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Control Automatico Solucionario 8 ED Benjamin C Kuo
Control Automatico Solucionario 8 ED Benjamin C Kuo
2-1 (a)
Poles: s = 0, 0,
Zeros: s =
1, 10;
(b)
Poles: s =
2, , , .
2, 2;
Zeros: s = 0.
The pole and zero at s =
(c)
Poles: s = 0,
1 + j, 1 j;
Zeros: s =
(d)
Poles: s = 0,
1, 2, .
2.
2-2 (a)
(b)
G (s) =
( s + 5)
(c)
G ( s) =
(d)
(s
4s
2
(e)
G ( s)
1
s
G (s)
+4
+4
G (s)
s+ 2
kT ( s + 5 )
=
1
k =0
2-3 (a)
g ( t ) = u s ( t ) 2u s (t 1) + 2 u s( t 2) 2 u s ( t 3) + L
G (s ) =
1
s
(1 2e s + 2e2 s 2e 3s + L ) =
gT (t ) = u s (t ) 2us (t 1) + us (t 2)
GT (s ) =
1
s
(1 2e s + e 2s ) = ( 1 e s )
1
1e
s 1+ e
0 t 2
2
T ( s+5 )
4
s
+ 4s +8
g(t )
2k )us (t 2k )
(t
G (s)
k =0
(1
) e
2 ks
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) us (t 1) 4(t 1.5)us (t 1.5) + L
G ( s) =
g
(1 2e
2
2
0.5 s
+ 2e
2e
1.5 s
0.5 s
(
)
+ L) = 2
0.5 s
s (1 + e
)
2 1e
= 2 tu s ( t ) 4 ( t 0 . 5) u s ( t 0 . 5) + 2( t 1 ) u s ( t 1 )
(t )
(1 2e0.5 s + e s ) = s 2 (1 e0.5 s )
GT ( s ) =
g (t ) =
k=0
G(s ) =
t 1
g T ( t k )us ( t k )
s2 (
2
1 e
0.5 s
k=0
ks
( 0.5 s )
2
0.5s
s (1 + e
)
2 1e
2-4
g(t )
= ( t + 1 ) u s ( t ) ( t 1 ) u s ( t 1 ) 2 u s ( t 1 ) ( t 2 ) u s ( t 2 ) + ( t 3) u s ( t 3) + u s ( t 3)
G ( s) =
2-5 (a)
(1 e s e 2 s + e 3 s ) + s (1 2e s + e 3 s )
4 t
(b)
sX ( s )
1
x1( 0 ) =
2 t
+4)
1
6( s
+ 4)
X (s)
X (s)
=1
x (0)
s( s
+ 3 s +1
+ 1 )( s + 2 )
1
(s
+ 1 )( s + 2 )
= 0 .5 + e
0 .5 e
3( s
+ 1)
1
2( s
+ 2)
sX
(s)
x 2 ( 0 ) = 2 X 1 ( s ) 3 X 2 ( s ) +
=
=
2s
1
s
+1
1
s
+1
1
2( s
+ 2)
1
s
+2
Taking the inverse Laplace transform on both sides of the last equation, we get
x (t )
2 t
x (t )
2
= e
+e
2 t
1
s
x (0)
2
=0
2-6 (a)
G (s)
(b)
G (s)
(c)
G (s ) =
1
3s
2 . 5
50
(s
20
1
s
s
s
g(t )
= 0 .5 t
0.5 t
2 .5
1
s
g(t )
+3
s +4
g (t )
+ 3)
3( s
30s + 20
+s+2
g (t ) = 1 + 1.069e
(e)
s +1
(d)
G (s)
+ 1)
+ 2)
2( s
+1
= 2 . 5 e
2 t
+s +2
3 t
+ 5 te
g (t ) = 50 20e
1
2
(t 1)
+ 2 .5 e
3 t
] us (t 1)
30cos2(t 1) 5sin2(t 1)
s
s
+s+2
2-7
1 2 0
A = 0 2 3
1 3 1
2-8
0 0
B = 1 0
0 1
u (t ) =
(a)
u1( t)
u ( t)
2
(b)
Y (s )
R (s )
3s + 1
3
Y (s)
s + 2 s +5s + 6
R (s )
(c)
5
4
s + 10 s + s + 5
(d)
Y (s )
R (s )
s ( s + 2)
4
Y (s )
s + 10 s + 2 s + s + 2
R (s )
1+ 2e
2
2s + s + 5
t0
10
11
12
13
f ( t) = M 1
d y1
dt
dy1 dy 2 + K ( y y )
1
2
dt dt
dy1
+ B1
+ B3
dt
2
dy1 dy2
d y2
dy2
B3
+ K ( y 1 y 2 ) + M 2 2 + B2
dt
dt
dt dt
d y1
dt
d y2
dt
(i) State diagram:
(B
+ B 3 ) dy1
M1
B3 dy1
dt
(B
M 2 dt
Since y
y2
B3 dy2
M 1 dt
+ B3 ) dy2
dt
dx2
dt
x1
M2
(B
+ B3 )
x2 +
M2
y ,
2
dy
B3
M2
2
dx3
x3
x
dt
dt
dx
dt
= x2
=
dx
dt
dx
dt
=
=
K
M
y2 )
y ,
State diagram:
14
B
M
+ B3
M
3
dy
K
M
dt
B3
M1
x2
(B
dy
dt
+ B3 )
M1
x3 +
dt
dy
x1 +
M1
dt
State equations:
dx
M1
= x2 + x3
y2 ) +
(y
M2
dx1
(y
M1
K
dt
x
1
K
M
x
2
+ B3
M
M
x
1
M
f
1
1
M
Transfer functions:
Y1 ( s )
F (s )
Y2 ( s )
F ( s)
M 2 s + ( B2 + B3 ) s + K
2
=
=
s M 1 M 2 s + [( B1 + B 3 ) M 2 + ( B2 + B3 ) M 1 ] s + [K ( M 1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B 1 + B2 ) K
2
B3 s + K
s M1 M 2 s + [( B1 + B3 ) M 2 + ( B2 + B3 ) M1 ] s + [ K ( M1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B1 + B2 ) K
2
d y1
dt
(B
+ B2 ) dy1
dt
B2 dy2
M dt
dy2
dy1
dt
dt
B2
y ,
dy
dt
State equations:
dx
dt
K
B
dx
+ x2
dt
K
B
+ x3
dx
dt
K
M
y ,
dx
= x3
dt
Transfer functions:
15
y ,
K
M
+
=
B
dy
dt
x
1
M
y2
}
}
Y1 ( s )
B2 s + K
=
2
F (s ) s MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
Y2 ( s)
F ( s)
dy2
dt
dt
d y2
B1
dt
(B
B2
M B2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
2
+ B2 ) dy2
M
B1 dy2
dt
B1 dy1
M dt
M dt
= x2
dt
dx
dt
= x3 +
1
B
dx
dt
y ,
1
M
x
dx
= x3
dt
y ,
dy
dt
State diagram:
Transfer functions:
Y1 ( s )
F (s )
Ms + ( B1 + B 2 ) s + K
2
B1 s Ms + B2 s + K
2
Y2 ( s )
F (s )
16
1
Ms + B 2 s + K
2
1
M
K
M
y2
1
K
+ Mg ) + y 2
( f
dt
B dy
M
dt
+ K2
State diagram:
dx
dx
= x2
dt
dt
dy
dt
1
( f
+ Mg
Ms
Transfer functions:
Y (s)
1
F ( s)
+ Bs + K 1 + K 2
K ( Ms
2
Y (s)
2
+ Bs + K 1 )
F (s)
+ Bs + K 1
1
B1
[ f ( t) + Mg] +
dy2
dt
K1
B1
(y
y2 )
d y2
dt
B 1 dy 1
dy K
B
B dy
+ ( y y ) ( y y )
M dt
dt M
M
M dt
2
To obtain the transfer functions Y ( s ) / F ( s ) and Y ( s ) / F ( s ), we need to redefine the state variables as:
x
y ,
2
= dy 2
/ dt , and x
y .
1
State diagram:
17
Transfer functions:
Y1 ( s )
Ms + ( B1 + B 2 ) s + K 1
2
F (s )
[MBs + ( B B
1
Y2 ( s )
+ MK1 )]
F (s )
Bs + K 1
s [M B1 s + ( B1 B2 + MK1 ) ]
2
State diagram:
1
J dt
T (t )
State equations:
dx
dx
= x2
dt
dt
Transfer function:
( s )
T (s)
+ B)
s ( Js
dt
K
J
2 ) +
d 2
K ( 1 2 ) = B
dt
State equations:
dx
dt
dx
+ x2
dt
dx
dt
K
B
K
B
x
dx
dt
= 1,
=
and
dx
3
dt
State diagram:
18
=
3
dt
K
J
K
J
1
J
Transfer functions:
1 ( s )
T ( s)
Bs + K
s BJs + JKs + BK
2
2 (s )
T ( s)
s BJs + JKs + BK
2
T ( t ) = J1
dt
+ K ( 1 2 )
d 2
2
K ( 1 2 ) = J 2
dt
State diagram:
dx
= x2
dt
K
J
=2,
K
J
=
dx
dt
dt
3
= 1,
dx
dt
K
J
dt
K
J
1
J
Transfer functions:
1 ( s )
T ( s)
J 2s + K
2 (s )
J1 J2 s + K ( J1 + J 2 )
2
T ( s)
K
2
J1 J 2 s + K ( J1 + J 2 )
2
T ( t) = J m
dt
+ K 1 ( m 1 ) + K 2 ( m 2 )
K 1 ( m 1 ) = J 1
19
d 1
2
dt
K2 (m 2 ) = J2
d 2
2
dt
State diagram:
State equations: x =
1
dx
dt
dx
= x2 + x3
dt
K
J
1,
dx
1
dt
K
J
dt
K
J
dt
1
J
dx
dt
= m 2 ,
x5
dx
dt
dt
K
J
Transfer functions:
1 ( s )
T ( s)
2 ( s)
T (s )
K 1 (J 2 s + K 2 )
2
s 4 + ( K1 J2 J m + K2 J 1 J m + K1 J 1 J 2 + K 2 J 1 J 2 ) s 2 + K1 K 2 ( J m + J 1 + J 2 )
K2 ( J1 s + K1 )
2
s 4 + ( K1 J2 J m + K 2 J 1 J m + K1 J 1J 2 + K 2J 1J 2 ) s 2 + K1 K 2 ( J m + J 1 + J 2 )
K1
Jm
( m 1 )
K2
Jm
( m 2 ) +
1
Jm
d 1
2
dt
K1
J1
State diagram:
20
1 )
B1 d 1
J1 dt
d 2 2
dt
K2
J2
1 )
B 2 d 2
J 2 dt
State variables:
= m 1,
dt
dt
= m 2 ,
dt
State equations:
dx 1
dt
= x 2 + x 3
dx
dt
K1
B1
dx 3
dt
Transfer functions:
1 ( s )
K1 J 2 s + B2 s + K 2
K1
2 ( s )
dx
dt
dx
= x3 x5
dt
K 2 J1 s + B1 s + K1
2
K2
J
B2
J
d m
2
dt
Output equation:
+ Bm
e
d m
dt
E
20
( s )
+ K ( m L )
K ( m L ) = J L
d L
2
dt
+ Bp
d L
dt
State diagram:
Transfer function:
L (s )
Tm ( s)
Eo ( s )
Tm ( s)
s J m J L s + Bm J L + Bp J m s + Jm K + J L K + Bm B p s + Bm K
3
KE / 2 0
s J m J L s + Bm J L + Bp J m s + Jm K + J L K + Bm B p s + Bm K
3
4-5 (a)
d 1
2
Tm ( t) = Jm
3 =
N1 N3
N2N4
dt
1
+ T1
T2 =
T1 =
N3
N4
N1
N2
T4 =
T3 =
T2
N3
N4
(B + B ) s + [ ( K J + K J ) J + ( K + K ) J J + B B J ] s
+ B K ) J + B K J + B K J ] s + K K ( J + J + J )}
4
+ [( B1K 2
T (s )
( s ) = s { J 1 J2 Jm s + J
2
( s )
T ( s)
d 3
2
JL
dt
N3
N4
d 3
2
T4 = J L
T4
dt
T2 = T3
2 =
N1
N2
N1 N3 d 21
Tm = J m 2 +
T4 = J m +
JL 2
dt
N 2N 4
N 2 N 4 dt
d 1
2
21
N1 N 3
(b)
d 1
2
Tm = Jm
2 =
dt
N1
+ T1
N2
d 2
T2 = J2
N 1N 3
3 =
N2N4
dt
T4 = ( J3 + J L )
+ T3
d 2
2
T2 = J 2
dt
N1
dt
T4 = J 2
N4
2
d 3
d 2 2 N3
Tm ( t) = Jm
+
J 2 dt 2 + N ( J3 + J 4 ) dt 2 = Jm
2
dt
N2
4
d 1
T1 =
d 2
2
N3
d 3
dt
N3
N4
(J
N1
N2
T3 =
T2
+ JL )
3
N3
N4
d 3
2
dt
2
2
d 21
N1
N1 N3
+
J2 + N N ( J3 + J L ) dt 2
N2
2 4
dy1 dy 2
dt dt
2
dy1 dy 2 = M d y 2 + B dy 2
t
2
dt
dt
dt dt
f ( t) = K h ( y1 y2 ) + Bh
(b) State variables:
y2,
dy
K h ( y1 y2 ) + Bh
2
dt
State equations:
dx
dt
K
B
dx
f (t )
dt
f (t )
4-7 (a)
T
= Jm
dt
d m
+T1
Tm = Jm
Set
L
n
dt
= 0.
=JL
d L
dt
(T
dt
= nT 2
m N 1 = L N 2
nTm n TL
2
Thus, L =
J T
m
2J T
Or, n
Jm + n JL
2
J T
m
J T
J mTL
+ 4 J m J LT m
L m
22
J
J
m
L
2J T
Jm / J
4-8 (a)
+ nTL =
L m
When T
L m
(b)
J m + nJ + nT
L
L
L
n
+ nJL
+TL
=0
T4
(b)
= Jm
dt
+ Mr
dt
+ Bm
= r m
dt
Taking the Laplace transform of the equations in part (a), with zero initial conditions, we have
Tm ( s) = Jm + Mr
)s
( s) + Bm s m (s )
Y ( s) = r m ( s)
Transfer function:
Y ( s)
Tm ( s)
s J m + Mr
)s + B
4-9 (a)
d m
2
Tm = Jm
dt
+ r ( T1 T2 )
T1 T2 = M
dt
d m
2
d y
Thus, Tm = J m
dx2
Tm ( s)
dt
K1 + K 2
dt
T1 = K2 r m r p = K 2 ( r m y )
+ r ( K1 + K2 )( r m y )
dx3
x1
dt
T2 = K1 ( y r m )
2
r ( K1 + K 2 )
Jm
d y
dt
x1 +
= ( K1 + K2 )( r m y )
1
Jm
Tm
r ( K1 + K 2 )
Jm Ms + ( K1 + K2 ) ( Jm + rM )
2
s J m Ms + ( K1 + K2 ) ( Jm + rM ) = 0
2
Tm ( t) = Jm
dt
+ Bm
d m
dt
+ K ( m L )
K ( m L ) = J L
State diagram:
23
d L
2
dt
+ BL
d L
dt
m ( s)
( s)
Tm ( s)
J L s2 + BL s + K
( s) = s J mJ L s3 + ( Bm J L + BL J m ) s 2 + ( KJ m + KJ L + Bm BL ) s + Bm K
(s )
( s ) = 0
T (t )
m
= T m = consta
T (s)
nt.
J L s + BL s + K
2
(e)
s 0
s 0
m = L.
dt
d m
dt
= m
dt
d m
dt
and
K
J
J m J L s + ( Bm J L + BL J m ) s + ( KJ m + KJ L + Bm BL ) s + Bm K
Bm
Jm
do not depend on J
K
J
(K
dt
+ K2 )
Jm
24
and J .
L
= t
m +
K1
Jm
t +
d
dt
K2
Jm
L +
K
J
1
Jm
Tm
K
J
1
Bm
L ( s )
K 2 J t s + K1
2
t(s )
( s)
Tm ( s)
K1 J L s + K 2
2
m (s )
( s)
T m( s)
J t J L s + ( K1 J L + K 2 J t ) s + K1 K 2
4
( s)
Tm ( s )
( s ) = s [ J mJ Ls + B mJ LJ t s + ( K1 J L J t + K 2J L J t + K 1Jm J L + K 2J m J t ) s
5
+ Bm J L ( K1 + K 2 ) s + K1 K2 ( J L + J t + J m ) s + BmK 1K 2 ] = 0
2
4-12 (a)
K H (s )
K 1
H i (s )
1 + K1 H e ( s ) + 1 i
H e (s) +
B + Js
Ra + L a s B + Js
Ra + La s
=
=0
1
m (s )
TL ( s)
( s)
r = 0
( s)
Thus,
H e (s ) =
H i (s )
H i (s)
Ra + La s
H e (s)
m (s )
(b)
r ( s)
( s ) = 1 + K1 H e ( s ) +
= 1+
(R
m (s )
r ( s)
=
TL =0
(R
(R
(R
+ La s ) ( B + Js )
K1 K b
K1 K b
+ La s )( B + Js )
+ La s )( B + Js )
R a + La s
(R
K1 K i K b H e( s)
a
+ La s ) ( ( B + Js )
K 1 Ki
(R
+ La s ) ( B + Js )
+ La s ) ( B + Js ) + Ki Kb + K1 Ki Kb H e ( s)
dt
F d
a
= T s d 2 + K F d 1
= J 1 =
J
dt
Kb H e ( s)
sin
K F d 1 = T s d 2
( s ) K F d 1 ( s ) = T s d 2 ( s )
(b)
Js
(c)
K1 H i ( s)
K1 K i
dt
( s)
K1 K i
TL =0
= ( Ra + L a s )
Ts ( d1 + d 2 ) + F d 2 = J
d
2
dt
Ts ( d 1 + d 2 ) + K F d 2 = J
Js (s ) K F d 2 ( s ) = Ts ( d1 + d 2 ) ( s )
2
25
( s )
(s )
d
2
dt
Ts ( d1 + d 2 )
Js K F d 2
2
e = r o
Ra
dt
d m
La
dt
d o
dt
JL
J m dt
KL
(e
La
Bm d m
ia +
eb )
= Ke
Tm = K ii a
nKL
Tm
= K s e
( n
Jm
o )
Tm
T2 =
2 = n m
o )
State variables:
= o,
= o ,
=m,
= m,
= ia
State equations:
dx
dt
dx
dt
dx
= x2
dt
nK
J
K
J
n KL
J
nK
J
+
1
Bm
dx
3
dt
Ki
J
=
dx
dt
KK
L
Kb
L
Ra
L
KK
(n R K J
2
+ R a KL J m + B mK L L a s + K i K bK L + R a B mK L
o ( s)
r ( s )
(R J
(n R K J
+ Ra KL J m + Bm KL L a s + ( K i K b K L + Ra BmK L ) s + nKK s K i K L
(d)
KK s K i nK L
J mJ LL a s + J
5
= , o = 2 = n m .
+ Bm J m + B m La ) s + n K LL a J L + K L J m L a + B mR a J L s +
4
State equations:
26
+n
J .
L
d
dt
B
J
m +
K
J
d
a
dt
di
= m
dt
R
L
KK
L
KK
L
K
L
State diagram:
o ( s)
e ( s )
KKs K i n
s J TL a s + ( Ra J T + Bm L a ) s + Ra Bm + K i K b
2
o ( s)
r ( s )
KK sK in
JT L a s + ( R a J T + Bm La ) s + ( Ra Bm + Ki Kb ) s + KK s K i n
3
= ,
in
o (s ) / e ( s )
and
o ( s ) / r ( s )
f = K ii a = M T
(b)
dv
dt
+ B Tv
ea = Ra ia + ( La + Las )
dia
dt
Las
di s
dt
0 = Rsis + ( L s + L as )
+ eb
di s
dt
L as
di a
dt
Take the Laplace transform on both sides of the last three equations, with zero initial conditions, we have
Ea ( s ) = [ Ra + ( La + Las ) s ] I a ( s) Las sI s ( s ) + K b V( s)
Ki I a ( s ) = ( MT s + BT ) V ( s )
0 = Las sI a ( s) + [ Rs + s ( Ls + Las ) ] I s ( s )
Rearranging these equations, we get
V (s ) =
Ia (s ) =
Ki
M T s + BT
Y (s ) =
I a (s )
1
Ra + ( La + L as ) s
[E
V (s )
s
Ki
s ( M T s + BT )
( s ) + Las sI s ( s ) KbV ( s ) ]
Block diagram:
27
Ia (s)
Is (s ) =
L as s
Ra + ( L a + L as ) s
I a ( s)
K i [R s + ( L s + L as ) s ]
s [R a + ( L a + L as ) s ][ R s + ( L s + L as ) s ]( M T s + BT ) + K i K b [R s + ( L a + L as ) s] Lass
2
E a (s )
(M
s + BT )
e = r L
e = K s e
d m
Tm = K i ia
dt
Bm
Tm
Jm
K
K s = 1 V/rad
Jm
= 15 . 5 V
KL
Jm
ea = Ke
d L
L )
dt
15 . 5
/ KRPM
ia =
2 / 60
1000
KL
JL
ea eb
Ra
L )
= 0 .148
V / rad / sec
Bm
KL
eb = Kb m
State equations:
d L
dt
= L
d L
dt
KL
JL
KL
JL
d m
dt
d m
= m
dt
Jm
Jm
L+
1 Ki
Jm Ra
( KK
s
K b m )
J m Ra J L
K i K Ks KL
s J mJ L Ra s + ( Bm Ra + K i K b ) J L s + R a K L ( J L + J
3
Bm Ra J L
28
)s
+ K L ( Bm Ra + K i K b )
Ki K bJ L
21 0 .148
0 . 05 = 0 .1554
R K J
a
= 1.15 50000 0 . 05 =
R K J
2875
K KK K
i
608.7 10 K
21
1 50000 K = 105000
0K
G ( s) =
M (s ) =
L ( s)
r ( s)
G( s)
1 + G ( s)
M (s)
K i K Ks K L
J mJ LR a s + ( B m R a + K i K b ) J L s + R a K L ( J L + J m ) s2 + K L ( Bm Ra + K iK b ) s + K i K Ks K L
4
6 . 087
s
+ 423
.42 s
+ 2 .6667 10
4-17
=1
= 1.45
= 159
= 131 . 05
. 88
10
2
+ 4.2342 10
= 2738
+ 6 . 087 10
= j 1000
= 211 . 7
j 1273 . 5
= 617
405
j1223 .4
.22
Tr ( s )
KM KR
( 1 + s ) (1 + s ) + K
c
29
=
m
KR
3.51
20 s + 12 s + 4.51
2
= 5476
j 1614. 6
j 1275
K1 K 4 e
D s
Js + ( JK L + B ) s + K 2 B + K3 K 4 e
2
Ds
Js + ( JK L + B ) s + K 2 B + K 3 K 4e
2
D s
=0
K1 K 4 ( 2 D s )
( s)
Characteristic equation:
( s ) J D s + ( 2 J + JK 2 D + B D ) s + ( 2 JK 2 + 2B D K 2 B D K 3 K4 ) s + 2 ( K 2 B + K 3 K 4 ) = 0
3
G ( s) =
E (s )
1 + R2C s
1 + ( R1 + R 2 ) Cs
E (s )
[1 + ( R
K (1 + R2C s )
+ R 2 ) Cs ] ( K b Ki + Ra JL s )
Gc ( s) =
[1 + ( R
E c ( s)
K K (1 + R2C s )
+ R2 ) Cs] ( K b K i + Ra J L s ) + K KK e N (1 + R2C s )
(1 + R C s )
E (s )
m ( s)
E (s )
RCs
1
K (1 + R2C s )
RCs
( K b K i + Ra J L s )
1
30
m ( s)
Fr ( s )
(f)
Ke
= 36
pulse s / rev
= 120
pulse s / sec
NK
m = 120
Thus, N = 1. For
K K (1 + R2C s )
= 36
/ 2 pulse s / rad
m =
pulse s / sec
m = 1800
= 5 . 73 pul
200 RPM
= 200(
ses / rad.
2 / 60 ) rad / sec
N ( 36 / 2 ) 200( 2 / 60 )
RPM,
120
= 120
N pulse s / sec
N ( 36 / 2 ) 1800( 2 / 60 )
= 1080
N.
Thus,
= 9.
d m d L
dt
dt
dt
dt
2
d d L = J d L + B d L + T
K ( m L ) + B m
L 2
L
L
dt
dt
dt
dt
d m
2
Ki ia = Jm
(b)
+ Bm
d m
+ K ( m L ) + B
Take the Laplace transform of the differential equations with zero initial conditions, we get
Ki I a ( s ) = J m s + Bm s + Bs + K m ( s ) + ( Bs + K ) L ( s )
( Bs + K )
Solving for
m ( s )
and
L ( s )
m (s ) =
L (s ) =
( s ) ( Bs + K ) L ( s ) = J L s + BL s L (s ) + TL ( s)
2
Ki
J m s + ( Bm + B ) s + K
2
Bs + K
J L s + ( BL + B ) s + K
2
I a (s ) +
m (s )
Bs + K
J m s + ( Bm + B ) s + K
2
L (s )
TL ( s )
J L s + ( BL + B ) s + K
2
31
Ia ( s )
Jm s + (B m + B ) s + K TL ( s )
Bs + K
o ( s ) = J L Jm s + [ J L
3
(B
+ B) + J m ( BL + B ) ] s + [ BL Bm + ( BL + BM
) B + (J
+J
) K]s
+ K ( BL + B ) s
= 0,
(t ) =
dv ( t )
v(t )
= k ( v ) g ( x ) +
dt
e(t )
=K
K v(t )
i (t )
f
K i (t )
f
= Bv
f (t )
i (t )
(t )
f (t )
i (t )
Then,
f a
+
a
( t ) ia ( t ) =
i
K e (t )
i
dv ( t )
Thus,
v (t )
dt
= Bv
(t )
K
2
K K
b
e (t )
v (t )
i ( t ) as input.
a
dx ( t )
dt
dv ( t )
= v (t )
= Bv
dt
(t ) + K K
i (t )
f a
= K iK
dx ( t )
dt
i (t )
ia ( t )
f a
dv ( t )
= v (t )
= if
= Bv
dt
(t )
(t ) +
( t )
K
K
(t )
horizontal direction:
Eliminating f
v
2
x (t )
d
b
= ,
dx1
dt
dx3
dt
= x2
dx2
= x4
dx4
dt
dt
(M
( L cos
x (t )
f L cos
x
dt
x and
cos x
u ( t) + M b Lx2 x1 3 M b gx1 / 4
(M
32
+ M c ) 3M b / 4
+ M b ) gx1 M b Lx2 x1 u ( t )
L [ 4 (M b + M c ) / 3 M b ]
(c) Linearization:
M L
1.
x , and
dt
f L sin
dt
d
+ Mc
dt
+ L sin
dt
J
u(t )
M bg =
K K
b
f (t )
e(t 0
dx
.
dt
v (t )
f1
f1
=0
x1
f2
x2
f2
f 3
x 3
f 3
=0
M b Lx2 3 M b g / 4
f4
x1
f4
(M
+ M c ) 3M b / 4
f4
=0
x3
x2
(M
f4
=0
x4
x3
=0
=0
2 M b Lx1 x2
+ M c ) 3M b / 4
f 3
=0
x 4
L ( M b + M c 3M b / 4 )
L [ 4 (M b + M c ) / 3 M b ]
=0
x 2
f2
=0
u
f 3
=0
2 M b x1 x2
x2
f1
=0
x4
f2
f2
=0
f4
=0
x4
x 1
x3
(M + M ) g M x = 0
L ( M + M 3M / 4)
b
f1
=0
x1
f 3
f1
=1
(M
+ M c ) 3M b / 4
x& 1 3 ( M b + M c ) g
x& L ( M + 4 M )
b
c
2 =
x& 3
0
&
3M b g
x 4
M + 4M
b
c
(b)
eq
Ki
y (t )
1 eq
dt
dy
eq
=0
dt
x
eq
= i,
x
2 eq
y , and x
eq
eq
dt
di ( t )
eq
dy
At equili brium,
dL ( y ) dy ( t )
Ri ( t ) + i ( t )
(t )
Then, x
dt
= Mg
My ( t )
Thus,
d L ( y ) i( t )
Ri ( t )
L( y) = L
3
1
0 0 0
x2 L ( M b + 4 M c )
+
u
0 0 1 x 3
0
x 4
4
0 0 0
M + 4M
b
c
1
L di ( t )
y
dt
dy ( t )
= 0,
dt
Ri ( t )
d
= 0,
L
y
y (t )
dt
i( t )
dy ( t )
dt
=0
eq
Mg
dy
.
dt
Mg
3 eq
=0
R
L
x x
1
x x
1
dx
1
dt
(c) Linearization:
33
dx
2
dt
K x1
M x
2
2
L di ( t )
y
dt
f 1
x 1
f 1
e
f 3
x 1
2 eq
2 eq
3 eq
Mg
f 2
eq
x 1
x 2
2 K x 1 eq
M
x x
1
2 eq
2 Rg
Mg
Eeq
1 eq
Mg
2 eq
=0
x& = A x + B e
Eeq K
RL Mg
B =
0
Mg
=0
e
f 3
The linearized state equations about the equilibrium point are written as:
Eeq K
L Mg
A =
0
2 Rg
E
eq
x 3
f 2
Mg
eq
f 1
=0
=1
x 3
eq
2 Rg
f 2
=0
x 2
1 eq
f 3
eq
f 2
=0
2 Rg
2 eq
x 2
Mg
f 1
eq
2 eq
2 K x 1 eq
M
M1
y1 (t )
2
dt
d
y 2 (t )
2
dt
M 2g
y ,
dy 1 ( t )
M 1g
dt
dy
dy
(t )
dt
1
dt
Ki
(t )
y1 ( t )
(t )
y2 (t )
Ki
+ Ki
2
(t )
y2 (t ) y1 (t )
y ,
y1 ( t )
dy
dt
dx1
dt
= x2
M1
dx2
dt
Ki
= M 1 g Bx2
dx
At equilibrium,
dt
= 0,
M 1g
Solving for I, with X
dx
x1
dt
(x
= 0,
Ki
dx
KI
X1
dt
KI
(X
dx3
x1 )
dt
dx
= 0,
dt
= 0.
= x4
Thus , x
M2
2 eq
=0
X 1)
=0
M 2g
dx4
dt
4 eq
=0
= 1 , we have
M + M2
Y2 = X 3 = 1 + 1
M2
1/2
34
= 0.
X1)
Ki
(x
and x
KI
(X
= M 2 g Bx4
( M1 + M 2) g
I=
1/2
x1 )
dx1
dt
dx2
= x2
= g
dt
M1
(c) Linearization:
f1
=0
x1
f2
x1
f2
i
f4
x1
2 KI
x2
M 1 x1
x2
2 KI
M2 ( X3 X1 )
f1
x3
x2
dx3
f3
f4
=0
x3
f2
M1
x3
x2
= 2,
f3
=0
2 KI
x3
= 1,
f1
i
2 KI
= 32 .2,
1
1
1
1
= 0 .1,
1/2
I =
X1 =
X 3 = 1 + 1 + 2 X 1 = 2.732 X 1 = Y2 = 2.732
0
2
1
2 KI 1 +
3
3
M1 X1 ( X 3 X 1 )
A =
0
2 KI
3
M 2 ( X 3 X1 )
0
2 KI
M1
M 1 ( X 3 X1 )
0
2 KI
M 2 ( x3 x1 )
f2
x4
f3
= 1
f4
M2
=0
= 0
2 KI
M2 ( X3 X1)
= 1.
1
9.8285
2
3
M 2 ( X 3 X 1)
=1
X 3 X 1 = 1.732
1
0
0
115.2 0.05
=
1 0
0
0
B 37.18
M 2
1
0
2 KI 1 +
M 1 X 12 ( X 3 X 1 ) 2 6.552
B =
=
6.552
2 KI
M 2 ( X 3 X 1)
35
=0
Ki
x4
x4
f3
= 0
x4
M2
M1 ( X3 X1 )
f4
M 2 ( X 3 X1 )
M
dt
= g
=0
x4
f3
=0
x1
dt
dx4
= x4
f1
x2
=0
f2
M1 ( X 3 X 1 )
f4
M 1 ( x 3 x1 )
1
1
2+
2
M 1 X1 ( X 3 X 1 )
2
Ki
=0
2 KI
2 KI
i +
2
M 1x1
f1
18.59
0
0
1
37.18 0.1
0
Tm = K i ia = ( J m + JL )
T
d m
dt
d
(sec)
V
+ B m m
e
ea = Ra ia + La
= r b
dia
= Ksy
dt
+ K b m
E ( s)
a
y = n m
KG ( s ) E ( s )
c
Block diagram:
E (s )
K Kin G c ( s ) e
TD s
s {( Ra + La s ) [( Jm + J L ) s + Bm ] + K b Ki }
Y (s )
R (s )
TD s
K Kin G c ( s ) e
s ( Ra + La s ) [( Jm + J L ) s + Bm ] + K bK i s + KG c ( s )K i ne
36
TD s
y = y ( t TD )
y,
dy
dt
State equations:
Output equation:
dx1
dt 0 1 x1 0
=
+ r
dx2 1 4 x2 5
dt
(b) State variables:
y,
y = [1
dy
,
dt
dt
x1
= x1
x2
0]
y
2
State equations:
Output equation:
dx1
dt
1
0 x1
0
dx
2
= 0
0
1 x2 +
dt
dx 1 2.5 1.5 x3
3
dt
x1 =
y ( ) d ,
0
0 r
0.5
x2 =
dx1
x&
2 =
x&3
x&
4
dt
x1
y,
dy
,
dt
State equations:
x&
2 =
x&3
x&
4
5-2
dt
d y
dt
x1
x
2
y = [1 0 0 0] = x1
x
3
x
4
0 0 1 0 x 0
2+ r
0
0
0
1
x3 0
1 1 3 5 x 1
x4 =
Output equaton:
x&1
dy
x3 =
State equations:
x&1
x1
y = [1 0 0 ] x2 = x1
x3
dt
y
2
d y
dt
Output equation:
x1
x1
x
2
y = [1 0 0 0] = x1
x
3
x
4
0
0
1
0 x2 0
+ r
0
0
1 x3 0
0
1 2.5 0 1.5 x 1
( s ) = ( sI A ) =
We multiply both sides of the equation by
1 A
+ 2 +
+L
2
s s
2! s
( sI A ) , and we get I = I. Taking the inverse Laplace transform
1
37
( s ) =
= 0 . 5 +
A = s2 + s + 2 = 0
sI
0 .5
j 1. 323 ,
( t ) .
j 1. 323
cos1.323t + 0.378sin1.323t
( t) =
1.512sin1.323 t
( s ) =
sI A
0.5t
e
1.069sin (1.323t 69.3 )
0.756sin1.323t
= s 2 + 5s + 4 = 0
Eigenvalues:
= 4,
1.333 e t 0.333e4 t
( t) =
1.333 e 1.333 e
0.333e + 1.333e
t
0.333 e 0.333e
4 t
( s ) = ( s + 3) = 0
2
4 t
4 t
Eigenvalues:
= 3, 3
e 3 t
( t) =
0
(d) Characteristic equation:
( s ) =
3 t
9 = 0 Eigenvalues:
e
0
= 3 ,
e3 t
( t) =
0
(e) Characteristic equation:
e
0
3 t
( s ) = s + 4 = 0 Eigenvalues:
2
j2,
j2
cos2 t
sin2 t
( t) =
(f) Characteristic equation:
( s ) =
s i n 2t
cos2t
+ 5 s + 8 s + 4 = 0 Eigenvalues:
2
= 1, 2 ,
e t
( t) = 0
0
(g) Characteristic equation:
( s ) =
0
e
+ 15
( t) = 0
5 t
2 t
+ 75 s + 125 = 0
te
2t
e
0
2 t
te
e
5 t
5 t
Eigenvalues:
= 5,
5,
te
5 t
e
0
5 t
(t )Br ( )d
t
(a)
38
(t )
1 s + 1 1 0 1 1 1
( sI A) 1 BR( s ) = L1
( s ) 2 s 1 0 1 s
s+2
2
s(s + s + 2)
1 + 0.378sin1.323 t cos1.323t
1
=
=L
t0
s2
1 + 1.134sin1.323 t + cos1.323t
s s2 + s + 2
)
(
1
( t ) Br ( ) d = L
(b)
( t ) Br ( ) d = L ( sI A)
t
BR ( s ) = L
1 s + 5 1 1 1 1
( s) 4 s 1 1 s
s+6
t
s4
t
1
1
1 s + 3
0 ( t ) Br ( ) d = L ( sI A) BR( s) = L
0
0
0
1
=
=L
1
t
3t
0.333 (1 e )
s ( s + 3 )
0 1
1 1 s
s + 3
0
(d)
t
1
1
1 s 3
(
t
)
B
r
(
)
d
=
L
(
s
I
A
)
B
R
(
s
)
=
L
0
=
=L
1
s ( s + 3 )
1
0.333 (1 e 3t )
(e)
39
0 1
1 1 s
s + 3
t 0
t0
1
2
t
1
1
1 s + 4
(
t
)
B
r
(
)
d
=
L
s
I
A
B
R
(
s
)
=
L
(
)
2
s 2 + 4
2
s 2
1
=L
=
t 0
1 0.5sin2t
( s 2 + 4 )
0 1
s 1 s
2
s + 4
2
(f)
1
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
t0
s( s + 2)
0
0
1
s+ 2
0
0
1
1 1
2
(s + 2 ) s
0
s +2
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
0.04
0.04
0.2
1
1
5 t
5 t
=L
=L
2
s s + 5 ( s + 5 ) 2 = 0.04 0.04 e 0.2 te u s ( t)
5t
s ( s + 5)
0.2 0.2 e
0.2
0.2
s ( s + 5 )
s
s +5
5-5 (a)
(b)
( 0 ) I
(identity matrix).
( 0 ) I
(identity matrix).
(c) ( t )
( 0 ) = I and
40
1
[ ( t ) ] = t
1 e
(d) ( t )
0
e
= ( t)
( 0 ) = I , and
e2 t
[ ( t) ]1 = 0
0
5-6 (a) (1) Eigenvalues of A:
1
=
t
1 et
e
0
te
2 2t
2t
te
2 .325 ,
t e / 2
2t
0 . 3376 +
= ( t)
2t
2t
j 0 . 5623 ,
0 .3376
j 0 . 5623
s
1
1
X( s) = ( sI A ) B U ( s) =
0
(s )
1
s 2 + 3s + 2
0 U ( s) = 1
1
(s )
s
1
0 0
s + 3
s
2
s +3
1 0
1
1
s ( s + 3 ) s 0 U ( s) =
s U (s )
(s ) 2
2
2 s 1 s 1
s
( s ) = s + 3 s + 2 s + 1
3
1
1
s =
= C ( s ) ( sI A) B = [1 0 0 ]
3
2
U (s )
( s ) 2 s + 3 s + 2 s + 1
s
Y ( s)
1,
1.
1
( s + 1) 2
1 0
1 s + 1
1
U (s )
X ( s ) = ( sI A) BU ( s ) =
U (s ) =
( s ) 0
s + 1 1
1
( s + 1)
( s ) = s + 2s + 1
2
1
( s + 1) 2
Y ( s)
1
1
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) Eigenvalues of A:
1,
0,
1.
s + 2s = 1
2
1
1
X( s) = ( sI A) BU ( s ) =
(s )
0
0
s+2
1 0
1
1
s ( s + 2) ) s 0 U ( s) =
s U ( s)
(s )
s
s 1
s
2
41
( s ) = s s + 2s + 1
2
1
s +1
1
= C ( s ) ( sI A) B = [1 1 0 ] s =
=
2
U (s )
s ( s + 1)
s ( s + 1)
s 2
Y ( s)
5-7
dy
We write
dt
dx
dt
dx
dt
dx1
dt
d x dy
=
=
dt dt
2
d y
dt2
= x 2 + x3
dt
dx
dt
dx
dt
= x1 2 x2 2 x3 + u
0 1 0 x1 0
0 1 1 x + 0 u
2
1 2 2 x3 1
x1 1 0 0
x = y = 1 1 0 x
y& 0 1 1
(1)
1 0 0
x = 1 1 0 x
1 1 1
(2)
1 1 0
= A 1 x + B1u = 0 0 1 x =
dt
1 0 2
dx
5-8 (a)
s
sI
A = 1
1
a1
M = a2
a2
1
0
1
0
0
0 u
1
= s 3 s + 2 = s + a 2 s + a1 s + a0
3
= 2,
= 0,
0 3 1
= 3 1 0
1 0 0
S = B
2 2 0
P = SM = 0 1 1
4 2 1
42
AB
0 2 4
A B = 1 2 6
1 1 1
2
= 3
(b)
s
sI
A = 1
a1
M = a2
(c)
s
sI
A =
+2
sI
A =
1
0
+1
1
0
2,
+ a 2 s + a1 s + a0
2
3 3 1
= 3 1 0
1 0 0
1
2
= 0,
1
s
= 12 ,
= 1,
S = B
0 1 1
AB A B = 1 0 1
1 1 1
0
1
1
2
(e)
A =
+1
2 1
P = SM = 2 3
1 2
sI
= 3
= 16 ,
1 1 0
S = B AB A B = 1 2
4
1 6 23
9 6 1
P = SM = 6 5 1
3 1 1
1 = s + 3 s + 3 s + 1 =
16 7 1
= 7 1 0
1 0 0
=1
a2
= s + 7 s + 16 s + 12 = s + a 2 s + a 1 s + a 0
1
s
a1
M = a2
a2
+3
a1
M = a2
1 2 6
S = B AB A B = 1 3 8
0 0 1
0 1 1
P = SM = 1 0 1
1 0 0
3 s + 2 = s + a 2 s + a1 s + a 0
0 3 1
= 3 1 0
1 0 0
(d)
+2
a2
+3
+ 2 s 1 = s + a1 s + a 0
2
43
= 1,
=2
= 3,
=3
=7
M=
a1
1
2 1
0 1 0
P = SM =
5-9 (a)
S = [B
AB ] =
0 1
1 3
1 0
1 1
0 3 1
M = 3 1 0
1 0 0
Then,
C
V = CA =
2
CA
(b)
0.5 1 3
Q = (MV ) = 0.5 1.5 4
0.5 1 2
1
C
V = CA =
2
CA
(c)
1 0 1
1 2 1
1 2 1
16 7 1
M = 7 1 0
1 0 0
1 0 1
1
1 3 1
Q = (MV ) =
2 5 1
C
V = CA =
2
CA
1 0 0
2 1 0
4 4 0
(d)
3 3 1
M = 3 1 0
1 0 0
Then,
C
V = CA =
2
CA
(e)
1 0 1
1 1 1
1 2 2
1 1 0
Q = ( MV ) = 0
1 2
1 1 1
1
44
M=
5-10 (a)
2 1
1 0
Eigenvalues of A:
T = [p1
Eigenvalues of A:
T = [ p1
Q = ( MV ) =
0.7321
1, 2.7321,
where p , p , and
1 0
1 1
0 0.5591 0.8255
p3 ] = 0 0.7637 0.3022
1 0.3228 0.4766
p2
where p , p , and
(b)
C
CA 2 =
0.7321
1, 2.7321,
V=
Then,
p2
0 0.5861 0.7546
p3 ] = 0 0.8007 0.2762
1 0.1239 0.5952
(c)
Eigenvalues of A:
(d)
Eigenvalues of A:
1, 1, 1
The matrix A is already in Jordan canonical form. Thus, the DF transformation matrix T is the identity
matrix I.
(e)
Eigenvalues of A:
0.4142,
2.4142
T = [p2
p2 ] =
0.8629 0.2811
0.5054 0.9597
5-11 (a)
1 2
0 0
S = [B
AB] =
S = B
1 1 1
2
AB A B = 2 2 2
3 3 3
S = [B
AB] =
S is singular.
(b)
S is singular.
(c)
2 +2 2
2+
S is singular.
(d)
45
0 1
1 3
1 2 4
AB A B = 0
0
0
1 4 14
S = B
5-12 (a)
S is singular.
d m
2
dt
B d m
2
J dt
K
J
m +
State variables: x = ,
Ki
J
=
dia
ia
d
Kb d m
dt
m
dt
La dt
Ra
La
ia +
K a Ks
La
m )
= ia
State equations:
Output equation:
dx1
dt 0
dx2 = K
dt J
dx K K
3 a s
dt La
B
J
Kb
La
0
x1
Ki
x2 + 0 r
J
x K K
Ra 3 a s
La
La
0
0 x
m ( s )
K
G ( s) =
= [1 0 0 ]
J
E (s )
1
s+
B
J
Kb
La
Ki
Ra
s+
L a
0
KiK a
0 =
K o ( s)
a
La
m ( s )
K
M ( s) =
= [1 0 0 ]
J
r ( s )
KaKs
La
=
1
s+
B
J
Kb
La
K i Ka K s
Ki
R
s+ a
La
K s G( s )
0 =
K K 1 + K s (s )
a s
La
5-13 (a)
46
= x1
A=
0 1
1 0
A =
2
1 0
0 1
A =
3
0 1
1 0
A =
4
1 0
0 1
1 + L t + L
1 2 2
2! 4!
3! 5!
( t) = I + At + A t + L =
3
5
2
4
2!
t + t t + L 1 t + t L
3! 5 !
2! 4 !
cos t
=
sin t
sin t
cos t
1 s 1
s 1
( s ) = ( sI A ) =
1 s = s 2 + 1 1 s
1
(t ) =
cos t
sin t
sin t
cos t
(b)
A=
1 0
0 2
A =
2
1 0
0 4
A =
3
1 0
0 8
A =
4
1 0
0 16
1 t + + +L
0
1 2 2
2 ! 3! 4 !
( t) = I + At + A t + L =
2
3
2!
4t
8t
0
1 2t +
+L
2!
3!
e t
=
0
e
0
2 t
s + 1
0
1
s +1
=
s + 2
0
1
s + 2
0
e t
2 t
e
0
(t ) =
(c)
A=
0 1
1 0
A =
2
1 0
0 1
A =
3
0 1
1 0
A =
4
1 0
0 1
1+ + +L
t+ + L
1 2 2
e t + et
2! 4!
3! 5 !
( t) = I + At + A t + L =
=
t t
3
5
2
4
2!
t + t + t L 1 + t + t + L e + e
3! 5 !
2 ! 4!
e +e
t
e + e
t
1 s 1
s 1
1
( s ) = ( sI A ) =
1 s = s 2 1 1 s =
47
0.5
s +1
0.5 +
s + 1
s 1 s + 1 s 1
0.5
0.5
0.5
+
s 1 s + 1 s 1
0.5
0.5
0.5
e t + et
( t) = 0.5 t
t
e + e
5-14 (a)
e = K s ( r y
ia =
Solve for i
ea = e es
eu eb
eb = K b
Ra + Rs
in terms of
d
and
e +e
t
e + e
t
es = Rs ia
d y
eu = Kea
Tm = K i ia = ( J m + J L )
dt
d y
2
dt
, we have
dt
ia =
KKs (r y ) Kb
d y
dt
Rs + Rs + KRs
Differential equation:
d y
2
dt
K ii a
Jm + J L
State variables: x = ,
d y
KK s y + KK s y
K b
( J m + J L ) (R a + R s + KRs )
dt
Ki
dt
State equations:
dx1
0
1
0
dt
x1
=
+
KK s K i
K b Ki
KK s Ki
r
dx2 ( J + J ) (R + R + KR ) ( J + J ) (R + R + KR ) x2 ( J + J ) (R + R + KR )
m L a s
s
m
L
a
s
s
s
dt m L a s
1 x1 0
0
=
+
r
322.58 80.65 x2 322.58
We can let v ( t )
= 322
.58
r,
(b)
1
1
1
s
s + 80.65 1
= 2
322.58 s + 80.65
s + 80.65 s + 322.58 322.58 s
0.014
0.014
0.06 1.059
s + 76.42 s + 4.22 s + 76.42 + s + 4.22
=
1.0622
0.0587
4.468 4.468
s + 76.42 s + 4.22 s + 76.42 s + 4.22
( sI A ) =
1
=1 /
s.
322.2
1
s ( s + 76.42)( s + 4.22)
=
( sI A)1 B =
s
322.2
s ( s + 76.42)( s + 4.22)
48
1 + 0.0584 1.058
s s + 76.42 s + 4.22
4.479 + 4.479
s + 76.42 s + 4.22
76.42t
4.22t
0.014e
+ 0.01e
0.06e 76.42 t 1.059e 4.22 t
x (t ) =
x (0)
76.42 t
4.22t
76.42t
4.22t
4.468e
1.0622 e
0.0587 e
4.468 e
76.42 t
4.22t
+ 4.479e
4.479 e
( s ) =
+ 80 . 65 s + 322
Ra by (1 + K ) Rs .
=0
. 58
Ra there is ( 1 + K ) Rs .
0
1
0
dt
x1
+
KKs Ki
Kb Ki
KKs Ki
=
r
dx2 J ( R + R + KR ) J ( R + R + KR ) x2 J ( R + R + KR )
s
s
s
s
s
s
dt
1 x1 0
0
=
+
r
818.18 90.91 x2 818.18
Let v
= 818
.18
r.
s
1
1
s + 90.91
( sI A ) =
=
+ 0.1433e
0.1433 e
+ 1.143e
11.58 e
x2 (0)
11.58 e10.128 t 11.58 e80.78t
+
t0
10.128 t
80.78t
+ 0.1433 e
1 1.1434 e
(b)
. 18
=0
10.128, 80.782
Eigenvalues:
(d)
( s ) = s + 90 . 91 s + 818
Y (s )
R (s )
G (s)
1 + G(s )
5 ( K1 + K 2s )
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4
49
1
s
State equations:
x&1
x&
2 =
x&3
x&
4
0
0
0
5 K
Output equation:
x1 0
1
0 x2 0
+ r
0
1 x3 0
20 9 x4 1
0
0
(10 + 5 K 2 )
r(t )
= u s ( t ),
R( s)
5-17
s 0
5 K1
5K2
.
s
s 0
5 ( K1 + K 2s )
s + 9 s + 20 s + ( 10 + 5 K 2 ) s + 5 K1
4
=1
In CCF form,
0
0
A= M
0
a0
a1
a2
a3
s
0
sI A = M
0
a 0
sI
A =
an 1
a1
a2
a3
+ a n 1 s
n 1
0
0
B = M
0
1
+ a n2 s
L
0
O
M
0
1
L s + a n
n2
+ L + a1 s + a 0
Since B has only one nonzero element which is in the last row, only the last column of
going to contribute to
the last row of
adj (s I A ) B
( sI A ) .
adj (s I A )
adj (s I A ) B
50
is 1
adj (s I A )
is
n 1
'
0 x
y,
dy
,
dt
y
2
dt
x& ( t ) = Ax ( t ) + B r ( t )
0 1 0
A= 0
0
1
1 3 3
0
B = 0
1
s2 + 3 s + 3 s + 3 1
s 1 0
1
1
2
( s ) = ( sI A ) = 0 s
1 =
1
s + 3s s
(s )
2
s
1 3 s + 3
3 s 1 s
1
1
1
1
2
1
+
+
+
2
3
( s + 1) 2 ( s + 1)3
( s + 1 )3
s + 1 ( s + 1) ( s + 1)
1
1
1
2
s
=
+
2
s + 1 ( s + 1)
( s + 1 )3
( s + 1) 3 ( s + 1) 3
2
s
3
2
s
( s + 1 )3
( s + 1) 2 ( s + 1)3
( s + 1)3
1
(s ) = s3 + 3 s2 + 3s + 1 = ( s + 1)
(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
2 t
t e /2
1, 1, 1
Eigenvalues:
y,
dy
dt
State equations:
dx1 (t )
dt 0 1 x1 ( t) 0
+ r ( t)
dx2 ( t) 1 2 x2 ( t) 1
dt
State transition matrix:
s+ 2
( s + 1) 2
s 1
1
( s ) = ( sI A ) =
1 s + 2 = 1
( s + 1) 2
( s + 1)
s
( s + 1)2
1
51
(1 + t ) et
(t ) =
te
(1 t ) e
te
Characteristic equation:
y,
y=
(s ) = ( s +1) = 0
2
dy
dt
State equations:
dx
dt
dy
dt
dx
x1
dt
dt
dy
dt
= y
dy
+r = x2 +r
dt
dx1
dt 1 2 x1 0
=
+ r
dx2 0 1 x2 1
dt
State transition matrix:
1
s + 1 2 s + 1
(s ) =
=
0 s + 1
0
( s + 1)
1
s +1
2
(t ) =
e t
0
te
e
( sI A )
s
( s)
1
cos t sin t t
( sI A )1 =
e
sin t cos t
( t) = L
+ j , j
(b) Eigenvalues of A:
5-21 (a)
Y (s)
1
U ( s)
Y ( s)
2
U (s)
2
s
1+ s
+ 2s
s
=
1
+s
0 1 0
A1 = 0
0
1
3 2 1
State equations [Fig. 5-21(b)]:
0 0 3
A 2 = 1 0 2
0 1 1
3
2
+3s
1
s
+s +2s+3
2
+2s
+ 3s
1
s
x& = A x + B u
1
Y ( s)
1
U (s)
1
Output equation: y = C x
1 1
0
B1 = 0
1
C1 = [1
x& = A x + B u
2
+ s + 2s +3
2
1
B2 = 0
0
0]
Output equation: y
C2 = [0
52
( s ) = s 2 + +
1]
= C 2x
Thus,
= A1
'
(b)
State diagram:
5-23 (a)
G (s)
X (s)
Y (s)
U ( s)
10 s
1 + 8 .5 s
= U ( s ) 8 .5 s
+ 20 . 5 s
X ( s)
X (s)
2
20 . 5 s
+ 15
X ( s ) 15 s
State diagram:
State equation:
x& ( t ) = Ax ( t ) + B u ( t )
53
Y ( s)
X (s)
3
X (s)
= 10
X (s)
1
0
0
A= 0
0
1
15 20.5 8.5
(b)
G (s)
Y ( s)
Y (s)
U ( s)
= 10
10 s
+ 20
1 + 4. 5 s
+ 20
X ( s)
0
B = 0
1
s
+ 3 .5 s
X (s)
2
X (s)
X (s)
X ( s)
= 4. 5 s
X ( s ) 3 .5 s
X ( s) +U ( s)
State diagram:
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
0
0
A=
0
0
0
1
0
0
0
1
0 3.5 4.5
1
0
0
B=
0
1
(c)
G (s)
Y (s)
Y (s)
U ( s)
= 5s
State equations:
5( s
s(s
X (s)
+ 1)
+ 2 )( s + 10 )
+ 5s
X (s)
5s
1 + 12 s
+ 5s
X (s)
+ 20
X (s)
2
X (s)
= U ( s ) 12
x& ( t ) = Ax ( t ) + B u ( t )
54
X (s)
20
X ( s)
0
0 1
A= 0
0
1
0 20 12
0
B = 0
1
(d)
G ( s) =
Y ( s)
Y (s )
U (s )
s
s ( s + 5) s + 2s + 2
X ( s)
X (s)
= U ( s) 7s
X (s )
1 + 7 s + 12 s + 10 s
1
X ( s ) 12 s
X (s)
10
X (s )
s
State diagram:
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
0
0
0 1
0 0
1
0
A=
0 0
0
1
0 10 12 7
0
0
B=
0
1
5-24 (a)
G (s)
Y (s)
U ( s)
10
s
+ 8 . 5 s + 20 . 5 s + 15
2
5 . 71
s
55
+ 15
6 . 67
s
+2
0 . 952
s
+5
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
1.5 0 0
A= 0
2 0
0
5
0
5.71
B = 6.67
0.952
The matrix B is not unique. It depends on how the input and the output branches are allocated.
(b)
G (s)
Y (s)
U ( s)
10( s
2
s (s
+ 2)
4. 5
= 1 )( s + 3 . 5)
0 .49
+ 3 .5
+
s
State diagram:
x& ( t ) = Ax ( t ) + B u ( t )
State equation:
0
0 1 0
0 0 0
0
A=
0 0 1 0
0 0 0 3.5
(b)
G (s)
Y ( s)
U (s)
State equations:
5( s
s( s
+ 1)
+ 2 )( s + 10 )
0
1
B=
1
1
2 .5
s
0 . 313
s
+2
x& ( t ) = Ax ( t ) + B u ( t )
0
0 0
A = 0 2
0
0 0 10
1
B = 1
(d)
56
0 . 563
s
+ 10
+1
5 . 71
s
Y (s )
G ( s) =
U (s )
s ( s + 5) s + 2s + 2
2
0.1
s
0.0118
s+ 5
0.0882s + 0.235
s + 2s + 2
2
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
0 0
0 5
A=
0 0
0 0
1
1
B=
0
1
0
0
2
5-25 (a)
G (s)
Y (s)
U ( s)
10
+ 1. 5)( s + 2 )( s + 5)
(s
State diagram:
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
5 1
A = 0 2
0
0
1.5
0
0
B= 0
10
(b)
G ( s) =
Y (s )
U (s )
10 s + 2 1
2
s ( s + 1)( s + 3.5) s s + 1 s + 3.5
10(s + 2)
State diagram:
57
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
0
0 1 0
0 0 1
1
A=
0 0 1 1
0 0 0 3.5
0
0
B=
0
10
(c)
G ( s) =
Y (s )
U (s )
5 s + 1 1
s( s + 2)( s + 10) s s + 2 s + 10
59 s + 1)
State diagram:
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
1
0
0
A = 0 10 1
0 0 2
0
B = 0
5
(d)
G ( s) =
Y (s)
U (s )
s ( s + 5) s + 2s + 2
2
State diagram:
58
x& ( t ) = Ax ( t ) + B u ( t )
State equations:
0 1
0 0
A=
0 2
0 0
0
0
B=
0
1
1
2
0
5-26 (a)
G (s)
Y (s)
E (s)
10
s(s
+ 4 )( s + 5)
10 s
1+ 9 s
+ 20
X (s)
s
X (s)
x&1
x& =
2
x&3
1
0
0
0
10 20
x1 0
1 x2 + 0 r
9 x3 1
0
y = [10
0] x
s 1 (1 + 9s 1 + 20 s 2 ) s 2 (1 + 9 s 1 ) s 3 x1 (0)
s 3
X 1 (s )
3
1
1
2
X (s ) = 1
1 s 2 1
10 s
s (1 + 9 s ) s
x2 (0) +
2
(s )
( s ) 1 s
2
2
1
s
10 s
20 s
s x3 (0)
X 3 ( s )
1
2
s
s + 9 s + 20
s+9
1 x1 (0)
1
1
=
10
s( s + 9)
s x2 (0) +
1
c (s )
c (s )
2
s
10 s
10 ( 2 s + 1 ) s x3 (0)
( s ) = 1 + 9 s
+ 20
+ 10
c( s) =
59
+ 9 s + 20 s + 10
2
0.708t
0.708 t
2.397 t
5.895 t
+
0.169e
+ 0.055e
0.114 e
t 0
(d) Output:
y ( t ) = 10 x1 (t ) = 10 1.612e
0.708t
+ 10 1.141 e
0.706e
0.708 t
2.397t
0.169 e
+ 0.0935e
2.397 t
5.897 t
+ 0.0550 e
2.397t
5.895t
5.895 t
10
R( s)
+ 9 s + 20 s + 10
2
x&1
x& =
2
x&3
1
0
0
0
10 20
x1 0
1 x2 + 0 r
9 x3 1
0
(e) Output:
60
t0
x&1
x&
2 =
x&3
x&
4
2 20 1 0 x1 0 1
0 10
1
0 x2 0
0 u
0.1 0 20 1 x3 0 0 T D
0
0
0
5 x4 30 0
T
(
s
)
+
T
(
s
)
+
+
D
D
( s) s + 2
( s + 2)( s + 20)
( s + 2)( s + 5)( s + 20) (s + 5)( s + 20)
Y ( s) =
( s ) = 1 +
Y ( s)
0 . 2 s
+ 2 )( s + 20
(s
( s + 19 . 7 )
+ 2 )( s + 20 ) + 0 .1e
(s
( s + 20
( s ) =
0 . 2 s
+ 2 )( s + 20 ) + 0 .1e
(s
5-29 (a)
0 . 1e
0 . 2 s
+ 2 )( s + 20 ) + 0 .1 e
(s
(s
)
T
30 e
(s)+
+ 5)
(s
T (s)
D
+ 2 )( s + 20
0 . 2 s
(s
(s
+ 5)
(s
+ 90(
+ 2 )U ( s )
+ 2 )( s + 20 ) + 0 . 1e
30 e
0. 2 s
0 . 2 s
0 . 2 s
U ( s)
+ 2 )( s + 20 ) + 0 .1e
There should not be any incoming branches to a state variable node other than the s
0 . 2 s
branch. Thus, we
dt
17
dx
2
dt
15
2
1
2
R (s )
= 2.
Output equation:
Ks + 5 s + 1
( s + 1) s + 11s + 2
2
( s + 1) ( s
= 6 .5 x 1 + 0 .5 x 2
K = 1:
Y (s)
R( s)
s
s
+ 12
+ 5s +1
s
+ 13 s + 2
State diagram:
61
+ 11s + 2 = 0
(c) When
(d) When
K = 4:
Y (s )
R (s )
4s + 5s + 1
(s + 1)(4 s + 1)
( s + 1) ( s
+ 11s + 2
) ( s + 1) (s
+ 11s + 2
4s + 1
s + 11s + 2
2
State diagram:
(e)
Y (s)
R( s)
Ks
(s
+ 5s =1
+ 1 )( s + 0 .185)(
+ 10 .82
5-31 (a)
Gp ( s) =
Y ( s)
U (s )
100
s + 12 s + 70 s + 100
3
State equations:
x&1
x& =
2
x&3
0
0
100
x1 0
0
1 x2 + 0 u
70 12 x3 1
1
62
+ 12
+ 70 s + 200 = 0
5. 88 ,
3 . 06 +
j 4. 965 ,
3 . 06
5-32 (a)
Gp ( s) =
Y ( s)
U (s )
1 0.066 s
20( s 15)
s + 22 s + 190 s + 300
3
State equations:
x&1
x& =
2
x&3
0
0
300
x1 0
0
1 x2 + 0
190 22 x3 1
1
+ 22
+ 170
+ 600 = 0
= m
State equations:
d
dt
K K
b
and x
12, 5 + j5, 5 j5
+ K bRa
JR
= D
D +
KK
JR
63
d
dt
K
J
D
R
K
J
D
R
j 4. 965
E (s )
KK i ( J R s + K D )
JJ RR a s + ( K b J R Ki + K DR a J R + K D JRa ) s + K DK b Ki
2
m ( s)
r ( s)
Ks KKi ( J R s + KD )
JJ R Ra s + ( Kb J R Ki + KD R a J R + KD JRa + Ks K Ki J R ) s + KD K b Ki + Ks K Ki KD
2
( s ) =
Characteristic equation roots:
19.8,
+ 1037
+ 20131
.2
=0
1017.2
b d 2 1
c a = 2 1
B=
0
1
S = [B
AB ] =
0 1
1 1
(b)
S = [B
AB ] =
0 d
1 a
AB
1 1 1
A B = 1 1 1
1 1 1
0.
5-35 (a)
S = B
(b)
64
1 1 1
AB A B = 1 2 4
1 3 9
S = B
A=
2 3
1 0
B=
Output equation:
V = C
'
'
AC
'
1
1
S = [B
= Cx
0 x
1 2
= 0 3
1 1
1 1
C = 1
AB ] =
U ( s)
+3
+2s3
=
s
Since there is pole-zero cancellation in the input-output transfer function, the system is either
uncontrollable or unobservable or both. In this case, the state variables are already defined, and the
system is uncontrollable as found out in part (a).
5-37 (a) = 1,
(b)
2 , or 4
These values of
R( s)
3( s
+ 1)
2( s
1 0 0
A = 0 2
0
0 4
0
The system is uncontrollable for
(c)
= 1,
or
2
+ 2)
4
6( s
+4)
= Ax ( t ) + B r ( t ) ,
1
B = 2
output equation: y ( t )
D=
= C x ( t ).
1 1
3
2
1
6
= 2, or = 4.
1 0 0
A = 0 2
0
0
0 4
1
3
1
B=
2
1
6
= 1, or = 2, or = 4.
65
D = [ 1
4]
5-38
S = [B
AB] =
b
1
b ab 1
S = ab 1 b 0
2
1 b = 0.
2
Regions of controllability:
5-39
S = [B
AB] =
b1 b1 + b 2
b
b 2
2
V = C
'
'
AC
'
S = 0 when b1 b2 b1 b2 b2 = 0,or b2 = 0
2
0.
d2
d1
=
d2 d 1 + d 2
0.
= h,
=m,
x& = Ax + B e
State equations:
K o
A
A= 0
K I nN
A
0
0
d m
dt
3
d
dt
d m
m
dt
Ki Kb
JRa
m +
Ki K a
JRa
ei
= Jm +n
= m
1 =
KK
i b
JRa
0
V = 0 when d 1 0 .
0
1 0.016
0
1
0
0
11.767
State diagram:
66
B = 0 =
K K
i a
JRa
0
0
8333.33
Ko
K I nN
Eigenvalues of A:
0,
s+
= s s +
1
Ki K b
s + Ki K b = s ( s +1)( s + 11.767)
A
JRa
Ko
JRa
1, 11.767.
(c) Controllability:
S = B
0
133.33
0
A B =
0
8333.33 98058
AB
S 0.
(d) Observability:
(1) C =
V = C
(2) C =
(3) C =
'
V = C
'
'
'
'
'
'
1
1
1
( A ) C = 0 0.016 0.016
0
0.016
0
' 2
'
AC
'
'
AC
V = C
0
0 0
( A ) C = 1 0
0
0 1 11.767
' 2
'
AC
0
0
0
( A ) C = 0
0
0
1 11.767 138.46
' 2
'
( s ) = s I A
25 . 92
5.0912, 0, 0
(b) Controllability:
67
=0
S = B
AB
A B
0.0732
0
1.8973
0
0.0732
0
1.8973
0
3
A B =
0
0.0976
0
0.1728
0.0976
0
0.1728
0
S is nonsingular. Thus, A ,
is controllable.
(c) Observability:
(1)
V = C
'
'
A C
'
' 2
(A ) C
'
1
0
' 3
'
( A ) C =
0
0
25.92
25.92
0
0
(2) C = 0
V = C
'
'
A C
'
'
(A ) C
'
0
671.85
0 25.92
1
0
25.92
0
' 3
'
(A ) C =
0
0
0
0
0
0
0
0
(3) C = 0
V = C
'
'
A C
'
'
(A ) C
'
0
0
' 3
'
(A ) C =
1
0
(4) C = 0
68
2.36
2.36
0
0
V = C
'
'
A C
'
' 2
(A ) C
0
61.17
0 2.36
0
0
2.36
0
' 3
'
( A ) C =
0
0
0
0
1
0
0
0
'
5-42
0
384
0 1 0 16
1 0 16 0 384
0
0
0
0
16
0
512
S=
0
512
0
0 0 16
0 1 0
0
0
0
0
0
0
1 0 0
J vs
(J
KI H
s + K Ps + K I + K N
2
x& ( t ) = Ax ( t ) + B r ( t )
State equations:
0 0
A = 0 0
0 0
KP
J G
1
0
( KI + KN
JG
Jvs
(J
0
0
B=
0
1
s + K P s + K I + KN = 0
2
69
A=
3 1
0 2
B=
S is nonsingular. A ,
0
1
S = [B
(b)
With feedback, u 2
= kc 2 ,
'
0 1
1 2
B is controllable.
Output equation: y 2 = C x
V = C
AB ] =
'
AC
'
C = 1
1 3
=
1 3
3 2 k
A = 1+ g
Ax ( t )
1+ k
2
1
+ B u1 ( t ) .
1
0
S=
1+k
1 2
0
B=
1
y2 = Cx
Output equation:
V = D '
1
1 + k
1
1 + K
'
'
A D =
1
1 + k
C=
1 + k
(1 + k )
3 + 2k
2
(1 + k )
3 + 2k
5-45 (a)
S = [B
V = C
(b) u = k 1
1 2
2 7
1 1
' '
A C =
1 2
AB ] =
'
k2 x
0 1 k1
1 3 2 k1
A c = A BK =
70
1 k2
k1
=
2 k2 1 2 k1 3 2 k 2
k2
S = [B
A cB ] =
For controllabillity, k 2
V = C
For observability, V
'
1 k1 2 k2 + 2
2 7 2k 4k
1
2
11
2
'
A cC
'
1 1 3 k1
=
1 2 3 k 2
= 1 + 3k 1 3 k 2 0
71
S = 11 2 k2 0
Chapter 6
6-1 (a)
Poles are at s
j 1. 6583 ,
1. 5
j 1. 6583
+ 25
+ 10 s + 450 = 0
Routh Tabulation:
s
10
25
450
450
250
= 8
25
(b)
+ 25
450
+ 10 s + 50 = 0
Routh Tabulation:
s
10
25
50
50
250
=8
25
(c)
50
+ 25
+ 250
+ 10 = 0
Routh Tabulation:
s
250
25
10
10
6250
= 249
25
(d)
2s
10
+ 10
+ 5 . 5 s + 5 . 5 s + 10 = 0
2
Routh Tabulation:
71
55
10
24.2
5 .5
10
5 .5
11
= 4.4
100
10
10
= 75 . 8
4.4
s
10
(e)
+ 2 s + 8 s + 15
5
+ 20
+ 16 s + 16 = 0
Routh Tabulation:
s
16
20
15
16
15
40
= 0 .5
16
33
48
396 + 24
= 11 .27
33
541 .1 + 528
= 1.16
16
= 12
16
11 .27
s
(f)
+ 2 s + 10
3
+ 20 s + 5 = 0
Routh Tabulation:
s
20
10
20
20
=0
6-3 (a)
20
10
10
+ 25 s + 15
3
+ 20 s + K = 0
Routh Tabulation:
72
15
25
20
20
375
= 14.2
25
s
25
284
= 20 1. 76
20
1. 76
>0
>0
or K
< 11 . 36
14.2
s
Thus, the system is stable for 0 < K < 11.36. When K = 11.36, the system is marginally stable. The
auxiliary equation equation is A ( s ) = 14.2 s
frequency of oscillation is 0.894 rad/sec.
(b)
+ 11 . 36 = 0 .
= 0 .8 .
The
+ Ks + 2 s + ( K + 1) s + 10 = 0
Routh Tabulation:
s
K 1
2K
10
+1
>0
K
K
10
9 K 1
>1
9 K 1 > 0
2
K
10
The conditions for stability are: K > 0, K > 1, and 9 K 1 > 0 . Since K is always positive, the
last condition cannot be met by any real value of K. Thus, the system is unstable for all values of K.
2
(c)
+ ( K + 2 ) s + 2 Ks + 10 = 0
Routh Tabulation:
s
K
2K
2K
+2
10
+ 4 K 10
K
+2
> 2
+ 2 K 5 > 0
10
The conditions for stability are: K > 2 and K + 2 K 5 > 0 or (K +3.4495)(K 1.4495) > 0,
or K > 1.4495. Thus, the condition for stability is K > 1.4495. When K = 1.4495 the system is
2
(d)
+ 20
+ 5 s + 10
= 3.4495
=0
Routh Tabulation:
73
+ 10 = 0 .
The solution is s
= 2 .899
5
10 K
20
10
100
= 5 0 .5 K
0 .5 K > 0
>0
or K
< 10
20
s
10 K
The conditions for stability are: K > 0 and K < 10. Thus, 0 < K < 10. When K = 10, the system is
= 20
(e)
= 5 .
+ 100 = 0 .
+ Ks + 5 s + 10 s + 10
=0
Routh Tabulation:
s
10
10 K
5K
10
5K
10 K
>0
10 > 0
100
50 K
s
K
5K
10
>2
10
or K
50 K
100 10
5K
5K
10
10 K > 0
3
K
s
10 K
+ 2 . 9055
2 . 9055
+ 3 .4419
<0.
(f)
10 K > 0 .
3
>0
The last condition is written as
2.9055.
+ 12 . 5 s + s + 5 s + K = 0
3
Routh Tabulation:
s
12 . 5
12 . 5
= 0 .6
12 . 5
s
12 . 5 K
= 5 20 .83
20 . 83 K > 0
or K
< 0 .24
0 .6
s
K
K >0
The condition for stability is 0 < K < 0.24. When K = 0.24 the system is marginally stable. The auxiliary
0
equation is A ( s ) = 0 . 6 s
oscillation is 0.632 rad/sec.
6-4
+ 0 .24 = 0 .
+ ( 2T +1) s + ( 2 + K ) s + 5 K = 0
2
Routh Tabulation:
74
= 0 .4.
The frequency of
2T
( 2T
+1
>0
5K
> 1 /
+ 1 )( K + 2 ) 5 KT
2T
+2
K (1 3 T )
+1
5K
4T
+2
3T
+ 24
Ks
<
6-5 (a)
Characteristic equation: s
+ 600
+ 50000
+ Ks
+ 4T + 2 > 0
>0
+ 80
=0
Routh Tabulation:
s
214080
50000
24 K
600
80 K
10
14320 K
600
3
s
< 3 10
600
00 K
80 K
10 K
7
7 .2 10
+ 3 .113256 10
16
600( 214080
s
00
11
14400
< 214080
00
2 .162 10
80 K
75
>0
+ 5 10
12
<0
From the s
From the s
< 3 10
7
K < 2 .1408 10
7
12
2 .162 10 K + 5 10 < 0
7
row:
row:
Thus,
0
From the s
2 . 34
10
When K
(b)
= 2 . 34 10
7
= 2 .1386 10
)( K
2 .1386 10
10
2 . 34
= 10 . 6 rad/sec.
= 188 . 59 rad/sec.
Characteristic equation:
2 . 34 10
K>0
row:
(K
or
+ ( K + 2 ) s + 30
2
Ks
+ 200
=0
Routh tabulation:
s
30 K
+2
140
+2
30 K
200 K
K
200 K
Stability Condition:
Characteristic equation: s
> 2
> 4. 6667
>0
K > 4.6667
(c)
+ 30
+ 200
= 6 . 6667
+ 933
. 333
=0.
The solution is s
+K =0
Routh tabulation:
s
200
30
6000
< 6000
>0
30
s
Stabililty Condition:
<
< 6000
(d)
Characteristic equation:
= 30
+ 6000 = 0 .
The solution is s
= 200
+ 2 s + ( K + 3) s + K + 1 = 0
2
Routh tabulation:
s
+3
K +1
+5
> 5
> 1
30
s
K +1
Stability condition:
K>
1.
When K =
76
= 140
<0
s row. Thus, there is no auxiliary equation. When K = 1, the system is marginally stable, and one
of the three characteristic equation roots is at s = 0. There is no oscillation. The system response
would increase monotonically.
0
x& ( t ) = Ax ( t ) + B u ( t )
Open-loop system:
A=
1 2
10 0
x& ( t ) = ( A BK ) x ( t )
Closed-loop system:
A BK =
0
1
B=
1
10 k
k 2
sI A + BK =
s 1
10 + k1
s + k2
Stability requirements:
k
20
1 > 0
= s + ( k 2 1 ) s + 20 2 k1 k 2 = 0
2
or k
>1
2 k1 k 2 > 0
or
< 20 2 k 1
Parameter plane:
= s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
k2 + 4
s + k3 + 3
Routh Tabulation:
k2 + 4
1
k3 + 3
(k
k3 +3>0 or k3 > 3
k1
+ 3) ( k 2 + 4 ) k 1
(k
k3 + 3
0
+ 3 )( k + 4) k > 0
2
k >0
Stability Requirements:
k 3 > 3,
6-8 (a)
(k
k 1 > 0,
+ 3) ( k 2 + 4 ) k 1 > 0
Since A is a diagonal matrix with distinct eigenvalues, the states are decoupled from each other. The
second row of B is zero; thus, the second state variable, x is uncontrollable. Since the uncontrollable
2
77
state has the eigenvalue at 3 which is stable, and the unstable state x with the eigenvalue at 2 is
3
(b)
6-9
Since the uncontrollable state x has an unstable eigenvalue at 1, the system is no stabilizable.
1
Y (s)
R (s )
1000
s + 15.6 s + ( 56 + 100 K t ) s + 1000
3
+ 15 . 6 s + ( 56 + 100
2
K )s
t
+ 1000 = 0
Routh Tabulation:
s
1
15 . 6
873 . 6
+ 100
56
+ 1560
1000
Kt
1000
1560 K t
15 .6
s
.4
>0
1000
Stability Requirements:
6-10
126
> 0 . 081
K(s
s
+ Ks
3
+ Ks
+ 2 )( s + )
+ ( 2 K + K 1 ) s + 2 K
+ ( 2 K + K 1) s + 2 K = 0
Routh Tabulation:
s
2 K
K
(2
+ K 1
2K
+ ) K K 2 K
>0
(2 + )K
K
s
2 K
>0
K
> 0,
>
+ 2
78
1 2 > 0
6-11 (a)
( s)
r ( s )
If KK
If KK
G (s)
p
1+ K G ( s)
s
K
s
+ KK
>,
the characteristic equation roots are on the imaginary axis, and the missible will oscillate.
the characteristic equaton roots are at the origin or in the right-half plane, and the system
(b)
( s)
r ( s )
KK
For stability:
When K
=0
G (s)
p
1 + K sG
t
> 0,
and KK
KK
>,
(s)
+ K sG p ( s )
K
s
+ KK
+ KK s
> 0 .
the characteristic equation roots are on the imaginary axis, and the missile
If KK
6-12
Let s
= s + ,
then when s
= ,
= 0.
(a)
F (s)
Or
+ 5s +3 = 0
+ 3 s1 1 = 0
Le t s
= s1 1
s1
Routh Tabulation:
s
s
We get
1) + 5 ( s1 1) + 3 = 0
2
(s
0
1
Since there is one sign change in the first column of the Routh tabulation, there is one root in the
region to the right of s = 1 in the s-plane. The roots are at 3.3028 and 0.3028.
(b)
F (s)
+ 3s + 3s +1 = 0
2
Let s
We get
79
( s1 1)3
+ 3( s1 1) + 3 ( s1 1) + 1 = 0
2
(c)
Or
F (s)
= 0.
3
1
Or
3
1
+ 4 s + 3 s + 10 = 0
2
Let s
= 0.
We get
10
(s
1.
1) + 4 ( s1 1) + 3 ( s1 1) +10 = 0
3
+ s 1 2 s1 + 10 = 0
2
s
s
Routh Tabulation:
3
1
2
1
12
s1
s
10
Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the
region to the right of s = 1 in the s-plane. The roots are at 3.8897, 0.0552 + j1.605,
and 0.0552
(d)
F (s)
Or
+4s +4s +4 = 0
j1.6025.
2
3
1
Let s
(s
We get
1) + 4 ( s1 1) + 4 ( s1 1) + 4 = 0
3
+ s1 s1 + 3 = 0
2
s
s
Routh Tabulation:
3
1
2
1
1
s1
s
Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the
region to the right of s = 1 in the s-plane. The roots are at 3.1304, 0.4348 + j1.0434,
and 0.4348
j1.04348.
H ( s)
E (s )
K a K i nK I N
s (R a Js + K i K b ) ( As + K o )
16.667 N
s( s + 1)( s + 11.767)
G (s)
=
1
+G ( s)
16 .667 N
=
s
+ 12 . 767
80
+ 11 . 767
+ 16 . 667
+ 12 . 767
+ 11 . 767
+ 16 . 667
=0
Routh Tabulation:
s
11 . 767
16 . 667 N
12 .767
150 .22
16 . 667
16.667
1 50.22
>0
or
NA
>0
12 . 767
s
16 .667N
Stability condition:
<
>0
<9.
250 N
R( s)
s ( 0 .06 s
+ 0 . 706
+ ( 0 . 706
)( As
+ 50 ) + 250
+ 3) s + 35 . 3 s + 250
2
=0
Routh Tabulation:
s
0 . 06 A
0 . 706 A
24. 92 A
+ 105
07 . 06 A
s
250 N
15 NA
+3
>0
0 . 706 A
+3 > 0
24.92 A
+ 105
.9
15
N > 0
250N
(b)
+3
.9
35 .3
When A
max
1. 66
Routh tabulation
81
Thus, N
max
= 1.
<9
0706 K
+ 0 . 06
35 . 3
0 . 0424 K o
(c)
250 N
+ 24.
92 K o
+ 0 . 06
35 . 3
s
750
> 588
. 33
250 N
+ 0 . 03323
>0
Routh Tabulution:
s
0 . 706 K
1
35 . 3
+ 0 . 06
2
0 . 04236 K o
50 K
50 K
+ 24. 92
Ko
+ 0 . 06
Ko
35 .3
s
50
KI
> 588
. 33
KI
< 0 . 000847
>0
2Ko
+ 0 .498
82
+ K D s + 500 + K P = 0
Ko
(c)
For stability, K
> 0,
0 .5
+ K P > 0.
Thu s,
> 0 .5
Stability Region:
= 1 + s + Ks
Characteristic equation:
s
Stability requirement:
+s+K =0
K>0
83
Chapter 7
TIME-DOMAIN ANALYSIS OF
CONTROL SYSTEMS
(c) 0 . 5
7-2 (a)
Type 0
7-3 (a)
(b)
(c)
(d)
(e)
(f)
n 2
rad / sec
n 5 rad
(b)
/ sec
Type 0
(c)
(d)
Type 1
Type 2
0 . 707
(b)
(d)
0 .5
(e)
Type 3
n 2
0 . 707
(f)
n 0 . 5 rad
Type 3
= lim
G ( s)
= 1000
Kv
= lim
sG ( s )
=0
Ka
= lim
s G (s)
= lim
G ( s)
Kv
= lim
sG ( s )
=1
Ka
= lim
s G (s)
= lim
G ( s)
Kv
= lim
sG ( s )
=K
Ka
= lim
s G (s)
= lim
G ( s)
Kv
= lim
sG ( s )
Ka
= lim
s G ( s)
= lim
G ( s)
Kv
= lim
sG ( s )
=1
Ka
= lim
s G (s)
= lim
G ( s)
Kv
= lim
sG ( s )
Ka
= lim
s G (s)
s0
s0
s0
s0
s0
s0
s 0
s 0
s0
s 0
s 0
s 0
84
s0
s0
s0
s0
s0
s0
rad / sec
=0
=0
=0
=1
=0
/ sec
7-4 (a)
Input
Error Constants
Steady -state Error
________________________________________________________________________________
u (t )
tu ( t )
t u (t ) / 2
s
(b)
= 1000
=0
=0
1 1001
Input
Error Constants
Steady -state Error
________________________________________________________________________________
u (t )
tu ( t )
t u (t ) / 2
s
=1
=0
(c) Input
Error Constants
Steady -state Error
________________________________________________________________________________
u (t )
tu ( t )
t u (t ) / 2
s
=K
1/ K
=0
The above results are valid if the value of K corresponds to a stable closed-loop system.
(d)
(e)
Input
Error Constants
Steady -state Error
________________________________________________________________________________
u (t )
tu ( t )
t u (t ) / 2
s
(f)
=1
=0
Input
Error Constants
Steady -state Error
________________________________________________________________________________
u (t )
tu ( t )
t u (t ) / 2
s
=K
1/ K
The closed-loop system is stable for all positive values of K. Thus the above results are valid.
7-5 (a)
H (0)
=1
M (s)
a
= 3,
G (s)
1+ G ( s)H ( s)
a
= 3,
+1
+ 2 s + 3s +3
= 1, b 1 = 1.
0
2
2,
Unit-step Input:
ess =
Unit-ramp input:
a
(b)
H (0)
2
=3
b0 K H = 3 1 = 2 0.
b0 K H = 2 0
Unit-parabolic Input:
a
b0 KH
1 a
KH
0
1
and
Thus
ss
= .
b1 K H = 1 0.
Thus
ss
= .
=5
M (s)
G (s)
1+ G ( s)H ( s)
1
s
+5s + 5
85
= 5,
= 5,
= 1,
= 0.
Unit-step Input:
ess =
Unit-ramp Input:
b0K H
1 a
KH
0
= 0:
i
e
ss
a
a
b1 K H
(c)
H (0)
ss
5
1 = 0
5
5
b0 K H = 0
a K
= 1:
+5
b1 K H = 5 0
25
Unit-parabolic Input:
=1/5
M (s)
G (s)
1+ G ( s)H ( s)
a
= 1,
+ 15 s + 50 s + s + 1
a = 50 , a = 15 , b = 5 ,
2
3
0
= 1,
=1
Unit-step Input:
ess =
Unit-ramp Input:
b0K H
1 a
KH
0
= 0:
i
e
ss
a
a
b0 K H = 0
b1 K H
a K
(d)
H (0)
ss
= 1:
11 / 5
b1 K H =
4 /5
=4
1/5
Unit-parabolic Input:
5/5
= 5 1 1 = 0
= 10
M (s)
G (s)
1+ G ( s)H ( s)
= 10 ,
= 5,
1
s
+ 12 s + 5 s + 10
a = 12 , b = 1,
2
0
3
= 0,
=0
Unit-step Input:
ess =
Unit-ramp Input:
b0K H
1 a
KH
0
= 0:
i
e
ss
a
a
b0 K H = 0
b1 K H
a K
0
Unit-parabolic Input:
e
7-6 (a)
M (s)
s
s
+ 16
+4
ss
= 1:
b1 K H = 5 0
= 0 . 05
100
+ 48 s + 4 s + 4
a = 4, a = 4,
0
1
2
1 10
= 10 1 10 = 0
K
a
=1
= 48 ,
= 16 ,
= 4,
= 1,
= 0,
Unit-step Input:
ess =
Unit-ramp input:
i
= 0:
b0K H
1 a
KH
0
1
4
= 1 4 = 0
b0 KH = 0
= 1:
86
b1 K H = 4 1 = 3 0
=0
ss
b1 K H
a K
0
Unit-parabolic Input:
e
(b)
M (s)
+ 3)
K(s
ss
+ 3s + ( K + 2)s + 3K
a = 3K , a = K + 2,
0
1
2
=1
= 3,
=3K,
> 0.
=K
Unit-step Input:
ess =
Unit-ramp Input:
b0K H
1 a
KH
0
= 0:
i
e
ss
3K
= 1 3 K = 0
a
a
b0 K H = 0
b1 K H
a K
0
Unit-parabolic Input:
e
ss
+2 K
= 1:
3K
b1 K H = K + 2 K = 2 0
2
3K
(c)
M (s)
s
s
+ 15
+5
+ 50 s + 10 s
a = 0 , a = 10 ,
0
1
2
10 s
H ( s)
s+5
50 , a
= lim
H (s)
s 0
= 15 ,
= 5,
s
b
=2
=1
Unit-step Input:
ess =
a 2 b1K H
a
KH
1
Unit-ramp Input:
e
ss
ss
Unit-parabolic Input:
e
(d)
M (s)
+ 17
K(s
+ 5)
+ 60
+ 5 Ks + 5 K
= 5K ,
1 50 1 2
= 2 10 = 2.4
= 5K ,
=1
= 60 ,
= 17 ,
= 5K,
Unit-step Input:
ess =
Unit-ramp Input:
i
= 0:
ss
b0K H
1 a
KH
0
1
a
a
b0 KH = 0
b1 K H
a K
0
5K
= 1 5 K = 0
Unit-parabolic Input:
e
ss
5K
5K
= 1:
4
5
87
b1 K H = 5 K K = 4 K 0
7-7
G (s)
Y (s)
E ( s)
KG
1
(b)
(c)
r(t )
r(t )
r(t )
= u s ( t ):
= tu s ( t ):
=t
u ( t ) / 2:
ss
+ K tG p( s)
Error constants:
(a)
( s ) 20 s
= ,
ss
ss
1
1+ K
1
20 s ( 1 + 0 .2 s
5K
1 + 100 K
+ 100
K
Type-1 system.
K )
t
=0
=0
p
1 + 100 K
100 K
5K
7-8
G p (s)
G (s)
100
=
(1
+ 0 .1 s )( 1 + 0 . 5 s )
(b)
(c)
r(t )
r(t )
= u s ( t ):
= tu s ( t ):
=t
KG
E (s)
+ 0 .1 s )( 1 + 0 . 5 s ) + 100
Error constants:
r(t )
Y (s)
20 s 1
(s)
+ K tG p ( s )
100 K
=
20 s ( 1
(a)
G (s)
u ( t ) / 2:
ss
1
K
ss
ss
= ,
=
=
1
1+ K
1
K
5K
1 + 100 K
=0
=0
p
=
v
Kt
1 + 100 K
5K
=
a
s + 12 s + ( 20 + 2000 K t ) s + 100 K = 0
3
Routh Tabulation:
s
20
+ 24000
100 K
12
240
+ 2000
Kt
100
12
s
100 K
Stability Conditions:
K>0
12 ( 1+ 100 K t ) 5 K > 0 or
1 + 100 K t
Thus, the minimum steady-state error that can be obtained with a unit-ramp input is 1/12.
88
5K
>
1
12
7-9 (a)
o ( s)
r ( s )
o ( s)
r ( s )
K1 K 2
1+
1+
K1 K 2
Ra + La s
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 K 1K i N
s ( Ra + La s )( Bt + J t s )
s [( Ra + La s ) ( Bt + Jt s ) + K1 K2 ( Bt + Jt s ) + Ki Kb + KK1 K i K t ]
L a J t s + ( L a Bt + Ra J t + K 1 K 2 J t ) s + ( Ra Bt + K i K b + K Ki K1K t + K 1 K 2 Bt ) s + KK s K 1K i N
3
r ( t ) = u s ( t ),
r ( s ) =
lim s ( s )
e
s 0
=0
Provided that all the poles of s ( s ) are all in the left -half s-plane.
e
(b)
r ( s ) = 1 /
e
ss
lim
s .
e (t ) =
lim s ( s )
e
s 0
R B
+ K 1 K 2 B t + K i K b + KK
KK
K K
i
K K N
i
[n(t) = 0]:
K (1 + 0.02s )
G ( s) =
Y ( s)
E (s )
Error Constants:
2
K (1 + 0.02s )
s ( s + 25)
=
2
K Kt s
s s + 25 s + KKt
1+ 2
s ( s + 25)
= ,
= tu s ( t ),
R( s)
1
s
K
,
Type-1 system.
=0
ss
lim e ( t )
= lim
s 0
sE ( s )
1
K
Routh Tabulation:
s
s
KK t + 0.02 K
25
25 K ( Kt + 0.02) K
25
K
K >0
Stability Conditions:
(b)
With r(t) = 0, n ( t )
= u s ( t ),
N (s)
=1/
s.
K
Y (s )
N (s )
K
s ( s + 25)
= 3
2
K (1 + 0.02 s)
K Kt s
s + 25 s + K ( K t + 0.02 ) s + K
1+ 2
+ 2
s ( s + 25)
s ( s + 25)
2
89
y ss
7-11 (a)
n(t )
= 0,
r (t )
lim y ( t )
= lim
=1
sY ( s )
s0
= tu s ( t ).
G ( s) =
Y ( s)
E (s )
K ( s + )( s + 3)
Ramp-error constant:
Kv
= lim
Characteristic equation: s + Ks
Routh Tabulation:
3
ss
3K
s 0
1
K
sG ( s )
=
v
= 3 K
1
3K
+ K 1
3 K
K
K (3K
Type-1 system.
+ [ K ( 3 + ) 1] s + 3 K = 0
s s 1
n =0
+ K 1 ) 3 K
K
3 K
+ K 1 3 > 0
3K
Stability Conditions:
or
1+ 3K
>
K > 0
(b)
When r(t) = 0, n ( t )
= u s ( t ),
N (s)
=1/
s.
K ( s + 3)
Y (s )
N (s )
Steady -State Output due to n ( t):
y ss
lim y ( t )
=
1+
r =0
= lim
s0
2
Ks ( s + 3)
s 1
=
K ( s + )( s + 3) s 3 + Ks 2 + [ K ( s + ) 1]s + 3 K
s s 1
2
=0
sY ( s )
7-12
=e
ershoo t = 0 .25
Thus
Solving for
Peak T ime
= ln0.25 = 1.386
max
= 0 .01
= 1.922 1
2
= 0.404.
sec.
n =
Thus,
1 ( 0 .404 )
0 . 01
n
2
+ 2 n s + n
2
117916
s
+ 277
.3 s
+ 117916
Characteristic equation:
90
= 343
2
.4
rad / sec
Y (s )
R (s )
25 K
s + ( 5 + 500 Kt ) s + 25 K = 0
2
s + ( 5 + 500 Kt ) s + 25 K
2
n =
25 K ,
= 5 + 500
= 0 . 707
= 1.414
25 K
1 0 .4167
+ 2 . 917
K
K
With
=
=
n
n
2
Thus,
( 10 . 82 )
25
4. 68
= 0 .2
sec
n = 10 . 82
Thu s
rad / sec
= 4. 68
25
and
2 .164
= 0 . 0206
+ 500
= 1.414 n = 15 . 3
Y (s)
10 . 3
= 0 . 0206
500
r func tion i s
117
R( s)
Thus
+ 15 . 3 s + 117
Unit-step Response:
y = 0.1 at t = 0.047 sec.
y = 0.9 at t = 0.244 sec.
t = 0 .244 0 . 047 = 0 .197
r
R (s )
25 K
, we get
( 4. 32% max.
s + ( 5 + 500 Kt ) s + 25 K = 0
s + ( 5 + 500 Kt ) s + 25 K
= 0 . 0432
Characteristic Equation:
Solving for
max
= ln0.1 = 2.3
= 5.3 1
2
= 0.59.
n =
25 K
Thus,
5 + 500 K
= 2 n = 1.18 n
1 0 .4167
+ 2 . 917
n
= 0 .1 =
1. 7696
sec.
Th us
n = 17 . 7
rad / sec
= 12 . 58
25
With K = 12.58 and K
sec.
15 . 88
= 0 . 0318
500
0 . 0318 , the system transfer function is
Thus
Y (s)
R( s)
313
=
s
+ 20 .88 s + 314.
Unit-step Response:
y = 0.1 when t = 0.028 sec.
y = 0.9 when t = 0.131 sec.
91
overs hoot)
7-15
= 1.1
max
( 10%
sec.
max.
overs hoot )
Characteristic Equation:
Y (s)
s + ( 5 + 500 Kt ) s + 25 K = 0
R( s)
25 K
s
+ ( 5 + 500
+ 25 K
K )s
t
1
Solving for
, we get
= 0 .456
= ln0.2 = 1.61
= 2.59 1
2
n =
25 K
+ 500
= 2 n = 0 . 912 n
1 0 .4167
+ 2 . 917
n
= 0 . 05 =
1.4165
sec.
Thus,
n =
1.4165
28 .33
0 . 05
= 32 .1
5 + 500 K = 0 . 912 = 25 . 84
Thus,
t
n
25
With K = 32.1 and K = 0 . 0417 , the system transfer function is
K
= 0 . 0417
Y (s)
R( s)
802 . 59
+ 25 . 84 s + 802
. 59
Unit-step Response:
y = 0.1 when t = 0.0178 sec.
y = 0.9 when t = 0.072 sec.
t = 0 . 072 0 . 0178 = 0 . 0542
sec.
1.1
max
= 1.2
max.
overs hoot )
Characteristic Equation:
s + ( 5 + 500 Kt ) s + 25 K = 0
2
+ 0 .125 + 0 .469
= 0 .1
= 0 . 707
1.423
sec.
= 0 .1
sec.
Thus
t
n
n
5 5
2
( 20%
n = 14.23
rad/sec.
= 0 . 0302
202 . 5
=
s
+ 20 .1 s + 202
Unit-Step Response:
92
.5
Thus
15 .12
500
= 0 . 0302
1.1
( 4. 3%
max.
overs hoot )
s + ( 5 + 500 Kt ) s + 25 K = 0
2
+ 0 .125 + 0 .469
= 0 . 05 =
1. 337
Thus,
n =
1. 337
= 26 . 74
0 . 05
K =
= 1. 043
Characteristic Equation:
n = 26.74 = 28.6
5 5
2
max
= 0 . 0531
+ 500
= 2 n = 2 0 . 59 26 . 74 = 31 . 55
Y (s)
= 0 . 0531
r func tion i s
715
R( s)
Thus
+ 31 . 55 s + 715
Unit-Step Response:
y = 0.5 when t = 0.0505 sec.
Thus, t = 0 . 0505 sec.
d
1.1
max
= 1.1007
( 10 . 07%
max.
overs hoot )
Characteristic Equation:
s + ( 5 + 500 Kt ) s + 25 K = 0
2
+ 0 .125 + 0 .469
1.2545
= 0 . 01
sec.
n = 15737.7 = 629.5
25
5
2
+ 500
n =
1.2545
= 0.2188
.45
rad/sec. Thus,
0 . 01
= 2 n = 2 0 .456 125
= 125
.45
= 114.41
K =
Thus, K
= 0.2188
15737 . 7
s
+ 114.41
Unit-step Response:
+ 15737
.7
93
Thus, t
y
3 .2
1.2
= 1.2
sec.
( 20% ma
x. overs hoot )
Characteristic Equation:
s + ( 5 + 5000 Kt ) s + 25 K = 0
2
max
= 0 . 0101
= 1.2 n
3.2
0 .6
= 0 .1
sec. Thus,
n =
3 .2
= 53 . 33
rad / sec
0 . 06
= 0 .118
500
= 113
. 76
25
2844
s
+ 64 s + 2844
Unit-step Response:
3 .2
n
t
3 .2
1.18
0 .59
n 5
Characteristic Equation:
s + ( 5 + 500 Kt ) s + 25 K = 0
2
+ 500
= 0 . 05
= 2 n = 2 0 . 59 n = 1.18 n
n =
sec.
3 .2
0 . 05
0 . 59
= 108
.47
= 0 .246
500
= 470
. 63
25
11765 . 74
s
+ 128
+ 11765
. 74
Unit-Step Response:
y(t) reaches 1.05 and never exceeds
this value at t = 0.048 sec.
Thus, t = 0 . 048 sec.
s
94
(b)
= 0 .456
3 .2
3 .2
0 .456
K
+ 500
= 0 . 01
0 . 912
= 2 n = 0 . 912 n
n =
sec.
n 5
3 .2
0 . 01
0 .456
= 701 . 75
rad / sec
= 1.27
500
492453
s
+ 640
+ 492453
Unit-Step Response:
y(t) reaches 1.05 and never
exceeds this value at t = 0.0074 sec.
Thus, t = 0 . 0074
sec.
This is less
s
= 0 . 707
Characteristic Equation:
s + ( 5 + 500 Kt ) s + 25 K = 0
2
Settling time t
4. 5
3 .1815
= 0 .1
sec.
Thus,
n = 31 .815
n
2
+ 500
= 2 n = 44. 986
Thus , K
= 0 . 08
= 40 .488
Unit-Step Response:
1012 .2
s
+ 44.
986 s
+ 1012
.2
The unit-step response reaches 0.95 at t = 0.092 sec. which is the measured t .
s
95
rad/sec.
7-22 (a)
When
1 0 .4167
+ 2 . 917
n
1. 521
=1
sec.
Thus
n = 1. 521
rad/sec.
+ 2 n s + n =
2
28 .48 a
+ 1. 521 s + 2 . 313 = 0
+ ( a + 30
)s
+ 1. 521 s + 2 . 313
45 . 63
Thus,
+ 30
as
+K =0
, we have
= 1. 6
= 65 .874 + 2 . 313
= 69 . 58
69 . 58
=
s( s
+ 1.6 )( s + 30
Unit-Step Response:
y = 0.1 when t = 0.355 sec.
y = 0.9 when t = 1.43 sec.
Rise Time:
t = 1.43 0 . 355
r
(b)
seconds
(i)
(ii)
= 1. 075
ss
= 0.
K
= lim
s0
sG ( s )
K
30 a
60 . 58
30
1. 6
+ 3s + (2 + K ) s K = 0
2
Routh Tabulation:
96
= 1.45
ss
1
K
= 0 .69
v
sec.
+K
+4K
3
Stability Condition:
The step responses in (a) and (b) all have a negative undershoot for small values of t. This is due to the
zero of G(s) that lies in the right-half s-plane.
7-24 (a)
= x1 + 5 x 2
dx
= 6 x 1
dt
dt
The characteristic equation of the closed-loop system is
1
s +1
6 + k1
s + k2
k1 x 1 k 2 x 2 + r
= s + ( 1 + k2 ) s + ( 30 + 5 k1 + k 2 ) = 0
2
97
For
(b)
For
n = 10
= 0 . 707
rad / sec,
, 2
For
n = 10
+ k 2 = 70
1.414
= 0 . 707
an d
k 2 = 59 + 10 k1
2
Thus
,
1
+ k 2 = 2 n = 14. 14
Th us
= 13 .14
Y (s)
R (s )
5
s + ( k 2 + 1) s + ( 30 + 5 k1 + k 2 )
2
lim y ( t )
(e)
= 30 + 5k1 + k 2
= 11 . 37 .
Thu s 5 k
and
n = 1 +
Th us
+ k 2 = 100
(d)
(1 + k )
rad / sec
5k
+ 5 k 1 + k 2 = n = 100
= 1+ k2.
n =
(c)
30
= lim
sY ( s )
s0
5
s + 14.14 s + 100
2
= 0 . 05
100
+ 5 k1 + k 2 = 5
Thus
5k
+ k 2 = 25
For
= 1,
n = 10
= 100
K
(c)
(d)
> 0.
= 100
+ 100
T hus
KD
= 20
98
KP
= 0 .2
+ 100
=0
(e)
= 1000
sec
Thus K P = 10
s 0
(f)
s 0
n = 50
n = 10
(g)
When K
rad/sec.
= 50
Th us
25
= 0,
G (s)
100 K
s
100 K
(pole-zero cancellation)
G ( s) =
When r ( t )
(b)
= tu s ( t ),
E (s )
K
= lim
KKi
s [ Js(1 + Ts ) + K i K t ]
s0
sG ( s )
K
K
ss
10 K
s 0.001 s + 0.01 s + 10 K t
=
1
K
When r(t) = 0
Y (s )
Td ( s)
For T ( s )
d
(c)
1
s
1 + Ts
lim sY ( s )
s 0
1 + 0.1s
1
if the system is stable.
10 K
+ 0 . 01 s + 0 .1 s + 10
2
=0
The system is unstable for K > 0.1. So we can set K to just less than 0.1. Then, the minimum value of
the steady-state value of y(t) is
1
+
=1
10 K K =0 .1
However, with this value of K, the system response will be very oscillatory. The maximum overshoot
will be nearly 100%.
(d)
+ 0 . 01 s + 10
2
K s
t
+1 = 0
or
+ 10
+ 10
K s
t
+ 1000 = 0
99
s 0.001 s + 0.01 s + 10 Kt + 10 K
2