoftheequationgivesthedesiredrelationshipfor ( t ) .
10-6)
(a) USEMATLAB
Amat=[0 1;-2 -1]
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial: ')
chareq=poly(Amat);
[mchareq,nchareq]=size(chareq);
syms s;
poly2sym(chareq,s)
[evecss,eigss]=eig(Amat);
disp(' Eigenvalues of A = Diagonal Canonical Form of A is:');
Abar=eigss,
disp('Eigen Vectors are ')
T=evecss
% state transition matrix
ilaplace(inv([s 0;0 s]-Amat))
Results in MATLAB COMMAND LINE

Amat=
01
1011
Chapter10Solutions
Golnaraghi,Kuo
21
CharacteristicPolynomial:
ans=
s^2+s+2
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
0.5000+1.3229i0
00.50001.3229i
EigenVectorsare
T=
0.20410.5401i0.2041+0.5401i
0.81650.8165
phi=ilaplace(inv([s0;0s]Amat))
phi=
[1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+7^(1/2)*sin(1/2*7^(1/2)*t)),2/7*7^(1/2)*exp(
1/2*t)*sin(1/2*7^(1/2)*t)]
[4/7*7^(1/2)*exp(1/2*t)*sin(1/2*7^(1/2)*t),1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)
7^(1/2)*sin(1/2*7^(1/2)*t))]
%usevpatoconverttodigitalformat.Usedigit(#)toadjustlevelofprecisionifnecessary.
vpa(phi)
ans=
[.1428571*exp(.5000000*t)*(7.*cos(1.322876*t)+2.645751*sin(1.322876*t)),
.7559289*exp(.5000000*t)*sin(1.322876*t)]
[1.511858*exp(.5000000*t)*sin(1.322876*t),
1012
Chapter10Solutions
Golnaraghi,Kuo
.1428571*exp(.5000000*t)*(7.*cos(1.322876*t)2.645751*sin(1.322876*t))]
ANALYTICALSOLUTION:
2
Characteristicequation: ( s ) = sI A = s + s + 2 = 0
Eigenvalues: s = 0.5 + j1323

. , 0.5 j1323
.
Statetransitionmatrix:
cos1.323t + 0.378 sin 1.323t
(t ) =
1.512 sin 1.323t
0.5 t
e
1.069 sin (1.323t 69.3 )
0.756 sin 1.323t
Alternatively
USE ACSYS as illustrated in section 10-19-1
1)
2)
3)
4)
5)
Activate MATLAB
Type in Acsys
Click the State Space pushbutton
Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the Calculate/Display menu and find the eigenvalues.
1013
Chapter10Solutions
FromMATLABCommandWindow:
TheAmatrixis:
Amat=
01
21
1014
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
ans=
s^2+s+2
Abar=
0.5000+1.3229i0
00.50001.3229i
EigenVectorsare
T=
0.20410.5401i0.2041+0.5401i
0.81650.8165
THERESTARESAMEASPARTA.
2
(b)Characteristicequation: ( s ) = sI A = s + 5s + 4 = 0 Eigenvalues: s = 4, 1
1.333e t 0.333e 4 t
(t ) =
1.333e 1.333e
4 t
(c)Characteristicequation: ( s ) = ( s + 3 ) = 0
2
0.333e + 1.333e
t
0.333e 0.333e
t
4 t
Eigenvalues: s = 3, 3
e 3t
(t ) =
0
0
3 t
(d)Characteristicequation: ( s ) = s 9 = 0
e3t
(t ) =
3 t
Eigenvalues: s = 3, 3
1015
4 t
Chapter10Solutions
Eigenvalues: s = j 2, j 2
(e)Characteristicequation: ( s ) = s + 4 = 0
cos 2t sin 2t
sin 2t cos 2t
(t ) =
Eigenvalues: s = 1, 2, 2
(f)Characteristicequation: ( s ) = s + 5 s + 8 s + 4 = 0
Golnaraghi,Kuo
e t
(t ) = 0
te
2 t
e
0
e
2 t
2 t
(g)Characteristicequation: ( s ) = s + 15 s + 75 s + 125 = 0 Eigenvalues: s = 5, 5, 5

3
e 5 t
(t ) = 0
te
e
5 t
5 t
te
5 t
e
0
5 t
Statetransitionequation: x(t ) = (t ) x(t ) + (t )Br ( ) d

t
(t ) foreachpartisgiveninProblem53.
1
10-7)In MATLAB USE ilaplace to find L1 ( sI A ) BR ( s ) see previous problem for codes.
(a)
(t )Br ( )d = L ( sI A )
t
s+2
s ( s2 + s + 2)
1 + 0.378 sin 1.323t cos1.323t
1
=
=L
1 + 1.134 sin 1.323t + cos1.323t

s2
s s2 + s + 2
)
(
1016
1 s + 1 1 0 1 1 1

( s ) 2 s 1 0 1 s
BR ( s ) = L
t0
(b)
Chapter10Solutions
Golnaraghi,Kuo
(t )Br ( )d = L ( sI A )
t
1 s + 5 1 1 1 1

( s ) 4 s 1 1 s
BR ( s ) = L
1
s+6
1.5 1.67 + 0.167

s ( s + 1)( s + 2)
1.5 1.67e t + 0.167e 4 t

1
= L1 s s + 1 s + 4 =
=L
t
s4
1 + 1.67 0.667 1 + 1.67e 0.667e 4t

s ( s + 1)( s + 4)
s s + 1 s + 4
t0
(c)
t
1
1
1 s + 3
0 (t )Br ( )d = L ( sI A ) BR( s) = L
0
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
0 1
1 1 s

s + 3
0
t0
(d)
t
1
1
1 s 3
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
0
0
=
=L
1
0.333 (1 e 3t )
s ( s + 3 )
1
0 1
1 1 s

s + 3
0
t0
(e)
1
2
1
1
1 s + 4
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
2
s 2 + 4
2
s 2
1
=
=L
1 0.5 sin 2t
( s 2 + 4 )
t 0
(f)
1017
0 1
s 1 s
2
s + 4
2
Chapter10Solutions
Golnaraghi,Kuo
s + 1
t
1
1
1
0 (t )Br ( )d = L ( sI A ) BR( s ) = L 0
0
0

1
1
2 t
= 0.5 (1 e )
=L
s ( s + 2)
0
0
1
s+2
0
0
1
1 1
2
( s + 2) s
0
1
s+2
0
t 0
(g)
1
s + 5
t
1
1
1
0 (t )Br ( ) d = L ( sI A ) BR ( s ) = L 0
( s + 5)
1
s+5
0
0
1
1
0
2
( s + 5) s
1
s+5
0
0
1
1 0.04 0.04
0.2
1
5 t
5 t
=L
=L
2
s s + 5 ( s + 5 )2 = 0.04 0.04e 0.2te u s (t )
5 t
s ( s + 5)

0.2 0.2e
0.2 0.2
s
s+5
s ( s + 5 )
10-8)Statetransitionequation: x(t ) = (t ) x(t ) + 0 (t )Br ( ) d (t ) foreachpartisgiveninProblem53.

t
(a)
1018
Chapter10Solutions
(t )Br ( )d = L ( sI A )
t
(b)
Golnaraghi,Kuo
1 s + 1 1 0 1 1 1

( s ) 2 s 1 0 1 s
BR ( s ) = L
1
s+2
2
s ( s + s + 2)
1 + 0.378 sin 1.323t cos1.323t
1
=
=L
1 + 1.134 sin1.323t + cos1.323t

s2
s s2 + s + 2
)
(
t0
1 s + 5 1 1 1 1

( s ) 4 s 1 1 s
1
1
(t )Br ( ) d = L ( sI A ) BR ( s ) = L
1
s+6
1.5 1.67 + 0.167

s ( s + 1)( s + 2)
s s + 1 s + 4 1.5 1.67e t + 0.167e 4 t
1
1
=L
=L
=
t
s4
1 + 1.67 0.667 1 + 1.67e 0.667e 4t

s ( s + 1)( s + 4)
s s + 1 s + 4
(c)
t
1
1
1 s + 3
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
0 1
1 1 s

s + 3
0
t0
(d)
t
1
1
1 s 3
0 (t )Br ( )d = L ( sI A ) BR( s ) = L
0
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
(e)
1019
0 1
1 1 s

s + 3
t0
t0
Chapter10Solutions
Golnaraghi,Kuo
1
2
t
1
1
1 s + 4
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
2
s 2 + 4
2
s 2
1
=
=L
1 0.5 sin 2t
2
( s + 4 )
0 1
s 1 s
2
s + 4
2
t 0
(f)
s + 1
t
1
1
1
0 (t )Br ( )d = L ( sI A ) BR( s ) = L 0
0
0

1
1
2 t
=L
= 0.5 (1 e )
s ( s + 2)
0
0
1
s+2
0
0
1
1 1
2
( s + 2) s
0
s+2
0
t 0
(g)
1
s + 5
t
1
1
1
0 (t )Br ( ) d = L ( sI A ) BR ( s ) = L 0
( s + 5)
1
s+5
0
0
1
1
0
2
( s + 5) s
1
s+5
0
0
1
1 0.04 0.04
0.2
1
5 t
5 t
=L
=L
2
s s + 5 ( s + 5 )2 = 0.04 0.04e 0.2te u s (t )
s
s
+
5
(
)
5 t

0.2 0.2e
0.2 0.2
s
s+5
s ( s + 5 )
1020
Chapter10Solutions
Golnaraghi,Kuo
10-9)(a)Notastatetransitionmatrix,since ( 0) I (identitymatrix).
(b)Notastatetransitionmatrix,since ( 0) I (identitymatrix).
(c) ( t ) isastatetransitionmatrix,since ( 0 ) = I and
1
[ (t ) ] = t
1 e
1
=
t
t
e
1 e
0
0
e
= ( t )
(d) ( t ) isastatetransitionmatrix,since ( 0) = I ,and
e2t
[ (t ) ]1 = 0
0
10-10) a)
te
e
t e / 2
2t
2t
te
2t
2t
2t
= ( t )
1
and
3
3
2
Therefore:
2
2
If
0.5
0, then
0.5
b)
1
.
.
0.5
2
If x 0
0.5
1
.
0.5
0.5
0.5
5
0.5
0, then
0
2
5
.
.
0.5
and
y t
1 0.5
2
0.5
x
0 x
0.5
.
1
x
10-11)(a)(1)EigenvaluesofA:2.325, 0.3376 + j 0.5623, 0.3376 j 0.5623

1021
sin 0.5t
0.5
0.5
0.5
Chapter10Solutions
(2)Transferfunctionrelation:
s 1 0
1
1
X( s ) = ( sI A ) BU ( s ) =
0 s
1
( s)
1 2 s + 3
(3)Outputtransferfunction:
Golnaraghi,Kuo
1 0
s+3
s 2 + 3s + 2
0
1
1
0 U ( s ) = 1 1
s ( s + 3) s 0 U (s) =
s U (s)

(s)
(s) 2
2
s
2 s 1 s 1
1
s
( s ) = s + 3 s + 2 s + 1
Y ( s)
U (s)
= C( s ) ( sI A ) B = [1
1
1
1
1
0]
s = 3
2
( s ) 2 s + 3s + 2 s + 1
s

7) Activate MATLAB
8) Go to the folder containing ACSYS
9) Type in Acsys
10) Click the State Space pushbutton
11) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
12) Use the Calculate/Display menu and find the eigenvalues and other State space calculations.
1022
Chapter10Solutions
TheAmatrixis:
Amat=
010
001
123
1023
Golnaraghi,Kuo
Chapter10Solutions
ans=
s^3+3*s^2+2*s+1
Abar=
2.324700
00.3376+0.5623i0
000.33760.5623i
EigenVectorsare
T=
0.16760.78680.7868
0.38960.2657+0.4424i0.26570.4424i
0.90560.15910.2988i0.1591+0.2988i
StateSpaceModelis:
a=
x1x2x3
x1010
x2001
x3123
b=
u1
x10
x20
x31
1024
Golnaraghi,Kuo
Chapter10Solutions
c=
x1x2x3
y1100
d=
u1
y10
Continuoustimemodel.
ans=
s^3+3*s^2+2*s+1
EquivalentTransferFunctionModelis:
Transferfunction:
1.776e015s^2+6.661e016s+1
s^3+3s^2+2s+1
Pole,ZeroForm:
Zero/pole/gain:
1.7764e015(s^2+0.375s+5.629e014)
(s+2.325)(s^2+0.6753s+0.4302)
Thenumeratorisbasicallyequalto1
1025
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
Usethesameprocedureforotherparts.
(b)(1)EigenvaluesofA: 1, 1.
1
( s + 1)2
1 0
1 s + 1
1
U (s)
X ( s ) = ( sI A ) BU ( s ) =
(
)
=
U
s
s + 1 1
( s ) 0
1
( s + 1)
( s) = s + 2s + 1
2
1
( s + 1)2
1
1
Y ( s)
s+2
1
=
= C( s ) ( sI A ) B = [1 1]
+
=
2
2
U (s)
1 ( s + 1) s + 1 ( s + 1)
s + 1
(c)(1)EigenvaluesofA: 0, 1, 1.
s+2
1 0
s 2 + 2s = 1
1
1
1

X ( s ) = ( s I A ) BU ( s ) =
0
s ( s + 2) ) s 0 U ( s ) =
s U (s)

( s)
( s) 2
2
0
s
s 1
s
1
1
s +1
1
= C( s ) ( sI A ) B = [1 1 0 ] s =
=
2
2 s ( s + 1) s ( s + 1)
U (s)
s
Y (s)
10-12) Wewrite
dy
dt
dx1
dt
dx 2
dt
= x 2 + x3
d y
dt
dx 2
dt
1026
dx3
dt
= x1 2 x 2 2 x3 + u
2
(s ) = s s + 2s + 1
Chapter10Solutions
dx1
dt
0 1 0 x1 0
d x dy
1
1 x2 + 0 u
=
= 0
dt
dt
2 1 2 2 x3 1
d y
dt 2
x1 1 0 0
x = y = 1 1 0 x

y& 0 1 1
SubstituteEq.(2)intoEq.(1),wehave
Golnaraghi,Kuo
(1)
1 0 0
x = 1 1 0 x
1 1 1
(2)
1 1 0
0
= A 1 x + B 1u = 0 0 1 x = 0 u

dt
1
1 0 2
dx
10-13)ForMATLABCodessee1015
(a)
2
sI A = 1 s 2
1
0
3
0 = s 3 s + 2 = s + a2 s + a1 s + a0
a0 = 2, a1 = 0, a2 = 3
s 1
a1
M = a2
a2
1
0
0 3 1
0 = 3 1 0

0 1
0 0
0 2 4
S = B AB A B = 1 2 6
1 1 1
2
2 2 0
P = SM = 0 1 1
4 2 1
1027
Chapter10Solutions
Golnaraghi,Kuo
(b)
2
sI A = 1 s 1
a1
M = a2
0 = s 3s + 2 = s + a2 s + a1 s + a0
0
a0 = 2,
a1 = 0,
a2 = 3
s 1
1
0 3 1
0 = 3 1 0

0 1
0 0
a2
1
0
1 2 6
S = B AB A B = 1 3 8
0 0 1
2
0 1 1
P = SM = 1 0 1
1 0 0
(c)
s+2
sI A = 0
s+2
s+3
a1
M = a2
16 7 1
0 = 7 1 0

0 1 0 0
a2
1
0
= s + 7 s + 16 s + 12 = s + a2 s + a1 s + a0
a0 = 12, a1 = 16, a2 = 7
1 1 0
S = B AB A B = 1 2 4
1 6 23
2
9 6 1
P = SM = 6 5 1
3 1 1
(d)
s +1
sI A = 0
0
1
s =1
0
0
3
s +1
1028
1 = s + 3 s + 3s + 1 = s + a2 s + a1 s + a0
a0 = 1, a1 = 3, a2 = 3
a1
M = a2
a2
1
0
Chapter10Solutions
3 3 1
0 = 3 1 0

0 1 0 0
Golnaraghi,Kuo
0 1 1
2
S = B AB A B = 1 0 1
1 1 1
2 1 0
P = SM = 2 3 1
1 2 1
(e)
sI A =
s 1
s+3
a1
M=
1
= s + 2 s 1 = s + a1 s + a0
2 1
=
0 1 0
0
AB ] =
1
S = [B
1
P = SM =
1
a0 = 1, a1 = 2
10-14)ForMATLABcodessee1015
(a)FromProblem1013(a),
Then,
0 3 1
M = 3 1 0
1 0 0
C 1 0 1
V = CA = 1 2 1
2
CA 1 2 1
0.5 1 3
Q = ( MV ) = 0.5 1.5 4
0.5 1 2
1
(b)FromProblem1013(b),
16 7 1
M = 7 1 0
1 0 0
1029
Chapter10Solutions
C 1 0 1
V = CA = 1 3 1
2
CA 2 5 1
Golnaraghi,Kuo
0.2308 0.3077 1.0769

Q = ( MV ) = 0.1538
0.5385
1.3846
0.2308 0.3077 0.0769

1
(c)FromProblem1013(c),
C 1 0 0
V = CA = 2 1 0
2
CA 4 4 0
SinceVissingular,theOCFtransformationcannotbeconducted.
(d)FromProblem1013(d),
Then,
3 3 1
M = 3 1 0
1 0 0
C 1 0 1
V = CA = 1 1 1
2
CA 1 2 2
1 1 0
Q = ( MV ) = 0
1 2
1 1 1
1
(e)FromProblem1013(e),
2
M=
1
10-15)(a)EigenvaluesofA:
C 1
Then, V =
=
2
CA 1
1,2.7321,0.7321
T = [ p1
p2
0 0.5591 0.8255
p 3 ] = 0 0.7637 0.3022
1 0.3228 0.4766
1030
0
1
Q = ( MV ) =
1
Chapter10Solutions
Golnaraghi,Kuo
where p1 , p 2 , and p 3 aretheeigenvectors.
(b)EigenvaluesofA:
1,2.7321,0.7321
T = [ p1
p2
0 0.5861 0.7546
p 3 ] = 0 0.8007 0.2762
1 0.1239 0.5952
where p1 , p 2 , and p 3 aretheeigenvalues.
(c)EigenvaluesofA:
3,2,2.AnonsingularDFtransformationmatrixTcannotbefound.
(d)EigenvaluesofA:
1,1,1
ThematrixAisalreadyinJordancanonicalform.Thus,theDFtransformationmatrixTistheidentity
matrixI.
(e)EigenvaluesofA:
0.4142,2.4142
T = [p 2
0.8629
p2 ] =
0.5054
0.2811
0.9597

1)
2)
3)
4)
5)
Activate MATLAB
Type in Acsys
7) Next use the Calculate/Display menu and conduct State space calculations.
8) Next use the Calculate/Display menu and conduct Controlability calculations.
NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.
1031
Chapter10Solutions
SOLVE PART (a)
The A matrix is:

1032
Golnaraghi,Kuo
Chapter10Solutions
Amat =
-1
Characteristic Polynomial:
ans =
s^3-3*s^2+2
Eigenvalues of A = Diagonal Canonical Form of A is:
Abar =
1.0000
0
0
2.7321
0 -0.7321
1033
Golnaraghi,Kuo
Chapter10Solutions
Eigen Vectors are
T=
0.5591
0.8255
0.7637 -0.3022
1.0000 -0.3228
0.4766
State-Space Model is:
a=
x1 x2 x3
x1 0 2 0
x2 1 2 0
x3 -1 0 1
b=
u1
x1 0
x2 1
x3 1
c=
x1 x2 x3
y1 0 1 1
1034
Golnaraghi,Kuo
Chapter10Solutions
d=
u1
y1 0
Continuous-time model.
ans =
s^3-3*s^2+2
Equivalent Transfer Function Model is:
Transfer function:
2 s^2 - 3 s - 4
-----------------------------s^3 - 3 s^2 + 8.882e-016 s + 2
Pole, Zero Form:
Zero/pole/gain:
2 (s-2.351) (s+0.8508)
-------------------------1035
Golnaraghi,Kuo
Chapter10Solutions
(s-2.732) (s-1) (s+0.7321)
The Controllability Matrix [B AB A^2B ...] is =
Smat =
-1
The system is therefore Controllable, rank of S Matrix is =
rankS =
Mmat =
-3
-3
The Controllability Canonical Form (CCF) Transformation matrix is:
1036
Golnaraghi,Kuo
Chapter10Solutions
Ptran =
-2
-1
-4 -2
The transformed matrices using CCF are:

Abar =
1.0000
0.0000
0 -0.0000
1.0000
-2.0000
0.0000
3.0000
Bbar =
0
0
1
Cbar =
-4 -3
Dbar =
0
1037
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
10-16) a)
Consider:
2
Therefore:
0
0
0
0
1
0
0
0
1
, therefore sY s
As
Let X s
Y s
0
1
0
2
0
Y s
. If y
0
0
1
0
1
0
0
1
x , then sY s
sX s
result:
2
Now consider X
, and
, then
2
Therefore:
0 1
2 0
0 0
0 0
b)
Consider:
2
1038
0
1
0
0
0
0
1
0
0
1 u
0
1
X , or x
x . As a
Chapter10Solutions
Golnaraghi,Kuo
Therefore:
0
4
1
4
1
As
0
1
, therefore
2
4
21
10-17)ForMATLABcodessee1015
(a)
S = [B
1
AB ] =
0
S is singular.
(b)
1 1 1
2
S = B AB A B = 2 2 2
3 3 3
(c)
S = [B
2 + 2 2
2+
AB ] =
S is singular.
S is singular.
(d)
1 2 4
S = B AB A B = 0 0
0
1 4 14
2
S is singular.
10-18) a, d and e are controllable

b, c, and f are not controllable
1039
. As a result:
2
4
Chapter10Solutions
Golnaraghi,Kuo

9) Activate MATLAB
10) Go to the folder containing ACSYS
11) Type in Acsys
12) Click the State Space pushbutton
13) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
15) Next use the Calculate/Display menu and conduct State space calculations.
16) Next use the Calculate/Display menu and conduct Controlability calculations.
NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.
1040
Chapter10Solutions
Golnaraghi,Kuo
For part b, the system is not Controllable because [B AB] is singular (rank is less than 2):
The A matrix is:
Amat =
-1
-2
ans =
s^2+3*s+2
Abar =
-2
-1
Eigen Vectors are

T=
0
ans =
s^2+3*s+2
Transfer function:
2
----s+1
Pole, Zero Form:
1041
Chapter10Solutions
Zero/pole/gain:
2
----(s+1)
Smat =
2
-2
Rank is 1, and this is a singular matrix
The system is therefore Not Controllable, rank of S Matrix is =

rankS =
1
Mmat =
3

Ptran =
4
10-19) a, d, and e are observable

b, c, and f are not observable
Using ACSYS (also see the previous problem for more details):
1042
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
For part b, the system is not observable. Note: you must choose a B matrix arbitrarily.
The A matrix is:
Amat =
-1
-2
ans =
s^2+3*s+2
1043
Chapter10Solutions
Abar =
-2
-1
Eigen Vectors are

T=
0
ans =
s^2+3*s+2
Transfer function:
0
Pole, Zero Form:
Zero/pole/gain:
0
The Observability Matrix (transpose:[C CA CA^2 ...]) is =
Vmat =
0
-2
The System is therefore Not Observable, rank of V Matrix is =

rankV =
1
1044
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
Mmat =
3
10-20)(a)Rewritethedifferentialequationsas:
d m
2
dt
B d m
2
J dt
m +
Stateequations:
dx1
dt 0

dx
K
2 =
dt J
dx K K
3 a s
dt La
dia
ia
dt
x1 = m , x 2 =
Statevariables:
Ki
B
J
Kb
La
d m
dt
K b d m
La dt
Ra
La
ia +
Ka Ks
La
s+
B
J
Kb
La
Outputequation:
y= 1
Ki
R
s+ a
La

0
Ki K a
0 =
K o (s)
a
La
o ( s ) = JLa s + ( BLa + Ra J ) s + ( KLa + K i K b + Ra B ) s + KRa = 0

3
Closedlooptransferfunction:
1045
m )
(b)Forwardpathtransferfunction:
, x3 = ia
0
x1
Ki
x2 + 0 r
J
x K K
Ra 3 a s
La
La
m (s)
K
G ( s ) =
= [1 0 0 ]
J
E (s)
0 x = x1
Chapter10Solutions
m (s)
K
M (s) =
= [1 0 0 ]
J
r (s)
Ka Ks
La
1
s+
B
J
Kb
La
Ki
R
s+ a
La
Golnaraghi,Kuo
K sG(s)
0 =
K K 1 + K s (s)
a s
La
Ki K a K s
JLa s + ( BLa + Ra J ) s + ( KLa + K i K b + Ra B ) s + K i K a K s + KRa

3
10-21)(a)
0
A=
1
1
2
A =
0
(1)Infiniteseriesexpansion:
0
3
A =
1
1
0
(2)InverseLaplacetransform:
1
3
5
t
t
t2 t4
L
t
+
L
1 2 2
cos t sin t
2! 4!
3! 5!
(t ) = I + At + A t + L =
=
3
5
2
4
2!
t
t
t
t
sin t cos t
t + 3! 5! + L 1 2! + 4! L
1
4
A =
0
1 s 1
s 1
( s ) = ( sI A ) =
= 2
s + 1 1 s
1 s
cos t
sin t
(t ) =
sin t
cos t
(b)
1
A=
0
1
2
A =
0
0
4
1
3
A =
0
1 0
4
A =
0 16
2
3
4
t
t
t
+
+L
0
t
e t
1 2 2
2! 3! 4!
(t ) = I + At + A t + L =
=
2
3
2!
4t
8t
+L
0
1 2t +
2! 3!
1046
0
2 t
Chapter10Solutions
1
s +1
s + 1 0
1
( s ) = ( sI A ) =
=
0 s + 2
0
0
A=
1
1
s + 2
0
Golnaraghi,Kuo
et
e
0
(t ) =
2 t
(c)
1
1
2
A =
0
( s ) = ( sI A ) =
1
10-22)(a)
e = K s ( r y )
ia =
eu eb
ea = e e s
eb = K b
Solvefor ia intermsof y and
Ra + Rs
e t + et
(t ) = 0.5 t
t
e + e
1
4
A =
0
ia =
e + e
t
d y
e + e
t
e +e
t
e s = R s ia
d y
Tm = K i ia = ( J m + J L )
dt
, wehave
dt
KK s ( r y ) K b
Rs + Rs + KRs
eu = Kea
d y
dt
d y
2
dt
e +e
s + 1 s 1
0.5
0.5
+
s + 1 s 1
0.5
1047
0.5 0.5
s +1 s 1
1
=
=
2
s
s 1 1 s 0.5 0.5
+
s + 1 s 1
0
3
A =
1
3
5
t
t
t2 t4
1
+
+
+
L
+
+
L
t
e t + et
1 2 2
2! 4!
3! 5!
(t ) = I + At + A t + L =
= t
t
3
5
2
4
2!
t
t
t
t
e + e
t + + L 1+ + + L
3! 5!
2! 4!
0.5
Differentialequation:
d y
2
dt
K i ia
Jm + JL
Chapter10Solutions
d y
KK s y + KK s y
Kb
dt
( J m + J L )( Ra + Rs + KRs )
Ki
x1 = y , x 2 =
Statevariables:
Stateequations:
dx1
0
dt

KK s K i
=
dx2 ( J + J )( R + R + KR )
a
s
s
m L
d y
dt
0
=
322.58
Golnaraghi,Kuo
dt
x1

+
Kb Ki
KK s K i
x2
r
( J m + J L )( Ra + Rs + KRs )
( J m + J L )( Ra + Rs + KRs )
1
x1 0
+
r
80.65 x2 322.58
1
Wecanlet v ( t ) = 322.58 r , thenthestateequationsareintheformofCCF.
(b)
1
1
1
s
s + 80.65 1
= 2
( sI A ) =
s + 80.65 s + 322.58 322.58 s

322.58 s + 80.65
1
0.06 1.059
s + 76.42 s + 4.22
=
4.468 4.468
s + 76.42 s + 4.22
s + 76.42 s + 4.22
1.0622
0.0587
s + 76.42 s + 4.22
0.014
Foraunitstepfunctioninput, u s ( t ) = 1 / s.
0.014
322.2
1 0.0584
1.058
+
s
(
s
76.42)(
s
4.22)
+
+
1
= s s + 76.42 s + 4.22
( sI A )1 B =
322.2
s
4.479 + 4.479
s ( s + 76.42)( s + 4.22) s + 76.42 s + 4.22
x (t ) =
0.06e 76.42 t 1.059e 4.22 t

4.468e
76.42 t
4.468e
4.22 t
0.014e
1.0622e
76.42 t
76.42 t
4.22 t
0.0587 e
1 + 0.0584e 76.42 t 1.058e 4.22 t

=
76.42 t
4.22 t
+ 4.479e
4.479e
1048
+ 0.01e
4.22 t
t 0
x(0)
Chapter10Solutions
Golnaraghi,Kuo
(c)Characteristicequation: ( s ) = s + 80.65 s + 322.58 = 0
(d) Fromthestateequationsweseethatwheneverthereis Ra there is (1 + K ) Rs . Thus,thepurposeof Rs is
toincreasetheeffectivevalueof Ra by (1 + K ) Rs . Thisimprovesthetimeconstantofthesystem.
10-23)(a)Stateequations:
dx1
0
dt
KK s K i
=
dx2 J ( R + R + KR )
s
s

x1

+
Kb Ki
KK s K i
x2
r
J ( R + Rs + KRs )
J ( R + Rs + KRs )
1
dt
x1 0
+
r
90.91 x2 818.18
0
=
818.18
Let v = 818.18 r . TheequationsareintheformofCCFwithvastheinput.

1
(b)
1
1
s
s + 90.91 1
=
( sI A ) =
( s + 10.128 )( s + 80.782 ) 818.18 s

818.18 s + 90.91
x (t ) =
11.58e
11.58e
+
10.128 t
80.78 t
+ 0.1433e
1 1.1434e
1.143e 10.128 t 0.142e 80.78 t

11.58e
10.128 t
+ 0.1433e
10.128 t
80.78 t
0.01415e
10.128 t
0.1433e
80.78 t
x1 (0)
x (0)
2
t 0
Eigenvalues:
+ 1.143e
80.78 t
80.78 t
(c)Characteristicequation: ( s ) = s + 90.91s + 818.18 = 0
10.128 t
0.0141e
10.128,80.782
(d)Sameremarkasinpart(d)ofProblem514.
10-24) If
and P diagonalizing A, let consider
The solution for
is
, therefore
0 , therefore
0
on the other hand

1049
or
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
From
m equation (1
1) and (2):
1
10-25)
Consider
and
. If
The solution
s
for x is
, then
or
0 , theerefore:
0
(1))
On thhe other hand

d:
0
From
m equation (1
1) and (2):
1
1026(a)
Fo
orwardpathtrransferfunctio
on:
G ( s ) =
Y (s)
E (s)
5 ( K1 + K 2 s )
s [ s ( s + 4)( s + 5)) + 10 ]
M (s) =
Y (s)
R(s)
C
Closedlooptr
ransferfunctio
on:
=
G (s)
1 + G(s)
5 ( K1 + K 2 s )
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4
(b)Stattediagrambydirectdecomp
position:
Stateequations:
x&1 0
x& 0
2 =
x&3 0
& K
x4 5
0 x1
0
0
1
0
x
2+ r
0
0
1 x3 0

(10
1 + 5 K 2 ) 220 9 x4 1
1
1050
Outpu
utequation:
y = 5 K1
5K2
0 x
Chapter10Solutions
Golnaraghi,Kuo
1
(c)Finalvalue: r ( t ) = u s ( t ), R( s ) = .
s
lim y (t ) = lim sY ( s ) = lim

t
s0
s 0
5 ( K1 + K 2 s )
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4
=1
1027InCCFform,
0
0
A= M
0
a0
a1
a2
a3
0
0

B = M

0
1
an 1
s
0
sI A = M
0
a0
a1
a2
a3
1
0
L s + an
sI A = s + an1 s
n 1
+ an 2 s
n 2
+ L + a1 s + a0
SinceBhasonlyonenonzeroelementwhichisinthelastrow,onlythelastcolumnof adj ( sI A ) is
goingtocontributeto adj ( sI A ) B .Thelastcolumnof adj ( sI A ) isobtainedfromthecofactorsof

thelastrowof ( sI A ) .Thus,thelastcolumnof adj ( sI A ) B is 1
dy
1028(a)Statevariables:
x1 = y, x 2 =
x& ( t ) = Ax ( t ) + Br ( t )
Stateequations:
dt
, x3 =
d y
dt
1051
n 1
'
Chapter10Solutions
Golnaraghi,Kuo
0 1 0
A=0
0
1
1 3 3
0
B = 0

1
(b)Statetransitionmatrix:
s 2 + 3s + 3 s + 3 1
s 1 0
1
1
2
( s ) = ( sI A ) = 0 s
1 =
1
s + 3s s
(s)
2
s
3s 1 s
1 3 s + 3
1
1
1
+
+
2
3
s + 1 ( s + 1) ( s + 1)
1
=
( s + 1)3
( s + 1)3
( s + 1)
1
s +1
( s + 1)
( s + 1)
( s + 1)
( s + 1)
s
( s + 1)3
2
s
( s + 1)3
1
( s + 1)
( s + 1)
( s ) = s + 3s + 3s + 1 = ( s + 1)
3
(1 + t + t 2 / 2 ) e t
2 t
(t ) =
t e / 2
( t + t 2 / 2 ) e t
(t + t ) e
(1 + t t ) e
t
t e
( t t / 2 ) e
(1 2t + t 2 / 2 ) e t
t
t e /2
(c)UseACSYSorMATLABandfollowtheprocedureshowninsolutionto103.
1052
Chapter10Solutions
StateSpaceAnalysis
Inputs:
A=|010|B=|0|
|001||0|
|133||1|
C=|100|D=|0|
StateSpaceRepresentation:
|010||0|
Dx=|001|x+|0|u
|133||1|
y=|100|x+|0|u
Determinantof(s*IA):
32
s+3s+3s+1
CharacteristicEquationoftheTransferFunction:
32
1053
Golnaraghi,Kuo
Chapter10Solutions
s+3s+3s+1
TheeigenvaluesofAandpolesoftheTransferFunctionare:
1
1
1
Inverseof(s*IA)is:
[2]
[s+3s+3s+31]
[]
[%1%1%1]
[]
[1s(s+3)s]
[]
[%1%1%1]
[]
[2]
[s3s+1s]
[]
[%1%1%1]
32
%1:=s+3s+3s+1
Statetransitionmatrix(phi)ofA:
[222]
[1/2exp(t)(2+2t+t),(t+t)exp(t),1/2texp(t)]
[222
[1/2texp(t),(t1+t)exp(t),1/2exp(t)(2t+t)
]
]
[22
[1/2exp(t)(2t+t),exp(t)(3t+t),
2]
1/2exp(t)(24t+t)]
Transferfunctionbetweenu(t)andy(t)is:
32
s+3s+3s+1
NoInitialConditionsSpecified
States(X)inLaplaceDomain:
1054
Golnaraghi,Kuo
Chapter10Solutions
[1]
[]
[3]
[(s+1)]
[]
[s]
[]
[3]
[(s+1)]
[]
[2]
[s]
[]
[3]
[(s+1)]
InverseLaplacex(t):
[2]
[1/2texp(t)]
[]
[2]
[1/2exp(t)(2t+t)]
[]
[2]
[1/2exp(t)(24t+t)]
OutputY(s):
3
(s+1)
InverseLaplacey(t):
2
1/2texp(t)
StateSpaceAnalysis
Inputs:
A=|010|B=|0|
|001||0|
|133||1|
C=|100|D=|0|
StateSpaceRepresentation:
1055
Golnaraghi,Kuo
Chapter10Solutions
|010||0|
Dx=|001|x+|0|u
|133||1|
y=|100|x+|0|u
Determinantof(s*IA):
32
s+3s+3s+1
CharacteristicEquationoftheTransferFunction:
32
s+3s+3s+1
TheeigenvaluesofAandpolesoftheTransferFunctionare:
1
1
1
Inverseof(s*IA)is:
[2]
[s+3s+3s+31]
[]
[%1%1%1]
[]
[1s(s+3)s]
[]
[%1%1%1]
[]
[2]
[s3s+1s]
[]
[%1%1%1]
32
%1:=s+3s+3s+1
Statetransitionmatrix(phi)ofA:
[222]
[1/2exp(t)(2+2t+t),(t+t)exp(t),1/2texp(t)]
[222
[1/2texp(t),(t1+t)exp(t),1/2exp(t)(2t+t)
]
]
1056
Golnaraghi,Kuo
Chapter10Solutions
[22
[1/2exp(t)(2t+t),exp(t)(3t+t),
2]
1/2exp(t)(24t+t)]
Transferfunctionbetweenu(t)andy(t)is:
32
s+3s+3s+1
InitialConditions:
x(0)=1
0
0
States(X)inLaplaceDomain:
[2]
[s+3s+4]
[]
[3]
[(s+1)]
[]
[s1]
[]
[3]
[(s+1)]
[]
[s(s1)]
[]
[3]
[(s+1)]
InverseLaplacex(t):
[2]
[(t+1+t)exp(t)]
[]
[2]
[(t+t)exp(t)]
[]
[2]
[(3t+1+t)exp(t)]
OutputY(s)(withinitialconditions):
2
s+3s+4
1057
Golnaraghi,Kuo
3
(s+1)
InverseLaplacey(t):
2
(t+1+t)exp(t)
Chapter10Solutions
Golnaraghi,Kuo
(d)Characteristicequation: ( s ) = s + 3 s + 3 s + 1 = 0
Eigenvalues:
1,1,1
1029(a)Statevariables: x1 = y, x 2 =
dy
dt
Stateequations:
dx1 (t )
dt 0 1 x1 (t ) 0
=
+ r (t )
dx2 (t ) 1 2 x2 (t ) 1
dt
s+2
( s + 1)2
s 1
1
( s ) = ( sI A ) =
= 1
1
2
s
+
s +1 2
)
(
2
( s + 1)
1
( s + 1)
( s ) = ( s + 1) = 0
(b)Statevariables: x1 = y, x 2 = y +
Stateequations:
dx1
dy
dt
dt
= x 2 y = x 2 x1
dy
dt
dx 2
dt
d y
dt
dy
= y
dt
dx1
dt 1 2 x1 0
=
+ r
dx2 0 1 x2 1
dt
1058
(1 + t )e t
(t ) =
t
te
dy
dt
+ r = x2 + r
(1 t ) e
te
Chapter10Solutions
2
1
2
s + 1 ( s + 1)
s + 1 2
(s) =
=
0 s + 1
1
s +1
1
Golnaraghi,Kuo
e t
(t ) =
0
te
(c)Characteristicequation: ( s ) = ( s + 1) = 0 whichisthesameasinpart(a).
2
1030(a)Statetransitionmatrix:
s
sI A =

( sI A )
1 s
( s )
cos t
1
1
(t ) = L ( sI A ) =
sin t
( s ) = s 2 + +
2
sin t
t
e
cos t
+ j , j
(b)EigenvaluesofA:
1031(a)
Y1 ( s )
U1 ( s )
Y2 ( s )
U 2 ( s)
s
1+ s
+ 2s
s
1+ s
+ 3s
1
3
s + s + 2s + 3
+ 2s
+ 3s
1
s + s + 2s + 3
Y1 ( s )
(b)Stateequations[Fig.521(a)]: x& = A1x + B1u1 Outputequation:

0 1 0
A1 = 0
0
1
3 2 1
0
B1 = 0

1
C1 = [1
Stateequations[Fig.521(b)]: x& = A 2 x + B 2 u2
0 0 3
A 2 = 1 0 2
0 1 1
Thus,
1
B 2 = 0

0
y1 = C1x
0]
Outputequation:
C2 = [ 0
'
A 2 = A1
1059
U1 ( s )
1]
y2 = C2x
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1032(a)
Statediagram:
(b) Statediagram:
1
1033(a)
Y ( s)
10 s
X ( s)
G( s) =
X ( s ) = U ( s ) 8.5 s X ( s ) 20.5 s X ( s ) 15 s X ( s )
U ( s)
1 + 8.5 s
1
+ 20.5s
+ 15s
Y ( s ) = 100 X ( s )
X ( s)
3
Statediagraam:
1060
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
Statteequation: x& ( t ) = Ax ( t ) + Bu ( t )
1
0
0
A= 0
0
1
15 20.5 8.55
0
B = 0

1
AandBarein
A
CCF
(b)
Y ( s)
10 s
+ 20 s
G ( s ) =
Y ( s ) = 10 s X ( s ) + 20 s X ( s )
Staatediagram:
U ( s)
1 + 4.5 s
+ 3.5 s
X ( s)
2
X ( s)
X ( s ) = 4.5 s X ( s ) 3.5 s X ( s ) + U ( s )
A ( t ) + Bu ( t )
x& ( t ) = Ax
Staateequations:
0
0
A=
0
0
1
0
0
0
1
0 3.5 4.55
0
0
B=
0

1
AandBarein
nCCF
(c)
Y ( s)
5( s + 1)
G( s) =
Y ( s) = 5s X ( s ) + 5s X ( s )
U ( s)
s( s + 2 )( s + 10)
5s
1 + 12 s
+ 5s
+ 20 s
X ( s)
2
X ( s)
1061
X ( s ) = U ( s ) 12 s X ( s ) 20 s X ( s )
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
x& ( t ) = Ax ( t ) + Bu ( t )
Staateequations:
0
0 1
A= 0
0
1
0 20 12
0
B = 0

1
AandBareinCCF
(d)
Y (s)
G (s) =
Y ( s) = s X ( s)
U (s)
4
s ( s + 5) s + 2s + 2
2
s
1
X (s)
2
1 + 7 s + 12 s + 10 s
1
X (s)
X ( s ) = U ( s ) 7 s X ( s ) 12 s X ( s ) 10 s
Statediagraam:
Stateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
1062
A
Chaptter10Solutio
ons
0
0
0 1
0 0
1
0
A=
0
1
0 0
0 10 12 7
0
0
B=
0

1
Golnarraghi,Kuo
AandBarreinCCF
1
1034(a)
G( s) =
Y ( s)
Stateequations:
U ( s)
10
3
s + 8.5 s + 20.5s + 15
5.71
s + 15
6.67
s+2
0.952
s+5
A ( t ) + Bu ( t )
x& ( t ) = Ax
1.5 0 0
A= 0
2 0
0 5
0
5.71
B = 6.67
0.952
wtheinputandtheoutputbranchesareallo
ocated.
ThematrixBisnotunique.Itdependsonhow
(b)
G( s) =
Y ( s)
Stattediagram:
U ( s)
10( s + 2)
2
s ( s = 1)(( s + 3.5)
4.55
s
0.49
s + 3.5
1063
4
s +1
5.71
s
A
Stateequation:
Chaptter10Solutio
ons
Golnarraghi,Kuo
A ( t ) + Bu ( t )
x& ( t ) = Ax
0
0
A=
0
0 0
0
0
0 1
0 0 3.5
0
1
B=
1

1
(b)
Y ( s)
G( s) =
Sttateequationss:
U ( s)
5( s + 1)
s( s + 2)( s + 10)
2.5
0.313
s+2
0.563
s + 10
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
0 0
A = 0 2
0
0 0 10
1
B = 1
(d)
G ( s) =
Y (s)
U ( s)
s ( s + 5) s + 2s + 2
2
0.1
s
0.0118
s+5
1064
0.0882 s + 0.235
s + 2s + 2
2
A
Sttateequationss:
Chaptter10Solutio
ons
Golnarraghi,Kuo
A ( t ) + Bu ( t )
x& ( t ) = Ax
0 0 0 0
0 5 0 0
A=
0 0 0 1
0 0 2 2
1
1
B=
0

1
1
1035(a)
G( s) =
Y ( s)
U ( s)
1
10
( s + 15)(
. s + 2 )( s + 5)
Stattediagram:
Staateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
5 1
A = 0 2
1
0 0 1.5
0
B=0

10
(b)
1065
A
G(s) =
Y (s)
Staatediagram:
U (s)
Chaptter10Solutio
ons
Golnarraghi,Kuo
100 s + 2 1
2
s ( s + 1)( s + 3.5) s s + 1 s + 3.5
10( s + 2)
x& ( t ) = Ax
A ( t ) + Bu ( t )
Stateequations:
0
0
A=
0
0 1
1
0 1
1
0 0 3.5
G ( s) =
Y (s)
0
0
B=
0

10
(c)
Staatediagram:
U (s)
5 s +1 1
s ( s + 2)( s + 10) s s + 2 s + 10
59 s + 1)
Staateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
0 1
A = 0 10 1
0 0 2
0
B = 0

5
(d)
1066
A
G(s) =
Y (s)
U (s)
Chaptter10Solutio
ons
1
s ( s + 5) s + 2s + 2
2
Golnarraghi,Kuo
S
Statediagram:
A ( t ) + Bu ( t )
x& ( t ) = Ax
Staateequations:
0 1 0 0
0 0 1 0
A=
0 2 2 1
0 0 0 5
0
0
B=
0

1
1
1036(a)
G( s) =
Y ( s)
E ( s)
10
s( s + 4 )( s + 5)
100 s
1+ 9s
+ 20 s
X ( s)
2
X ( s)
( Dynamicequations:
(b)
1
0 x1 0
x&1 0
x& = 0
0
1 x2 + 0 r

2
1
20 9 x3 1
x&3 10
y = [10
1
1067
0] x
Chapter10Solutions
Golnaraghi,Kuo
(c)Statetransitionequation:
s 1 (1 + 9 s 1 + 20 s 2 ) s 2 (1 + 9 s 1 ) s 3 x1 (0)
s 3
X 1 (s)
1 2 1
3
1
1
2
X (s) = 1
10 s
s (1 + 9 s ) s x2 (0) +
s
(s)
( s ) 1 s
2
2
1
s
10 s
20 s
s x3 (0)
X 3 ( s )
1
s
+ 9 s + 20
s+9
1 x1 (0)
1

10
s ( s + 9)
s x2 (0) +
1
c (s)
2
s
10 s
10 ( 2 s + 1) s x3 (0)

=
c (s)
( s) = 1+ 9s
1.612 0.946 0.114
0.708 t
x (t ) = 1.14 0.669 0.081 e
0.807 0.474 0.057
+ 20 s
+ 10 s
c ( s ) = s + 9 s + 20 s + 10
0.706 1.117 0.169

2.397 t
+ 1.692
2.678
4.056 e
4.056 6.420 0.972
0.0935 0.171 0.055
5.895 t
+ 0.551 1.009 0.325 e

x(0)
3.249 5.947 1.915
0.1 0.161e 0.708 t + 0.0706e 2.397 t 0.00935e 5.895 t
0.708 t
2.397 t
5.895 t
0.114e
0.169e
+ 0.055e
+
0.087e 0.708 t + 0.406e 2.397 t 0.325e 5.895 t
t 0
(d)Output:
y (t ) = 10 x1 (t ) = 10 1.612e
0.708 t
+ 10 1.141e
0.706e
0.708 t
2.397 t
0.169e
+ 0.0935e
2.397 t
5.897 t
+ 0.0550e
) x (0) + 10 ( 0.946e 1.117e + 0.1711e ) x (0)

) x (0) + 1 1.61e0.708t + 0.706e2.397t 0.0935e5.895t
0.708 t
Y ( s)
R( s )
10
3
s + 9 s + 20 s + 10
(b)Statediagram:
1068
5.895 t
5.895 t
1037(a)Closedlooptransferfunction:
2.397 t
t0
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
(c)Stateequation
S
s:
1
0 x1 0
x&1 0
x& 2 = 0
0
1 x2 + 0 r

x&3 10 20 9 x3 1
(d)Stateetransitioneqquations:
[
[Sameanswers
sasProblem5
526(d)]
(e)Outpput:[SameansswerasProbleem526(e)]
1
1038(a)
Stattediagram:
(b)Statteequations:
x&1 2 20 1 0 x1 0 1
x& 0 10 1
0 u
0 x2 0
2
+
=
x&3 0.1 0 20 1 x3 0 0 TD
&

0
0
5 x4 30 0
x4 0
nsferfunctionrrelations:
(c)Tran
From
mthesystemb
blockdiagram,
Y ( s ) =
( s) s + 2
s) = 1+
(
1 1
TD ( s ) +
0.1e
0.3
( s + 2)( s + 20)
0. 2 s
( s + 2 )( s + 20)
TD ( s ) +
( s + 2)( s + 20) + 0.1e

( s + 2)( s + 20)
1069
( s + 2)( s + 5)( s + 20) ( s + 5)( s + 20)

30e
0.2 s
U (s)
0. 2 s
90U ( s )
A
Y ( s ) =
( s ) =
Chaptter10Solutio
ons
( s + 19.7 )
( s + 2)( s + 20) + 0.1e
0. 2 s
TD ( s ) +
0. 2 s
TD ( s ) +
( s + 200)
( s + 2 )( s + 20) + 0.1e
30e
0. 2 s
Golnarraghi,Kuo
+ 90( s + 2 )U ( s )
( s + 5) ( s + 2)( s + 20) + 0.1e

330e
0. 2 s
0. 2 s
U ( s)
( s + 5) ( s + 2 )( s + 20) + 0.1e
0. 2 s
11
1
1039(a)
Th
hereshouldno
otbeanyincom
mingbranchestoastatevariaablenodeotheerthanthe s branch.Thus,we
sho
ouldcreateanewnodeasshowninthefolllowingstatediiagram.
(b)State
eequations:N
Noticethattherreisaloopwitthgain1afterallthe s brranchesaredeleted,so =2
2.
dx1
17
dt
x1 +
1
2
dx 2
x2
15
dt
x1
1
x 2 + r Outputequ
uation: y = 6..5 x1 + 0.5 x 2
2
2
1
1
1040(a)
Trransferfunctio
on:
Y (s)
Ks + 5 s + 1
( s + 1) ( s
(b)Charracteristicequation:
+ 11s + 2
Y ( s)
R( s )
s + 5s + 1
3
s + 12 s + 133s + 2
Statediaggram:
1070
( s + 1) ( s
+ 111s + 2 = 0
1,0.185,10..82.TheseareenotfunctionsofK.
Roo
otsofcharacte
eristicequation:
enK=1:
(c)Whe
R(s)
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
(d)WheenK=4:
Y (s)
R( s)
4 s + 5s + 1
2
( s + 1) ( s
+ 11s + 2
( s + 1)(4 s + 1)
) ( s + 1) ( s
+ 11s + 2
4s + 1
s + 11s + 2
2
Statediagram:
(e)
Y (s)
R(s)
Ks + 5 s + 1
2
( s + 1) ( s
+ 11s + 2
( s + 1) ( s
M
MATLAB
ssolve(s^2+11*ss+2)
aans=11/2+1
1/2*113^(1/2)
11/21/2*113
3^(1/2)
>>>vpa(ans)
aans=
.20
10.8
Y (s)
Ks 2 + 5s + 1
=
R ( s ) ( s + 1)(
1 s + 0.2)( s + 10.82)
K = 4, 2.1914, 0.4536
P
Polezerocan
ncelationocccursforthegivenvaluesofK.
1071
+ 111s + 2 = 0
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1041(a)
Gp (s) =
Y (s)
U (s)
(1 + 0.5s ) (1 + 0.2 s + 0.02 s
100
s + 12
1 s + 70 s + 1000
3
Stattediagrambyddirectdecompposition:
Stateequations:
1
0 x1 0
x&1 0
x& = 0
0
1 x2 + 0 u
2

x&3 100 70 12 x3 1
(b)Charracteristicequuationofcloseddloopsystem
m:
s + 12 s + 70 s + 200 = 0
R
Rootsofchara
acteristicequation:
5.88, 3.06 + j 4.965, 3.06 j 4.965
1
1042(a)
Gp (s) =
Y ( s)
1 0.066 s
Stattediagrambydirectdecompposition:
U ( s)
(1 + 0.5s ) (1 + 0.133s + 0.0067s
1
20( s 15)
s + 22 s + 190 s + 300
3
1072
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
Stateequations:
1
0 x1 0
x&1 0
0
1 x2 + 0
x& 2 = 0

1
22 x3 1
x&3 300 190
Chaaracteristicequuationofcloseedloopsystem
m:
s + 22 s + 170 s + 600 = 0
R
Rootsofchara
acteristicequation:
12,5+j5,5j5
x1 = m and x 2 = D
1
1043(a)
Statevariables:
Stateequations:
d m
Kb Ki + Kb Ra
dt
KD
JRa
D +
KK
Ki
JRa
d D
dt
KD
JR
KD
JR
(b)Stattediagram:
(c)Openlooptransfe
erfunction:
m (s)
E (s)
KK
Ki ( J R s + K D )
JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa ) s + K D K b K i
2
Clossedlooptransferfunction:
1073
Chapter10Solutions
Golnaraghi,Kuo
m (s)
r (s)
K s KK i ( J R s + K D )
JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D
2
(d)Characteristicequationofclosedloopsystem:
( s ) = JJ R Ra s + ( K D J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D = 0
Characteristicequationroots: 19.8, 1017.2
( s ) = s + 1037 s + 20131.2 = 0
x& ( t ) = Ax ( t ) + Br ( t )
1044(a)Stateequations:
b
A=
c
2
=
a 2
0
B=
1
SinceSisnonsingular,thesystemiscontrollable.
S = [B
0
AB ] =
1
(b)
S = [B
0
AB ] =
1
a
d
Thesystemiscontrollablefor d 0.
1045(a)
1 1 1
2
S = B AB A B = 1 1 1
1 1 1
Sissingular.Thesystemisuncontrollable.
1 1 1
2
S = B AB A B = 1 2 4
1 3 9
Sisnonsingular.Thesystemiscontrollable.
(b)
1046(a)Stateequations:
x& ( t ) = Ax ( t ) + Bu ( t )
1074
Chapter10Solutions
Golnaraghi,Kuo
2
A =
1
1
B=
1
1 1
AB ] =
Sissingular.Thesystemisuncontrollable.
1 1
S = [B
Outputequation:
y= 1
0 x = Cx
C= 1
V = C
'
1
'
'
A C =
0
Visnonsingular.Thesystemisobservable.
(b)Transferfunction:
Y ( s)
U ( s)
s+3
2
s + 2s 3
1
s 1
Sincethereispolezerocancellationintheinputoutputtransferfunction,thesystemiseither
uncontrollableorunobservableorboth.Inthiscase,thestatevariablesarealreadydefined,andthe
systemisuncontrollableasfoundoutinpart(a).
1047(a) = 1, 2, or 4 .Thesevaluesofwillcausepolezerocancellationinthetransferfunction.
(b)Thetransferfunctionisexpandedbypartialfractionexpansion,
Y ( s)
R( s )
1
3( s + 1)
2
2( s + 2 )
4
6( s + 4 )
Byparalleldecomposition,thestateequationsare: x& ( t ) = Ax ( t ) + Br ( t ) ,outputequation: y ( t ) = Cx( t ).
1 0 0
A = 0 2 0
0 0 4
1
B = 2
Thesystemisuncontrollablefor=1,or=2,or=4.
(c)Definethestatevariablessothat
1075
D=
1
3
1
2
1
6
A
Chaptter10Solutio
ons
1 0 0
A = 0 2 0
0 0 4
1
3

1
B=
2
1

6
TThesystemisu
unobservablefo
or=1,or==2,or=4.
Golnarraghi,Kuo
D = [ 1 2
4]
1
1048
1
AB
A ]=
b
S = [B
S = ab 1 b 0
0
Theboundaryoftheregionofcoontrollabilityissdescribedby ab 1 b 2 = 0.
Regionsofcontro
ollability:
ab 1
1
1049
b1
A ]=
AB
b2
S = [B
b1 + b2
S = 0 when b1b2 b1b2 b2 = 0, or b2 = 0
Theesystemiscom
mpletelycontro
ollablewhen b2 0.
mpletelyobservvablewhen d 2 0.
Theesystemiscom
V = C
'
d1
'
'
A C =
d2
b2
d1 + d 2
d2
V = 0 when d1 0.
1076
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1050(a)
Stateequations:
dh
dt
1
A
(q
K I nN
qo ) =
Ko
d m
dt
Stattevariable: x1 = h, x 2 = m , x3 =
d m
dt
= m
d m
d
dt
Ki Kb
JRa
m +
Ki K a
JRa
ei J = J m + n J L
= m
x& = Ax + Bei
Statteequations:
Ko
A
A= 0
1 0.016
0

1 = 0
0
1
K i K b 0
0
11..767
JRa
K I nN
A
0
0
0 0
B= 0 = 0
K K 8333.33
i
a
JRa
Sttatediagram:
(b)Characteristicequ
uationofA:
s+
sI A =
Ko
K I nN
n
0
1
s+
Ki Kb
= ss +
JRa
Eige
envaluesofA:
0,1,11.767.
(c)Conttrollability:
1077
s + Ki Kb
A
JRa
Ko
= s ( s + 1)( s + 11.767)
Chapter10Solutions
0
133.33
0
2
S = B AB A B = 0
8333.33 98058
8333.33 98058 1153848
Golnaraghi,Kuo
S 0. Thesystemiscontrollable.
(d)Observability:
(1) C = 1
V = C
(2) C = 0
(3) C = 0
'
V = C
'
V = C
'
0 :
'
AC
'
AC
'
1
1 1
' 2
'
( A ) C = 0 0.016 0.016 Visnonsingular.Thesystemisobservable.
0
0.016
0
'
0
0 0
' 2
'
( A ) C = 1 0
0 Vissingular.Thesystemisunobservable.
0 1 11.767
'
AC
'
0
0
0
' 2
'
( A ) C = 0
0
0 Vissingular.Thesystemisunobservable.
1 11.767 138.46
( s ) = sI A = s 25.92 s = 0
1051(a)Characteristicequation:
5.0912,5.0912,0,0
Rootsofcharacteristicequation:
(b)Controllability:
0.0732
0
1.8973
0
0.0732
1.8973
0
0
3
A B =
0.0976
0
0.1728
0
0
0.1728
0
0.0976
S = B
Sisnonsingular.Thus, A , B iscontrollable.
AB
A B
(c)Observability:
1078
(1)
C = 1 0
V = C
'
Chapter10Solutions
Golnaraghi,Kuo
'
A C
'
'
(A ) C
'
1
0
' 3
'
( A ) C =
0
25.92
25.92
0
0
Sissingular.Thesystemisunobservable.
(2) C = 0
1 0
0
671.85
0 25.92
1
0
25.92
0
' 3
'
( A ) C =
0
0
0
0
0
0
0
0
V = C
'
'
A C
'
'
(A ) C
'
(3) C = 0 0 1 0
V = C
'
'
A C
'
'
(A ) C
'
0
0
' 3
'
( A ) C =
1
2.36
2.36
0
0
Sisnonsingular.Thesystemisobservable.
(4) C = 0
0
61.17
0 2.36
0
2.36
0
0
' 3
'
( A ) C =
0
0
0
0
0
0
0
1
V = C
'
'
A C
'
'
(A ) C
'
1079
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1052
Thecontrollabilitymatrixis
0
384
3
0 1 0 16
1 0 16 0 384
0
0
512
0
166
0 0
S=
0
16
0
0
512
0
0 1
0
0
0
0
1 0
0
0
0
0
R
RankofSis6.
Thesystemisccontrollable.
1
1053(a)
Trransferfunctio
on:
v ( s)
R(s)
Jvs
(J
KI H
s + KPs + KI + KN
2
position:
Stattediagrambydirectdecomp
Statteequations:
0
0
A = 0
A ( t ) + Br ( t )
x& ( t ) = Ax
KP
J G
0
( KI + KN )
JG
uation: J v s
(b)Characteristicequ
(J
s + KP s + KI + KN = 0
2
0
0
B=
0

1
1080
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
x& (t ) = Ax
A (t ) + Bu1 (t )
1
1054(a)
Stateequations:
0
1

3
A=
0
Sisnonsinggular. A, B iscontrollablee.
Outputequ
uation:
B=
V = C
'
S = [B
y 2 = Cx
A C =
'
'
AB
B] =
0 1
1 2
C = 1 1
1 3
1 3
Vissingu
ular.Thesystem
misunobservaable.
hfeedback, u2 = kc2 , thesttateequationis: x& (t ) = Ax(t ) + Bu1 (t ) .

(b)With
3 2 k
A = 1+ g
1+ k
2
1
1
0
S=
1+ k
1 2
0
B=
1
Sisnonsingularfo
orallfinitevalu
uesofk.Thesyystemiscontro
ollable.
Stattediagram:
Outtputequation:
1
1 + k
y2 = Cxx
C=
V = D'
1
1 + K
'
'
A D =
1
1 + k
1 + k
(1 + k )

3 + 2k
2
(1 + k )
3 + 2k
nobservable.
Vissingularforanyk.Theesystemwithfeedbackisun
1081
Chapter10Solutions
Golnaraghi,Kuo
1055(a)
S = [B
V = C
1
AB ] =
2
1
'
'
A C =
1
'
Sisnonsingular.Systemiscontrollable.
7
1
Visnonsingular.Systemisobservable.
(b) u = k1 k 2 x
0
A c = A BK =
1
S = [B
Forcontrollabillity, k 2
V = C
1
AcB] =
2
'
k1
2k1
k2
k1
=
2k 2 1 2 k1
k1 2 k 2 + 2
11
1 3k1
2 3k 2
Forobservability, V = 1 + 3k1 3k 2 0
1056
Sameas1021(a)
1057
0
=
322.58
x1 0
+
r
80.65 x2 322.58
1082
3 2k 2
S = 11 2 k 2 0
7 2 k1 4 k 2
1
'
'
A c C =
1
1 k2
Chapter10Solutions
1 x1 0
x& 0
From1022 1 =
+
r
x&2 322.58 80.65 x2 322.58
Golnaraghi,Kuo
1
0
A=
322.58 80.65
0
B=
322.58
C = [1 0]
D=0
UsethestatespacetoolofACSYS
1083
Chapter10Solutions
TheAmatrixis:
Amat=
01.0000
322.580080.6500
ans=
s^2+1613/20*s+16129/50
Abar=
4.22060
076.4294
EigenVectorsare
T=
0.23050.0131
0.97310.9999
1084
Golnaraghi,Kuo
Chapter10Solutions
StateSpaceModelis:
a=
x1x2
x101
x2322.680.65
b=
u1
x10
x2322.6
c=
x1x2
y110
d=
u1
y10
ans=
s^2+1613/20*s+16129/50
Transferfunction:
322.6
s^2+80.65s+322.6
Pole,ZeroForm:
Zero/pole/gain:
322.58
(s+76.43)(s+4.221)
1085
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
1058
ClosedloopSystemTransferFunction.
Y (s)
R(s)
1
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3
Forzerosteadystateerrortoastepinput, k1 = 1.Forthecomplexrootstobelocatedat1+jand1j,
2
wedividethecharacteristicpolynomialby s + 2 s + 2 andsolveforzeroremainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2
s +
3
2s
(2 + k ) s
3
+ 2s
+ (1 + k 2 + k 3 ) s + 1
1086
(2 + k ) s
3
Chapter10Solutions
+ ( 4 + 2 k3 ) s
( -3+k
+ 4 + 2 k3
k3 ) s 3 2k3
Golnaraghi,Kuo
3 2 k3 = 0
Thus
k3 = 15
.
3 + k 2 k3 = 0
Thus
k 2 = 15
.
Forzeroremainder,
Thethirdrootisat0.5.Notalltherootscanbearbitrarilyassigned,duetotherequirementonthe
steadystateerror.
1059(a)OpenloopTransferFunction.
G ( s) =
X 1 (s)
E (s)
k3
s s + ( 4 + k 2 ) s + 3 + k1 + k 2
2
Sincethesystemistype1,thesteadystateerrorduetoastepinputiszeroforallvaluesof k1 , k 2 , and k3
thatcorrespondtoastablesystem.Thecharacteristicequationoftheclosedloopsystemis
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k3 = 0
3
Fortherootstobeat1+j,1j,and10,theequationshouldbe:
s + 12 s + 22 s + 20 = 0
Equatinglikecoefficientsofthelasttwoequations,wehave
4 + k 2 = 12
3 + k1 + k 2 = 22
k3 = 20
Thus
k1 = 11
Thus
Thusk3=20
(b)OpenloopTransferFunction.
1087
k2 = 8
Y (s)
E ( s)
Gc ( s )
( s + 1)( s + 3 )
Chapter10Solutions
20
s s + 12 s + 22
2
Thus Gc ( s ) =
Golnaraghi,Kuo
20 ( s + 1)( s + 3 )
1060(a)
0
25.92
A =
0
2.36
0
0.0732
B =
0
0.0976
2.4071E+03
0.0000E+00
1.5028E+023.1938E+016.2112E+007.4534E+00
0.0000E+00
0.0000E+00
0.0000E+00
1.0000E+00
2/3258E+02
4.2584E+01
8.2816E+00
9.9379E+00
0.0000E+00
7.3200E02
Thefeedbackgains,from k1 to k 4 :
4.3631E+02
8.4852E+01
1.0182E+02
The A B K matrixoftheclosedloopsystem
1.0000E+00
0.0000E+00
TheBvector
0.0000E+00
1088
0.0000E+00
s s + 12 s + 22
2
9.7600E02
TimeResponses:
Chapter10Solutions
Golnaraghi,Kuo
1060(b)
Thefeedbackgains,from k1 to k2 :
9.9238E+03
0.0000E+00
7.0051E+021.2350E+029.9379E+015.9627E+01
0.0000E+00
0.0000E+00
0.0000E+00
1.0000E+00
9.6621E+02
1.6467E+02
1.3251E+02
7.9503E+01
1.6872E+03
1.3576E+03
8.1458E+02
1.0000E+00
0.0000E+00
1089
0.0000E+00
Chapter10Solutions
Golnaraghi,Kuo
TheBvector
0.0000E+00
7.3200E02
0.0000E+00
9.7600E02
TimeResponses:
1061ThesolutionsusingMATLAB
1090
(a)
6.4840E+01
0.0000E+00
Chapter10Solutions
Thefeedbackgains,from k1 to k2 :
5.6067E+00
2.0341E+01
2.2708E+00
0.0000E+00
0.0000E+00
3.0950E+023.6774E+01
1.1463E+02
1.4874E+01
0.0000E+00
1.0000E+00
4.6190E+023.6724E+01
1.7043E+02
1.477eE+01
0.0000E+00
1.0000E+00
0.0000E+00
TheBvector
0.0000E+00
6.5500E+00
6.5500E+00
0.0000E+00
'
(b)TimeResponses: x(0) = 01
. 0 0 0
1091
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
'
Withtheinitialstates x(0) = 01
. 0 0 0 , theinitialpositionof x1 or y1ispreturbeddownward
fromitsstableequilibriumposition.Thesteelballisinitiallypulledtowardthemagnet,so x3 = y 2 is
negativeatfirst.Finally,thefeedbackcontrolpullsbothbodiesbacktotheequilibriumposition.
. 0 , theinitialpositionof x3 or y 2 ispreturbed
Withtheinitialstates x(0) = 0 0 01
downwardfromitsstableequilibrium.Fort>0,theballisgoingtobeattractedupbythemagnet
towardtheequilibriumposition.Themagnetwillinitiallybeattractedtowardthefixedironplate,and
thensettlestothestableequilibriumposition.Sincethesteelballhasasmallmass,itwillmovemore
'
1092
Chapter10Solutions
Golnaraghi,Kuo
actively.
1062(a)BlockDiagramofSystem.
u = k1 x1 + k 2 ( x1 + w1 ) dt
StateEquationsofClosedloopSystem:
dx1
dt 2 k1
=
dx2 k 2
dt
1 x1
0
+
0 x2 k 2
1 w1
0 w2
1093
sI A =
Chapter10Solutions
s + 2 + k1
k2
Golnaraghi,Kuo
= s + ( 2 + k1 ) s + k 2 = 0
2
Fors=10,10, sI A = s 2 + 20 s + 200 = 0
Thus
k1 = 18 and k 2 = 200
X ( s) = X 1 ( s) =
X ( s ) =
200W1 ( s ) s 2 + s 1W2 ( s )
1 + 2s
+ 18 s
+ 200 s
200W1 ( s) + sW2 ( s)
s 2 + 20 s + 200
W1 ( s ) =
1
s
W2 ( s) =
W2
W2 = constant
200 + W2 s
s s + 20 s + 200
2
lim x (t ) = lim sX ( s ) = 1
s 0
1062(b)WithPIController:
BlockDiagramofSystem:
Set K P = 2 and K I = 200 .
X (s) =
(K
s + K I ) W1 ( s ) + sW2 ( s )
s + 20 s + 200
2
1094
( 2 s + 200 ) W ( s ) + sW ( s )
1
s + 20 s + 200
2
Chapter10Solutions
Golnaraghi,Kuo
TimeResponses:
1095
Chapter10Solutions
Golnaraghi,Kuo
10-63)
10
1
10
2
11
Consider:
10
11
Therefore:
0
0
6
1
0
11
0
1
6
0
0
10
1 0 0
As a result:
0
0
6
1
0
11
0
1
6
0
0
10
1 0 0
Using MATLAB, well find:

15.4 4.5
0.8
10-64)
Inverted Pendulum on a cart

The equations of motion from Problem 4-21 are obtained (by ignoring all the pendulum inertia term):
( M + m) &&
x ml&& cos + ml& 2 sin = f
ml ( g sin &&
x cos + l&&) = 0
These equations are nonlinear, but they can be linearized. Hence
0
cos 1
sin
( M + m) &&
x + ml&& = f
ml ( g &&
x + l&&) = 0
1096
Or
Chapter10Solutions
x f
( M + m) ml &&
=
ml
2 &&
ml mlg
Premultiplybyinverseofthecoefficientmatrix
inv([(M+m),m*l;m*l,m*l^2])
ans=
[1/(M+2*m),1/l/(M+2*m)]
[1/l/(M+2*m),(M+m)/m/l^2/(M+2*m)]
ForvaluesofM=2,m=0.5,l=1,g=9.8
ans=
0.33330.3333
0.33331.6667
Hence
x 1/ 3 1/ 3 f
&&
&& = 1/ 3 5 / 3 49 /10

x 1/3*f-49/30
&&
&& = 1/3*f+49/6

Thestatespacemodelis:
x&4 1/3*f-49/30x1
x& = 1/3*f+49/6x
1
2
Or:
1097
Golnaraghi,Kuo
x&2 1/3*f+49/6x1
x& = 1/3*f-49/30x
1
4
1 0
x&1 0
x& 49/6 0 0
2 =
x&3 0
0 0

x&4 -49/30 0 0
0
49/6
A=
0
-49/30
0
1/ 3
B=
0

1/ 3
Chapter10Solutions
0 x1 0
0 x2 1/ 3
+
f
1 x3 0

0 x4 1/ 3
1 0 0
0 0 0
0 0 1
0 0 0
C = [1 0 1 0]
D=0
1098
Golnaraghi,Kuo
Chapter10Solutions
Use ACSYS State tool and follow the design process stated in Example 10-17-1:
1099
Golnaraghi,Kuo
Chapter10Solutions
TheAmatrixis:
Amat=
01.000000
8.1667000
0001.0000
1.6333000
ans=
s^449/6*s^2
Abar=
0000
0000
002.85770
0002.8577
EigenVectorsare
T=
000.32390.3239
000.92560.9256
1.00001.00000.06480.0648
00.00000.18510.1851
StateSpaceModelis:
a=
x1x2x3x4
x10100
x28.167000
x30001
x41.633000
b=
u1
x10
x20.3333
10100
Golnaraghi,Kuo
Chapter10Solutions
x30
x40.3333
c=
x1x2x3x4
y11010
d=
u1
y10
ans=
s^449/6*s^2
Transferfunction:
4.441e016s^3+0.6667s^22.22e016s3.267
s^48.167s^2
Pole,ZeroForm:
Zero/pole/gain:
4.4409e016(s+1.501e015)(s+2.214)(s2.214)
s^2(s2.858)(s+2.858)
TheControllabilityMatrix[BABA^2B...]is=
Smat=
00.333302.7222
0.333302.72220
00.333300.5444
0.333300.54440
ThesystemisthereforeNotControllable,rankofSMatrixis=
rankS=
4
10101
Golnaraghi,Kuo
Chapter10Solutions
Mmat=
08.166701.0000
8.166701.00000
01.000000
1.0000000
TheControllabilityCanonicalForm(CCF)Transformationmatrixis:
Ptran=
000.33330
0000.3333
3.266700.33330
03.266700.3333
ThetransformedmatricesusingCCFare:
Abar=
01.000000
001.00000
0001.0000
008.16670
Bbar=
0
0
0
1
Cbar=
3.266700.66670
Dbar=
10102
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
Note incorporating K in Abar:

AbarK=
01.000000
001.00000
0001.0000
k1k28.1667k3k4
SystemCharacteristicequationis:
k4*s^4+(8.1667k3)*s^3k2*sk1=0
From desired poles we have:

>> collect((s-210)*(s-210)*(s+20)*(s-12))
ans =
-10584000+s^4-412*s^3+40500*s^2+453600*s
Hence: k1=10584000, k2=40500, k3=412+8.1667and k4=1
10-65) If
system is:
3 and
0.707, then
1.414. The 2nd order desired characteristic equation of the

2
On the other hand:
where the characteristic equation would be:
Comparing equation (1) and (2) gives:
5
6
2
2
10103
(2)
which means
4 and
Chapter10Solutions
Golnaraghi,Kuo
10-66) Using ACSYS we can convert the system into transfer function form.
1)
2)
3)
4)
5)
6)
7)
8)
9)
Activate MATLAB
Type in Acsys
Use the Calculate/Display menu and find the eigenvalues.
Next use the Calculate/Display menu and conduct State space calculations.
Next verify Controlability and find the A matrix
Follow the design procedures in section 10-17 (pole placement)
10104
Chapter10Solutions
10105
Golnaraghi,Kuo
Chapter10Solutions
The A matrix is:

Amat =
-1
-2
-2
-1
-1
ans =
s^3+3*s^2+5*s+5
Abar =
-0.6145 + 1.5639i
0
-0.6145 - 1.5639i
-1.7709
Eigen Vectors are

T=
-0.8074
-0.8074
-0.4259
0.2756 + 0.1446i 0.2756 - 0.1446i -0.7166

-0.1200 + 0.4867i -0.1200 - 0.4867i 0.5524
State-Space Model is:
a=
x1 x2 x3
x1 -1 -2 -2
x2 0 -1 1
x3 1 0 -1
10106
Golnaraghi,Kuo
Chapter10Solutions
b=
u1
x1 2
x2 0
x3 1
c=
x1 x2 x3
y1 1 1 1
d=
u1
y1 0
Continuous-time model.
ans =
s^3+3*s^2+5*s+5
Transfer function:
3 s^2 + 7 s + 4
--------------------s^3 + 3 s^2 + 5 s + 5
Pole, Zero Form:
Zero/pole/gain:
3 (s+1.333) (s+1)
--------------------------------(s+1.771) (s^2 + 1.229s + 2.823)
10107
Golnaraghi,Kuo
Chapter10Solutions

Smat =
2
-4
-5
The system is therefore Controllable, rank of S Matrix is =

rankS =
3
Mmat =
5

Ptran =
-2
The transformed matrices using CCF are:

Abar =
0
1.0000
0
1.0000
-5.0000 -5.0000 -3.0000
10108
Golnaraghi,Kuo
Chapter10Solutions
Golnaraghi,Kuo
Bbar =
0
0
1
Cbar =
4
Dbar =
0
Using Equation (10-324) we get:
sI ( A BK ) = s 3 + (3 + k3 ) s 2 + (5 + k2 ) s + (5 + k1 ) = 0
Using a 2nd order prototype system, for

5, then
1. For overshoot of 4.33%,
nd
Then the desired 2 order system will have a characteristic equation:
0.707.
s 2 + 2n s + n 2 = s 2 + 2 s + 2 = 0
The above system poles are: s1,2 = 1 j

One approach is to pick K=[k1 k2 k3] values so that two poles of the system are close to the desired
second order poles and the third pole reduces the effect of the two system zeros that are at z=-1.333 and
z=-1. Lets set the third pole at s=-1.333. Hence
(s+1.333)*(s^2+2*s+2)=s^3+3.33*s^2+4.67*s+2.67
and K=[-2.37 -0.37 0.33].
Y
3( s + 1)
= 2
R s + 2s + 2
Use ACSYS control tool to find the time response. First convert the transfer function to a unity feedback
system to make compatible to the format used in the Control toolbox.
G=
3( s + 1)
s2 s 1
10109
Chapter10Solutions
Golnaraghi,Kuo
Overshoot is about 2%. You can adjust K values to obtain alternative results by repeating this process.
10-67) a) According to the circuit:
If
, then
10110
Chapter10Solutions
Golnaraghi,Kuo
or
1
1
Therefore:
0
0
b) Uncontrollability condition is:
0
According to the state-space of the system, C is calculated as:
1
1
As
0, because
, then the system is controllable
c) Unobservability condition is:
0
According to the state-space of the system, C is calculated as:
Since det H
0, because R
0 or L
, then the system is observable.

10111
Chapter10Solutions
Golnaraghi,Kuo
d) The same as part (a)
0
1
For controllability, we define G as:
1
1
1
,and then
If
0, which means the system is not controllable.
For observability, we define H as:
1
1
If
, then
0, which means the system is not observable.
10112

Automatic Control Systems Solution Manual

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Automatic Control Systems Solution Manual

Uploaded by

Copyright:

Available Formats

So

Farid Golnaraghi Benjamin C. Kuo

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

2-4) Mathematical representation:

and simplify. The use MATLAB to verify.

( j + 1)( j + 1)( j + 3) ( j + 1)( j + 1)( j + 3)

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

In all cases find the real and imaginary axis intersections.

%asuuming a value for zeta <1

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

%asuuming a value for zeta >1

Steps for plotting |G|:

Lets convert the transfer function to the following form:

Steps for plotting |G|:

Slope: -1 or -20 dB/decade

(2) n =2 and = 0.1 for second-order pole

Steps for plotting

Convert the transfer function to the following form:

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

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

= 50 above the asymptote

Steps for plotting G:

phase starts from -180o due to

Steps for plotting the |G|:

(1) The phase starts at 0o and falls -1 or -20 dB/decade at

= 0.2 and approaches -180o

> 5, the phase remains at -180o.

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

'Generated transfer function:'

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:

2-11) Let g(t) =

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

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

When s , it can be written as:

By Laplace transform differentiation property:

===> L(f2)=1/s-L(f1) ===>

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

'verified as L2 equals L3'

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

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

(d) g ( t ) = sin 2t cos 2t u s (t )

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

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) + L

gT ( t ) = 2tu s ( t ) 4( t 0.5)u s ( t 0.5) + 2( t 1)u s ( t 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)

30 cos 2(t 1) 5 sin 2(t 1)

(f)Try using MATLAB

wn=2pi10 %asuuming a value for wn