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Solution Manual Digital Control and State Variable Methods PDF
Solution Manual Digital Control and State Variable Methods PDF
TO
DIGITAL CONTROL
AND
STATE VARIABLE METHODS
CHAPTER 1
CHAPTER 2
2.1 (a) x1, x2 : outputs of unit delayers, starting at the right and proceeding to
the left.
x1(k + 1) = x2(k); x2(k + 1) = 0.368x1(k) + 1.368x2(k) + r(k)
y(k) = 0.264x1(k) + 0.368x2(k)
LM 0
F= M
MN0.368
(b)
OP LM0OP
PP ; g = MM PP ; c = [0.264
1.368Q
N1 Q
1
Pi D i
0 . 264 z-2 + 0 . 368 z-1
Y (z )
=
=
1
2
R (z)
1 D
1 - 1. 368 z - - 0 . 368 z -
0.368]
2.2 (a) x1, x2 : outputs of unit delayers, starting at the right and proceeding to
the left.
x1(k + 1) = x2(k) + r (k)
x2(k + 1) = 5x2(k) 3x1(k) 3r (k)
y(k) = x1(k)
x1(k + 2) = x2(k + 1) + r (k + 1)
Substituting for x2(k + 1) from the above set,
x1(k + 2) = 5x1(k + 1) 3x1(k) + r(k + 1) + 2r (k)
y(k + 2) + 5y(k + 1) + 3y(k) = r (k + 1) + 2r (k)
(b) F =
(c)
LM 0 1 OP ; g = LM 1 OP ; c = [1
N-3 -5Q N-3Q
0]
Y (z)
z+2
= 2
R( z)
z + 5z + 3
1
x (k) + r(k); y(k) = 2x1(k) x1(k + 1) = 2.5x1(k) r(k)
2 1
y(k + 1) = 2.5x1(k + 1) r(k + 1) = 0.5y(k) + 2r(k) r(k + 1)
x1(k + 1) =
Y (z)
-z + 2
=
1
R( z)
z+
2
SOLUTION MANUAL 5
y (k) =
FH -1 IK
2
-z
2
+
1
1
z+
z+
2
2
k
m (k) + 2
FH -1 IK
2
k -1
m (k 1)
2
-5
Y (z)
z
3
+ 3
;
(c) R (z) =
=
1
z -1
z
z -1
z+
2
y(k) = -
FH IK
5 -1
3 2
m (k) +
2
m (k)
3
Y (z)
b
=
R( z)
z -a
Ab
; y(k) = Ab (a) k1 m (k 1)
z -a
A z Y (z)
Ab
;
=
;
( z - a) ( z -1)
z -1
z
Ab
Ab
z
z
1 -a
Ab
a -1
Y (z) =
; y(k) =
[1 (a) k] m (k)
+
z -a
z -1
1 -a
(c) R (z) =
Az
Ab
Y(z)
;
=
2
( z - 1)
( z - a) ( z - 1) 2
z
LM
N
OP
Q
z
z - e jW
(1 - a) z
Ab
z
+
- z
2
(1 - a)
( z - 1) 2
z -a
z -1
Ab
[ (a ) k + (1 - a ) k - 1] ; k 0
y (k) =
(1 - a ) 2
Y (z) =
The output,
LM
N
RS A b z
T (z - a)b z - e
L A b ba
= Re M
N a -e
y(k) = Re Z -1
jW
UVOP = Re L A b
g WQ MN a - e
O
- e gP
Q
jW
jWk
jW
ak +
Ab
e jWk
e jW - a
OP
Q
z
z
z
=
z
z
1
2
+
+
3
2
z + z+
k
k
y (k) = ( 1) ( 2) ; k 0
Y (z) =
z3
( z - 1) 2 z 2 - 2 z + 1
az
-z 2 + z
z
1
z
=
+ 2
z -1 2 z -2 z +1
z -1 2
Therefore,
y (k) = (l)k
2.6
1
1 - z-1
1
2
FH 1 IK
2
cos
az
-0 . 5 z
-z + 0 . 5
FH k p IK + 1 FH 1 IK
4
2
2
sin
f+2
0 . 5z
z 2 -z + 0 . 5
FH k p IK ; k 0
4
2.7
Y ( z)
z2
z2
= 2
=
R ( z)
(z - 1) (z - 2 )
z - 3z + 2
z +1
R(z) = 1 + z 1 =
z
( z + 1)
Y (z)
3
2
=
=
z - 2 z -1
( z - 2 )( z - 1)
z
y(k) = 3(2) k 2(1) k; k 0
SOLUTION MANUAL 7
Final value theorem will not give correct value since a pole of Y (z)
lies outside the unit circle.
2.8 (a) R (z) = z 1; Y (z) =
2z - 3
z ( z - 0 . 5) ( z + 0 . 3)
Y (z)
2 z -3
=
2 (
z
z z - 0 . 5) ( z + 0 . 3)
40
20
10
50
=+ 2 +
z
z - 0 .5
z + 0 .3
z
y(k) = 40d (k) + 20d (k 1) 10(0.5) k + 50( 0.3) k; k 0
(b) R (z) =
- 6z2 + z
z
; Y (z) =
1
1
1
1
z -1
( z - 1) z z- - j
+j
2
4
2
4
FH
IK FH
IK
8+ j4
8- j4
- 16
Y (z)
+
+
=
1
1
1
1
z -1
z
z- + j
z- -j
2
4
2
4
16 z - 6
16
+
=
z-1 z2 - z + 5
16
y(k) = 16(1)k + (0.56)k [7.94 sin (0.468k) + 16 cos (0.468k)]; k 0
2.9 (a) R (z) = 1 + z 2 + z 4 + =
z2
z -1
2
Y (z)
z
=
(z - 1) ( z + 1) ( z - 0 .5) ( z + 0 . 3)
z
0 . 476
0 . 769
- 0 . 833
- 0 . 41
=
+
+
+
z - 0. 5
z + 0.3
z +1
z -1
k
k
y(k) = 0.833(0.5) 0.41( 0.3) + 0.476( 1)k + 0.769(1)k; k 0
(b) R(z) =
z
;
z -1
Y (z)
1
=
2
z
( z - 0.5) ( z - 0.1)( z - 1)
- 6 . 94
2. 5
4 . 44
-5
+
+
+
=
( z - 0 . 5) 2
z - 0. 5
z - 0 .1
z -1
k
k
k
y(k) = 10k(0.5) + 2.5(0.5) 6.94(0.1) + 4.44(1)k; k 0
2.10
For y () = 1, K = 1
K 1 - a 2 (1 - a )
a1 - a f
2 (
1 - a)
=K
2.11
( z - 1) z
z
= 0, if |a| < 1.
m ; y () = lim (
m
z 1 z - a)
( z - a)
1
1
1
z+
Y (z)
z
1
;
= 2
= 2 - 22 2
(i) R(z) =
z -1
z -1
z
z + 1 ( z - 1)
z +1
FH k p IK 1 sin FH k p IK ; k 0
2
2
2
kp
z
r(k) = {1, 0, 1, 0, 1, 0, 1, } = cos F
H IK ; R(z) =
y(k) =
(ii)
1
1
(1)k
cos
2
2
z2 +1
Y (z) =
az
z2
2
+1
(ii)
Form Jurys table; from which you will find that (conditions (2.50b)):
|a 4| < |a 0|; 0.002 < 1; satisfied
|b 3| > |b 0|; | 1| > | 0.083|; satisfied
|c 2| > |c 0|; 0.993 > 0.512; satisfied.
The system is stable.
2.14
F 1 + r IJ
D(r) = G
H 1-r K
F 1 + r IJ
+ 0.5 G
H 1 -r K
F 1 + r IJ
0.2 G
H 1-r K
1+ r
+ 0.4
1-r
- 0 . 3 r 4 + 3. 4 r 3 + 8 . 8 r 2 + 1. 4 r + 2 . 7
4
(1 - r )
Form the Routh table, from which you will find that one root of D(r)
lies in the right-half plane. Therefore, three poles of G (z) lie inside
the unit circle.
=
SOLUTION MANUAL 9
2.15
2;
ws p
p
= > 2; T <
2
T
2
50 k 2 p
50
} = Z {cos 2kp}
1
= 1 + z 1 + z 2 + L
-1
1- z
2p
sec be50
comes unity at every sampling instant. Thus the noise signal can generate an undesirable d.c. component in the output.
2.17
2.18
2.19
2.20
Ga(s) =
1 - e-sT
1
; Gh0(s) =
s
s+1
G(z) = Z{Gh0G(s)} = (1 z 1) Z
R(z) =
-T
kT
;k0
RS 10 UV ; G (z) = (1 z ) Z RS 10 UV
T s (s + 2 ) W
T s (s + 2 ) W
L T z - z + z OP
G(z) = 5(1 z ) M
N z -1 2 z -1 2 a z - e f Q
1
Ga (s) =
-T
Y (z)
1 - e-T
-1
z
1
;
=
=
+
-T (
)
z -1
z
z -1
z - e-T
z -e
z -1
y(k) = 1 e
2.21
RS 1 UV = 1 - e
T s s + 1 W z -e
)2
10 ( z + 0 . 76)
16 ( z - 1) ( z - 0 . 46 )
-2 T
10
2.23
2.24
2.25
u( k ) - u( k - 1)
T
= Kc
LM e k -e k -1 + 1 e k + T e k -2e k -1 + e k -2 OP
T
T
Q
N T
LM1 + T FG 1 IJ + T a1 - z fOP E(z)
Q
N T H 1- z K T
( )
D { ( )
2
( )
)}
U(z) = K c
2.26
Required
z = 0.45, fM = 45 deg, T = 1.57 sec.
(i)
(ii)
LM
N
U (s) = Kc 1 +
2 z -1
T z +1
z - 0 . 9391
z - 0 . 9752
D(z) = 0.4047
2.27
-1
-1
OP
Q
1
+ TD s E(s)
TI s
LM 1
MM T s
N
LM1+ T
N 2T
U(z) = Kc 1 +
= Kc
+ TD s
s=
2 ( z -1)
T z +1
s=
z -1
zT
OP
Q
OP E (z)
PP
Q
z +1 TD z -1
+
E (z)
z -1
T
z
Therefore,
LM
MN
a f
e i - 1 + e (i )
2
u1(k) =
Kc T
TI
uD(k) =
Kc TD
e( k ) - e k - 1
T
u(k) = Kc e( k ) +
T
TI
a f
e i - 1 + e(i )
T
+ D
T
2
i =1
k
SOLUTION MANUAL
11
dy (t )
2.28 (a)
+ ay(t) = r(t); y(t) = y(0) a y (t) dt + r (t) dt
dt
0
0
kT
y(k) = y(k 1) a
kT
y (t) dt +
( k -1) T
r (t) dt
( k -1 ) T
1
T
y(k 1) +
r(k)
1 + aT
1 + aT
(k
+ 1) T
(k
+ 1) T
y (t) dt +
kT
r (t) dt
kT
d2 y
dy
+a
+ by = 0
dt
dt 2
1
a
[y(k) 2y(k 1) + y(k 2)] +
[y(k) y(k 1)] + by(k) = 0
T
T2
1
a
+ 12 y(k) a + 22 y(k 1) + 2 y(k 2) = 0;
b+
T
T
T
T
T
y(0) = a; y( 1) = a Tb
FH
IK
FH
IK
LM 0
N- b
OP
Q
1
-a
Using Eqn (2.113) we obtain,
A=
LMa OP
Nb Q
D( z )Gh 0 G2 ( z )
Gh 0 G1 ( z )Gh 0 G2 ( z )
Y ( z)
=
=
1+ D( z )Gh 0 G2 H ( z )
1+ Gh 0 G1 ( z )Gh 0 G2 H ( z )
R ( z)
Gh 0 G( z )
Y ( z)
3.2
=
(
)
1
R z
+ Gh 0 G( z ) H ( z )
3.3 Y(z) = Gh0G2(z) U(z)
U(z) = G1R(z) Gh0G2HG1(z) U(z)
Y(z) =
Gh 0 G2 ( z )G1 R( z )
1+ Gh 0 G2 HG1 ( z )
D ( z ) Gh 0 G p ( z )
1 + D ( z ) Gh 0 G p ( z )
[H1R(z) GpH2R(z)]
D ( z ) R( z )
; Y(z) = Gh0G1G2(z) U(z)
1+ D( z )Gh 0 G1 ( z ) + D( z )Gh 0 G1G2 ( z )
Gh 0 G1G2 ( z ) D ( z )
Y ( z)
=
1 + D( z )[ Gh 0 G1 ( z ) + Gh 0 G1G2 ( z ) ]
R ( z)
SOLUTION MANUAL
13
Gh 0 G1 ( z )
X (z)
=
1 + D( z )[ Gh 0 G1 ( z ) + Gh 0 G1G2 ( z ) ]
R(z)
3.6 For r = 0, the block diagram reduces to the following:
WG ( z )
1 + D ( z )Gh 0 G ( z )
Gh 0 G( z )
q ( z)
1
; L
=
;
1 + Gh 0 G( z )
s( s + 1) q R ( z )
z T -1+ e-T + 1- e-T - Te-T
1
=
Gh0G(z) = (1 z 1) Z 2
( z -1) z - e- T
s (s + 1)
3.7 G(s) =
UV a
W
RS
T
f a
a
0 . 0288( z + 0 . 92 )
( z - 1) ( z - 0 . 7788)
185
(0 . 025s + 1)
RS 185 UV = 185a1-e f
T s (0 . 025s + 1) W z - e
- 40 T
Gh0G(z) = (1 z 1) Z
- 40 T
(K F + K P )Gh 0 G( z )
w( z )
=
1 + K P Gh 0 G ( z )
wr ( z )
14
Gh0G(z) = (1 z 1) Z
fs = 5 Hz =
Gh0G(z) =
U (z)
z
= 0.5
z -1
E(z )
-T
-T
-T
1
; T = 0.2 sec
T
0 . 019 z + 0 . 0175
;
( z - 1) ( z - 0 . 819 )
Gh 0 G( z ) D( z )
0 . 0095z ( z + 0 . 92 )
Y (z)
=
= 3
1 + Gh 0 G( z ) D( z )
R( z )
z - 2 . 81z 2 + 2 . 65z - 0 . 819
3.10
RS e UV
T s (s + 1) W
-0 . 4 s
LM a1-e fz + e -e OP (1 z
N z - 1 az - e f Q
-0 . 6
Gh0G(z) =
-0 . 6
-1
-1
)=
0 . 45z + 0 .181
z ( z - 0 . 368)
Gh 0 G( z )
0 . 45 z + 0 .181
Y (z)
=
= 2
1 + Gh 0 G( z )
R( z )
z + 0 . 081z + 0 .181
(ii) Gh0G(z) =
0 . 45z + 0 .181 Y ( z )
0.45 z + 0.181
;
= 3
2(
z z - 0 . 368) R( z )
z - 0.368z 2 + 0.45 z + 0.181
RS
UV
5
T s (s + 1) (s + 2) W
2
( z - 1)
2.5
5( z - 1)
3.75 +
1.25
z -1
z - 0 . 3679
z - 0 .1353
The characteristic equation is: z2 + 2.12z + 0.234 = 0; z1, 2 = 2, 0.12
SOLUTION MANUAL
RS 1 UV = K FG 1 - e IJ
T s (s + 3 ) W 3 H z - e K
-3T
-3T
K
(1 e 3T) = 0
3
D(z) = 1 + Gh0G(z) = z e 3T +
RS K UV
T s a s + 1f W
K z - 1 L zkaT - 1 + e f z + a1 - e - Te fp O
=
MN
PQ
z
z - 1 az - e f
-T
-T
)2
-T
-T
D(z) = 1 + Gh0G(z) = 0; z2 az + b = 0
where,
2 1 + e- T
T - 2 + 2e
-T
+ Te-T
1 - e- T
1 - e-T - Te-T
T(1 e T) > 0 or eT < 1 which implies T > 0.
K<
(0 . 368 z + 0 . 264 )
z z 2 - 1. 368z + 0 . 368
15
16
4500 K
; K = 14.5; z = 0.707; wn = 255.44
s (s + 361. 2 )
y(t) = 1
e-z wn t
1- z2
sin
F dw
GH
1 - z 2 t + tan -1
1- z 2
z
I
JK
1. 3198z + 0 . 4379 Y ( z )
1.3198z + 0.4379
;
= 2
2
z -1.027 z + 0.027 R( z )
z + 0.2929 z + 0.4649
3.19
0.029 z + 0.0257
0.029 z + 0.0257
Y(z)
;
= 2
z 2 - 1.697 z + 0.697 R( z )
z - 1.668 z + 0.7226
RS 1 UV = 1 - e ;
T sa s + 1f W z - e
R 1 UV = e z - 2e + 1
)Z S
T s a s + 1f W z - 1 az - e f
-1
Gh0G(z) = (1 z 1) Z
Gh0GH(z) = (1 z 1
-1
-1
-1
-1
1- e-1 ( z -1)
Y (z)
z
0.632 z
= 2
; R(z) =
; Y(z) = 2
z -1
R( z )
z - z + 0.632
z - z +1- e-1
SOLUTION MANUAL
a k sin (Wk)
(a
sin W) z
; a2 = 0.632;
2
)
cos W z + a
1
= 0.629; W = 0.89 rad; y(k) = 1.02(0.795)k sin (0.89k)
2a
cos W =
R(z) =
- (2a
17
RS 1 UV = 0.632 ; Y z
T sa s + 1f W z -0.368 R z
( )
( )
0.632
;
z + 0.264
z
z -1
Y(z) =
0.632 z
; y(k) = 0.5 [1 ( 0.264)k] m(k)
( z - 1) ( z + 0.264 )
R( z )
1 + Z {Gh 0 ( s ) G( s )}
Z [ Gh 0 ( s ) G( s ) e- DTs ]
0 . 632
Y (z) =
R(z); Z {Gh0(s) G(s)} =
z - 0 . 368
1 + Z [ Gh 0 ( s ) G( s )]
Z [Gh0(s) G(s) e DTs] =
R(z) =
0 . 393z + 0 . 239 Y ( z )
0.393z + 0.239
;
=
;
z ( z - 0 . 368)
R( z )
z ( z + 0 . 264 )
z
z -1
18
FG z -1 IJ FG z +1.2 z +1 IJ
H z + 0.1 K H z - 0.3z + 0.8 K
L 1- z OP LM 1+1.2 z + z OP
= 4M
N 1+ 0.1z Q N 1- 0.3z + 0.8z Q
2
3.21
(i) D(z) = 4
-1
-1
-1
-1
-2
-2
46 . 62
7 . 38 z + 4 . 05
D( z )
50
=+
+ 2
z
z + 0 .1
z
z - 0 . 3z + 0 . 8
D(z) = 50 +
46 . 62
7 . 38 + 4 . 05 z-1
+
1 + 0 .1z-1 1 - 0 . 3z -1 + 0 . 8 z- 2
SOLUTION MANUAL
qss
Qm
1
t = t1 = 25
3
tD + t = t2 = 65
This gives
tD = 5 min, t = 60 min
1
T = 5.5
2
Kc = 1.5t/KtCD = 0.545
(b) tCD = tD +
30
= 30C/(kg/min)
1
19
20
3.25
TIM001
TIM000
# 0030
TIM000
TIM001
# 0060
TIM000
10000
10000
10001
10001
TIM002
# 0015
TIM002
TIM003
# 0030
TIM002 TIM003
10002
10002
10003
I/O Assignment:
10000N(Green); 10001N (Red)
10002S(Green); 10003S (Red)
TIM000Timer for 30 sec delay
TIM001Timer for 60 sec delay
TIM002Timer for 15 sec delay
TIM003Timer for 30 sec delay
SOLUTION MANUAL
3.26
00000
10003
10000
10000
00002
10000
00000
10002
00002
00003
10001
10001
10001
CNT000
# 0005
00001
CNT000
10003
I/O Assignment:
00000Start Push button (PB1)
00001Stop Push button (PB2)
00002Upper level sensor: 1 if liquid level above LL1;
otherwise 0
00003Lower level sensor: 1 if liquid level above LL2;
otherwise 0
10000Liquid supply valve (V1)
10001Drain valve (V2)
10002Stirring motor (M)
10003Buzzer
21
22
CNT000
10000
00001
00002
10000
CNT000
# 0005
10001
CNT000
10001
TIM001
10001
TIM001
# 0002
I/O Assignment:
00000Start push button
00001Stop push button
00002Product proximity sensor
10000Conveyor motor
10001Solenoid
CNT000Counter with a Set Value of 5
TIM001Timer for 2 sec delay
SOLUTION MANUAL
3.28
00002
TIM000
10001
TIM001
10000
00001
TIM000
10001
00001
10000
10000
# 0020
00000
TIM001
01000
00000
TIM001
01000
01000
# 0020
I/O Assignment:
00000S1; 00001S2
00002S3; 10000M1
10001M2; 01000Work-bit
TIM000Timer for 20 sec delay
TIM001Timer for 20 sec delay
23
24
3.29
00000
00001
10000
10001
00003
10000
00002
00003
TIM000
# 0007
TIM000
00001
10001
10000
00002
10001
I/O Assignment:
00000PB1; 00001PB2
00002LS1; 00003LS2
10000Forward motor
10001Reverse motor
TIM000Timer for 7 sec delay
E(s)
K1
1
Js
1
s
q(s)
K2
G(s) =
K1
q( s )
=
s( Js + K 2 )
E ( s)
Kp = lim G(s) =
s0
Kv = lim sG(s) =
s0
K1
K2
Ka = lim s2G(s) = 0
s0
G(s) =
wT
2
1.57
1.57e
; G ( jw) G( jw) =
; T = 1.57 sec
s( s + 1) h0
jw ( jw + 1)
w c2
1
1 + st
1
1 + 25s
=
= 0.04;
= 0.016; D1(s) =
=
10
t
bt
1 + sbt 1 + 62.5s
Phase margin of the compensated system is about 45 deg.
2 z -1
z -1
= 1.274
;
T z +1
z +1
0.4( z - 0.939)
D1(z) =
( z - 0.975)
Bilinear transformation: s =
1.57
= 1.57
s ( s + 1)
Ka =
1
lim (z 1) Gh0G(z) = 3.041
T z 1
1
lim (z 1)2 Gh0G(z) = 0
T 2 z1
ess (unit step) = 0; ess (unit ramp) = 0.33; ess (unit acceleration) =
4.4 z2 1.9z + 0.9307 = 0; z = 0.95 j0.168 = 0.965e j0.175 = re jq
z
1-z
wn =
-In r
;z=
q
- ln r
ln 2 r + q 2
1
In 2 r + q 2 ; z = 0.199; wn = 8.93
T
[ D2 ( z ) + D1 ( z ) D3 ( z )]Gh 0 G( z ) R( z )
1 + D1 ( z )Gh 0 G( z )
(ii) R(s) = 0
Y2(z) = GW(z) Gh0G(z) D1(z) Y2(z)
Y2(z) =
GW ( z )
; Y(z) = Y1(z) + Y2(z)
1 + D1 ( z )Gh 0 G( z)
SOLUTION MANUAL
Y1(z) =
[1 + D1 ( z )Gh 0 G( z )] D3 ( z ) R( z )
= D3(z) R(z)
1 + D1 ( z )Gh 0 G( z )
Y2(z) =
GW ( z )
; Y(z) = Y1(z) + Y2(z)
1 + D1 ( z )Gh 0 G( z)
27
(i) D(s) = K1 +
Kv = K2;
sK1 + K 2
K2
; D(s) G(s) =
s( s + 1)
s
1
1
= 0.01 =
K2
Kv
(ii)
Y (s)
s
1
=
; Y(s) =
; yss = 0
s( s + 1) + K1s + K2
s( s + 1) + K1s + K2
W (s)
Thus a PI compensator meets the requirements.
-
K
K (1 - e t )
4.7 G(s) =
; Gh0G(z) =
;
T
J s +1
z-e t
For K = t = 1, Gh0G(z) =
S(e jwT) =
1
0.393
z - 0.607
; S(z) =
=
z - 0.607
z - 0.214
1 + Gh 0 G( z )
ws
2p
=
= 6.28 rad/sec
2
2T
|S|2
|S|
0.25
0.5
0.45
0.67
0.8752
0.9355
2.5
1.0827
1.04
3.14
1.3086
1.144
1.53
1.23
6.28
1.753
1.324
| S | < 1 for 0 w 2.
4.8 (a) D(z, K) = A(z) + KB(z)
= (z l1) (z l 2) L (z lk)
We consider the effect of parameter K on the root lk. By definition,
D(lk, K) = 0. If K is changed to (K + DK), then lk also changes and the
new polynomial is,
D(lk + Dlk, K + DK) = D(lk, K) +
+
D
K
D
z
z=lk
Dlk
DK + L = 0
z= lk
D
K
LM D / K OP
N D / z Q
l =lk
SKl k =
DK
z = lk
= B(lk) =
D
1
A( l k );
z
K
z = lk
= P (l k - l i )
ik
A( l k )
Dl k
=
P (l k - l i )
DK / K
ik
(b) G(s) =
K
0.393K
; Gh0G(z) =
; D(z, K) = 1 + Gh0G(z) = 0
s +1
z - 0.607
dD ( z )
dz
= 1; SKl = 0.394
z=l
SOLUTION MANUAL
29
For a 10% change in nominal gain, the change in the root location is
given by, D(l k) = SKl
K
= 0.0393
K
-
1
1 - e 2t
(c) G(s) =
; Gh0G(z) =
; D(z, t ) = 1 + Gh0G(z) = 0;
1
t s +1
t
2
z-e
z + 1 2e
1
2t
1
2t
=0
p
1 - 2t
=
e
t
2t 2
Characteristic equation is,
z + 1 + p( 2) = 0; A(z) + p(B(z)) = 0
Let p = e
dD( z )
dz
z= p
= 1; Spl = 1.213 =
( l )
p / p
p
1 - 2 t t
1 t
t
e
Now
=
=
= 0.5
; Stl = 0.6065
2
2t t
t
p
p
2t
For 10% change in the nominal value of t, the change in root location
is given by,
D(l k ) = Stl
4.9
t
= 0.06065
t
Gh0G(z) =
0.368 z + 0.264
1 + 0.5w
; T = 1 sec; z =
1 - 0.5w
z 2 - 1.368z + 0.368
Gh0G(w) =
-0.0381( w - 2 )( w + 12.14 )
w( w + 0.924)
Gh0
FH1 - j g IK FH1 + j g IK
2
12.14
G( jg) =
g I
F
jg 1 + j
H 0.924 K
( z + 0.9355)
1 + 0.05w
;z=
1 - 0.05w
( z - 1)( z - 0.8187)
Gh0G(w) = 0.5
Gh0G(w) =
w
1
.994
(b) Phase lead design: D(w) =
w
1+
12.5
(obtained by standard design procedure),
1+
fM = 55, Kv = 5, GM = 12.4 dB
(c) D(w) =
K (1 + t w )
; Kv = 5
(1 + bt w )
w
1+ t w 1
; = c22 = 0.18; t = 5.71
1 + bt w t
( 2)
0.14( w + 0.18)
( w + 0.02 )
0.141( z - 0.98)
2 z -1
gives, D(z) =
T z +1
( z - 0.998)
(d) From Nichols chart we find that bandwidth values gb for three designs
corresponding to parts (a), (b) and (c) are respectively 4.8 rad/sec,
9.8 rad/sec and 1.04 rad/sec.
(e) Reasonable sampling rates are 10 to 30 times the bandwidth.
ws =
2p
= 62.83.
T
SOLUTION MANUAL
4.11 G(s) =
31
0.005( z + 1)
1
, T = 0.1, Gh0G(z) =
s2
( z - 1) 2
1 - j 0.05g
1 + 0.05w
1 - 0.05w
; Gh0G(w) =
; Gh0G( jg) =
2
1 - 0.05w
w
( jg ) 2
Bode plot analysis:
f M = 2 deg.
In the low frequency range, Gh0G( jg) is about 180 . Therefore, a lag
compensator cannot fulfil the requirement of 50 phase margin.
( w + 1)
satisfies the requirements.
The lead compensator D(w) = 64
( w + 16)
The gain crossover frequency = 4
f M = 50.62, GM = 13 dB, Kv = , Ka = 4.
z=
4.12 (a) K = 50
Gh0G(z) =
0.0043K ( z + 0.85)
;
( z - 1)( z - 0.61)
FH
IK FH1 + w IK
246.67
w I
F
w 1+
H 4.84 K
10 1 Gh0G(w) =
w
20
1
= 4.77 at 4 rad/sec.
a
1
1
= 4 a = 2.3;
= 6.92
at
t
10 log
0.4347 w + 1
0.144 w + 1
Lag-lead compensator results in f M = 60, g b = 8, wb = 7.61 rad/sec.
D2(w) =
1
49
= 0.02; K = 61.25; G(s) =
1 + 0.8 K
3s + 1
7.5215
(b) Gh0G(z) =
z - 0.8465
Closed-loop pole: z + 6.675 = 0
The system is unstable.
49(1 - w / 4)
(c) Gh0G(w) =
(1 + 3w )
Kp = 0.8K;
1+ w
satisfies the requirements.
1 + 10 w
(d) Lead compensation will increase the gain. Since gain is to be reduced
to stabilize the system, lead compensation cannot be employed.
4.14 (a) Refer Example 4.5.
K ( z - 0.9048)
( z - 1) 2
Sketch a root locus plot; complex roots lie on a circle. Using magnitude condition, we obtain the value of K at the closed-loop pole
z = 1. It is 2.1. Therefore, the system is stable for 0 < K < 2.1. There
is a double pole at z = 0.81. The value of K at this point is obtained as
0.38.
(b) Gh0G(z) =
4.15 Gh0G(z) =
K [( T - 1 + e - T ) z -1 + (1 - e - T - Te - T ) z -2 ]
(1 - z -1 )(1 - e - T z -1 )
SOLUTION MANUAL
33
(i) T = 1 sec,
Gh0G(z) =
0.3679 K ( z + 0.7181)
( z - 1)( z - 0.3679)
The root locus is a circle; the breakaway points are at z = 0.6479 and
z = 2.0841.
At the point of intersection of the root locus with unit circle, we find
by magnitude condition, K = 2.3925. This gain results in marginal
stability.
(ii) T = 2 sec, Gh0G(z) =
11353
.
K ( z + 0.5232)
( z - 1)( z - 0.1353)
3.0183K ( z + 0.3010 )
( z - 1)( z - 0.0183)
K ( z + 0.717)
( z - 1)( z - 0.368)
The root locus is a circle with breakaway point at z = 0.648, 2.08.
4.16 Gh0G(z) =
(a) At the point of intersection with the unit circle, K = 0.88 and
z1,2 = 0.244 j0.97 = 1 1.33 rad
= e jwT; w = 1.33 rad/sec.
(b) The value of K at this point is 0.072.
eT/t = 0.648, t = 2.3 sec.
(c) At the point of intersection of the root locus with z = 0.5 locus, we get
K = 0.18. The line through intersection point makes an angle of 32
with real axis. Therefore
wnT 1 - z 2 = 32 = 0.558 rad; wn = 0.644 rad/sec
4.17 z2 + 0.2Az 0.1A = 0; 1 +
0 .2 A( z - 0.5)
K ( z - 0.5)
= 0; Gh0G(z) =
;
2
z
z2
= K = 0.2 A
The root locus is a circle. At the point of intersection with unit circle, we
find by magnitude criterion, K = 0.666. Therefore, A = 3.33.
1
; T = 0.1
s +1
PT
0.091K
= 0.9554; Gh0GH(z) =
H(s) =
2p
z - 0.9048
The root locus is a circle.
4.18 G(s) =
T
= 0.206; t = 0.4854 sec
t
0.4854
= 0.12136
4
0.01873 K ( z + 0.9356)
( z - 1)( z - 0.8187)
z - 0.8187
; |D(z)Gh0G(z)| = 1, requires K = 13.934
z - 0.1595
D1(z) =
13.934( z - 0.8187)
( z - 0.1595)
(b) Kv =
1
lim (z 1) D(z) Gh0G(z) = 3.
T z1
(c) D2(z) =
z - b1 1 - b1
;
=3
z - b2 1- b2
z - 0.94
z - 0.98
From the root locus plots of 1 + D1(z) Gh0G(z) = 0 and
1 + D2(z) Gh0G(z) = 0, it is seen that lag compensator decreases the
margin of stability.
(d) Refer Figs 3.19 3.22 for realization of D2(z) D1(z).
Let, b2 = 0.98, then b1 = 0.94; D2(z) =
SOLUTION MANUAL
4.20 Gh0G(z) =
35
0.2 K ( z + 0.368)
( z - 0.368)( z - 0.315)
The root locus of the uncompensated system is a circle. At point P corresponding to the intersection of root locus with z = 0.5 locus, we get
0.2 K = 0.3823 or K = 1.91.
At this point,
wn = 1.65, Kp = 0.957.
We will use lag compensator. Kp is to be increased by a factor of
z - b1 1 - b 1
7.5
= 7.837; D(z) =
;
= 7.837
0.957
z - b2 1- b2
Let, b2 = 0.98, then b1 = 0.84
wn is slightly decreased with lag compensator (as seen from root-locus
plot of the lag-compensated system), which is acceptable.
4.21 Gh0G(z) = K
T2 z +1
; T = 1 sec
2 ( z - 1) 2
0.36 z + 1 z - 0.8
;
2 ( z -1) 2
z
1
lim (z 1)2 Gh0G(z) D(z) = 0.072
T 2 z1
Corresponding to K/2 = 0.18, we find from the root locus that third pole is
located at z = 0.2. It slows down the response.
4.22 G(s) =
0.00133( z + 0.75)
40e-s /120
1
;T=
sec; Gh0G(z) =
+
s ( s 40 )
120
z ( z -1)( z - 0.72 )
The closed-loop poles are required to lie inside the circle of radius 0.56.
Let us try a lead compensator. Cancel the pole at z = 0.72 by zero of D(z).
By angle criterion, at a point on circle of radius 0.56, the pole of D(z) is
found at z = 0.4. The magnitude criterion at the point of intersection of
the root locus with the circle of radius 0.56 gives K = 0.2.
Therefore, D(z) =
0.2( z - 0.72 )
( z - 0.72 )
= 150
0.00133( z + 0.4)
( z + 0.4)
The third pole corresponding to K = 0.2 lies inside the circle of radius
0.56.
0.2( z + 0.75)
z( z -1)( z + 0.4)
Gh0G(z) D(z) =
1
0.0048( z + 0.9833)
; T = 0.1 sec; Gh0G(z) =
s( s + 1)
( z -1)( z - 0.9048)
LM
N
M( z)
1
Gh 0 G( z ) 1 - M ( z )
OP = 208.33 L z - 0.9048 O
NM z + 0.9833 QP
Q
1
; T = 0.1 sec
s( s + 1)
(a) z = 0.8, wn =
2p
-zw T
; z = e n wnT 1 - z 2
10 T
( T - 1 + e - T )( z + a)
1 - e - T - Te - T
;
a
=
( z - 1)( z - e - T )
T - 1 + e-T
= 4.8 103
( z + 0.9833)
( z - 1)( z - 0.9048)
z -a
z - 1.1z + 0 . 3509
2
e*ss(unit-ramp) = lim (z 1)
z 1
Tz
1
2 (z 1) F(z) = TF(1) =
( z - 1)
Kv
SOLUTION MANUAL
37
Kv = 5, T = 0.1: F(1) = 2
1-=
1 - 1.1 + 0 . 3509
= = 0.7491 satisfies steady-state accuracy requirements.
F(1) =
M(z) =
D(z) =
( 0 . 6491z - 0 . 3982 )
z 2 - 1.1z + 0 . 3509
LM
N
M( z)
1
Gh 0 G( z ) 1 - M ( z )
= 135.227
OP
Q
( z - 0 .9048) ( z - 0.6135)
( z + 0.9833) ( z - 0.7491)
Y ( z)
= (0.5z 1 + z 2 + z 3 + L) (1 z 1)
R ( z)
M(z) = (0.5z1 + 0.5z2); Gh0G(z) = 4.8 103
( z + 0.9833)
( z - 1) ( z - 0.9048)
( z - 0.9048) ( z + 1)
( z + 0.9833) ( z + 0 . 5)
E(z) = R(z) [1 M(z)]
D(z) = 104.17
4.25 G(s) =
0 .18
1
; T = 2 sec; Gh0G(z) =
10 s + 1
z - 0 . 82
y(t) = 1 et; Y(s) =
Y(z) =
1
1
s s +1
0 . 86 z
z
z
=
;
z - 1 z - 0 .14
( z - 1) ( z - 0 .14)
M(z) =
0 . 86
Y (z)
=
R(z)
z - 0 .14
D(z) =
4 . 8 - 3 . 9 z -1
M( z)
1
=
Gh 0 G( z ) 1 - M ( z )
1 - z-1
LM
N
OP
Q
10 - 6 z-1
U(z)
= D(z) =
E( z )
1 + 0 . 75 z-1
2
4.27 G(s) =
( s + 1) (s + 2 )
; T = 1 sec
( z + 0 . 368)
( z - 0 . 368) ( z - 0 .135)
; R (z) =
1
1 - z-1
M(z) may be chosen as z1; but, as can be examined, the response will
exhibit intersample ripples. We therefore take,
M(z) = =1z1 + = 2 z2
E(z) = R(z) [1 M(z)]
lim (z 1) R(z) [1 M(z)] = 0 gives = 1 + = 2 = 1
z 1
U(z)
= u(0) + [u(1) u(0)]z1 + [u(2) u(1)]z2 = >0 + >1z1 + >2z2
R( z )
=1 -1 =2 -2
z +
z
>0
>0
Y (z)
Y ( z ) / R( z )
Gh0G(z) =
=
=
>
>
U(z)
U ( z ) / R( z )
1 + 1 z-1 + 2 z-2
>0
>0
=
0 . 4 z - 1 + 0 .1472 z - 2
1 - 0 . 503z - 1 + 0 . 04968z - 2
LM
N
OP
Q
M (z )
1
U ( z ) / R( z )
=
1-Y ( z ) / R( z )
Gh 0 G( z ) 1- M ( z )
1.8275- 0.919 z-1 + 0.09 z-2
1 - 0.731z-1 - 0.269 z -2
1
4.28 G(s) = s (s + 1) ; T = 1 sec
SOLUTION MANUAL
Gh0G(z) =
0.3679 z -1 + 0.2642 z -2
Y (z)
1
2
-1
-2 ; M(z) = a1z + a2z =
1 - 1. 3679 z + 0 . 3679 z
R( z )
1
U ( z)
;
= b0 + b1z1 + b2z2
1 - z -1 R( z )
=1 -1 =2 -2
z +
z
>0
>0
Y ( z ) / R( z )
Gh0G(z) =
=
>
>
U ( z ) / R( z )
1 + 1 z-1 + 2 z-2
>0
>0
a1 + a2 = 1
Comparing the coefficients of Gh0G(z), we get
a1 = 0.582, a2 = 0.418; M(z) = 0.582z1 + 0.418z2
D(z) =
LM
N
OP
Q
1.582 - 0 .582 z - 1
M(z)
U ( z ) / R( z )
1
=
=
1-Y ( z ) / R( z )
Gh 0 G( z ) 1- M ( z )
1 + 0 . 418 z - 1
Output sequence,
1
Y ( z)
= 0.582z1 + 0.418z2; R(z) =
1 - z -1
R( z )
y(k) = 0, 0.582, 1, 1,
-2
4.29 G(s) =
0 . 3935z
e- 5s
; T = 5 sec; Gh0G(z) =
10 s + 1
1 - 0 . 6065z - 1
1
1 - z -1
Y ( z)
= M(z) = 0.6225z2 + 0.3775z3
(
)
Rz
LM
N
OP
Q
D(z) =
1 - 0 . 3678z - 2
M (z )
1
= 1.582
1 - 0 . 6225z - 2 - 0 . 3775z - 3
Gh 0 G( z ) 1- M ( z )
U(z) =
1 - 0 . 3678 z - 2
Y ( z ) / R( z )
= 1.582
1 - z -1
Gh 0 G( z ) / R( z )
39
= 1.582 + 1.582z1 + z2 + z3 + L
Since u(k) is constant for k 2, there are no intersample ripples in the
output of the system after the settling time is reached.
4.30 Gh0G(z) =
0 . 3935z - 2
1 - 0 . 6065z - 1
a 2 -2
z
b0
Y ( z ) / R( z )
=
= Gh0G(z)
b
b
U ( z ) / R( z )
1 + 1 z -1 + 2 z - 2
b0
b0
From the steady-state error requirement, a2 = 1. This gives
b0 = 2.541, b1 = 1.541, b2 = 0
LM
N
OP = U z / R z
Q 1-Y z / R z
c1 - 0 . 6065z h
= 2.541
c1- z hc1 + z h
D(z) =
M(z)
1
Gh 0 G( z ) 1 - M ( z )
( )
( )
( )
-1
-1
-1
It is physically realizable.
Y(z) = z2
1
= z2 + z3 + z4 + L
1 - z -1
y(k) = 0, 0, 1, 1, 1, K
u(0) = b0 = 2.541
u(1) = b1 + u(0) = 1, u(2) = b2 + u(1) = 1
u(k) = 2.541, 1, 1, 1 K
( )
CHAPTER 5
5.1
or
A =
LM0
MM00
MN0
LM
MM
MN
OP
PP
PQ
0
1
0
0
0
- 0.025
3
0
;b=
0
-12
-190 1000
0
0
0.2
- 4.2
OP
PP
PQ
y = qL = nx1 = 0.5 x1
5.2
u
KA
1
sLf + Rf + 1
if
x3
1
Js + B
KT
q
x2
1
s
A =
LM0
MM00
N
OP
PP
Q
LM
MM
N
OP
PP
Q
1 0
0
-1 20 ; b = 0 ; c = [1
0 -5
2.5
0 0]
q
x1
5.3 x1 = qM ; x2 = q& M , x3 = ia ; y = qL
x&1 = x2
2 x& 2 + x2 = 38 x3
2 x& 3 + 21x3 = ea 0.5 x2
k
e a = k1(qR qL) k2 q& M = k1qR 1 x1 k2x2
20
LM 0
A= M 0
MM k
MN- 40
1
OP L 0 O
M P
1
19 P ; b = M 0 P ; c = LM
P
20
MM k PP N
21
- P
N2Q
2 PQ
1
- 0.5
( k + 0.5)
- 2
2
5.4 x1 = w ; x2 = ia
Jw& + Bw = KT ia
Raia + La
dia
dt
= ea Kbw
A =
LM - B
MM -(k K KJ + K )
MN L
1
b =
OP
PP
PQ
KT
J
-( Ra + k2 Kc ) ;
La
LM k 0K OP
MN L PQ ; c = [1 0]
L-11 6OP
P AP = M
N-15 8Q
L1 O
P b = M P ; c = cP = [2
N2 Q
c
5.5
A =
b =
1]
Y (s )
PD
s -2
1
= 1 1 =
= 2
-1
-2
U ( s)
D
1 - ( -3s - 2s )
s + 3s + 2
0 0
OP
Q
SOLUTION MANUAL
s 1
X2
s 1
X1 = Y
3
2
P D + P2 D 2 + P3 D 3 + P4 D 4
Y (s )
= 1 1
U ( s)
D
=
1
s 2 + 3s + 2
s 1
X1
2
15
11
U
6
1
2
X2
s 1
8
5.6
A=
b=
LM0OP
N1 Q
|lI A| = |lI A | = l2
5.7 X(s) = (sI A)1 x0 + (sI A)1 b U(s)
= G(s)x0 + H(s) U(s)
G(s) =
1
D
LMs(s + 3)
MM --1s
N
D = s3 + 3s2 + 1
OP
PP
Q
LM
MM
N
1
s+3
1
1
s( s + 3) s ; H(s) =
s
D 2
2
-1
s
s
OP
PP
Q
43
5.8
5.9
x&1 = x 2
x& 2 = 2x2 + x3
x& 3 = x3 x2 y + u
y = 2x1 2x2 + x3
A =
LM 0
MM-02
N
OP
PP
Q
LM OP
MM PP
NQ
1
0
0
-2 1 ; b = 0 ; c = [2
1 -2
1
1]
5.10 Taking outputs of integrators as state variables (x1 and x2 are outputs of
top two integrators from left to right; x3 and x4 are corresponding variables for other integrators):
x&1 = 4x4 + 3u1; x& 2 = x1 3x2 + u1 + 2u2;
x& 3 = x2 + 3u2; x& 4 = 4x4 + x3;
LM0
1
A= M
MM0
N0
5.11 (a)
0
-3
-1
0
OP
PP
PQ
0 -4
0 0
;B=
0 0
1 -4
LM3
MM10
MN0
s+3
( s + 1)(s + 2)
OP
PP
PQ
0
2
0 1 0 0
;C=
3
0 0 0 1
0
LM
N
OP
Q
SOLUTION MANUAL
(b)
5.12
45
1
( s + 1)(s + 2)
a1 = tr (A) = 4
G(s) =
LM-2 -1 0 OP
Q = A + a I = 1 -3 2 ; a
MM -1 0 -3PP
N
Q
LM 1 1 - 2OP
Q = AQ + a I = -3 2 - 4 ;
MM 1 1 3 PP
N
Q
2
a3 =
1
tr(AQ2) = 6
2
1
tr(AQ3) = 5
3
As a numerical check, we see that the condition: 0 = AQ3 + a3I is satisfied. Therefore, D(s) = s3 4s2 + 6s 5.
(sI A)+ = Q1s2 + Q2s + Q3 = Q(s)
G(s) =
5.13
LM
N
4( s - 3)
-3s + 5
1
CQ( s )B
=
2
D( s) - s + 2s 2( s 2 - 3s + 1)
D( s)
OP
Q
A =
LM-5
MM 40
N
OP
PP
Q
LM
MM
N
OP
PP
Q
0.5 -3.5
0
0 ; b = 0 ; c = [0
-5
1
0
-1
14
( s + 1)( s + 2)( s + 7)
y = x2 + ( x1 + u)
A =
LM-2 1 OP ; b = LM0OP ; c = [1
N -1 -1Q N1Q
1]; d = 1
0]
(b)
LM-2
MM --11
N
A =
OP
PP
Q
LM OP
MM PP
NQ
1 1
0
0 0 ; b = 1 ; c = [0 1
0 -1
1
1]
5.15 Taking outputs of pseudo-integrators as state variables (x1, x2, x3, x4: from
top to bottom):
x&1 + x1 = u1; x& 2 + 5x2 = 5u2; x& 3 + 0.5x3 = 0.4u1; x& 4 + 2x4 = 4u2
LM-1 - K
0
A= M
MM -0.4 K
N 0
LM K
0
B= M
MM0.4K
N 0
1
5.16 (i)
Y (s )
U ( s)
L =
- K1
-5
-0.4 K1
0
OP
PP
PQ
0
-5 K 2
-0.5
-4 K 2
OP
PP ;
0
-2 - 4 K PQ
0
-5 K 2
0
5K 2
1 1 0 0
;C=
0
0 0 1 1
4K 2
LM
N
OP
Q
1
s+3
2
+
=
s+1 s+ 2
( s + 1)(s + 2)
LM-1 0 OP ; b = LM1OP ; c = [2
N 0 -2Q N1Q
1]
SOLUTION MANUAL
x1
u +
+
47
+
x2
+
+
(ii)
b3
Y (s )
5
= 3
= 3
2
2
U ( s ) s + a 1s + a 2 s + a 3
s + 4 s + 5s + 2
From Eqns (5.56), the second companion form of the state model is given
below.
LM0
MM10
N
LM OP
MM PP
NQ
x1 +
(iii)
OP
PP
Q
0 -2
5
0 -5 ; b = 0 ; c = [0
1 -4
0
1]
x3 = y
x2 +
Y (s )
b s 3 + b 1s 2 + b 2 s + b 3
s 3 + 8s 2 + 17s + 8
= 03
=
U ( s)
s + a 1s 2 + a 2 s + a 3
s 3 + 6s 2 + 11s + 6
From Eqns (5.54), the state model in second companion form is given
below.
A =
LM 0
MM-06
N
OP
PP
Q
LM OP
MM PP
NQ
1
0
0
0
1 ; b = 0 ; c = [2
-11 -6
1
u +
+
17
x3
x2
x1
b 2s + b 3
Y (s )
s +1
= 3
= 3
2
U ( s)
s + 3s + 2s s + a 1s 2 + a 2 s + a 3
From Eqns (5.56):
(ii)
LM0
= 1
MM0
N
OP
PP
Q
LM OP
MM PP
NQ
0 0
1
0 -2 ; b = 1 ; c = [0
1 -3
0
1]
b3
Y (s )
1
= 3
= 3
2
2
U ( s)
s + a 1s + a 2 s + a 3
s + 6 s + 11s + 6
From Eqns (5.54):
A =
(iii)
LM 0
MM-06
N
1
0
- 11
OP LM0OP
; b = 0 ; c = [1
P
MM1PP
- 6 PQ
NQ
0
1
11
5.17 (i)
2]
Y ( s)
s 3 + 8s 2 + 17s + 8
2
1
-1
= 3
= 1+
+
+
U ( s) s + 6s 2 + 11s + 6
s +1 s + 2 s + 3
0]
SOLUTION MANUAL
L =
5.18 (a)
LM-1
MM 00
N
OP
PP
Q
LM OP
MM PP
NQ
0
0
1
-2 0 ; b = 1 ; c = [1 2
0 -3
1
1] ; d = 1
b 2s + b 3
Y (s )
1000 s + 5000
= 3
= 3
2
U ( s)
s + a 1s 2 + a 2 s + a 3
s + 52 s + 100 s
From Eqns (5.54):
A =
(b)
OP
PP
Q
LM OP
MM PP
NQ
1
0
0
0
1 ; b = 0 ; c = [5000
-100 -52
1
1000
Y ( s)
1000s + 5000
50 -31.25 -18.75
+
+
= 3
=
2
s
s+2
s + 50
U ( s) s + 52 s + 100 s
L =
5.19
LM0
MM00
N
LM0
MM00
N
OP
PP
Q
LM
MM
N
OP
PP
Q
0
0
50
-2 0 ; b = -31.25 ; c = [1
0 -50
-18.75
Y (s )
2s 2 + 6s + 5
1
1
1
=
=
+
+
U ( s) ( s + 1) 2 ( s + 2) ( s + 1) 2 s + 1 s + 2
From Eqns (5.65):
L =
LM-1
MM 00
N
OP
PP
Q
LM OP
MM PP
NQ
1 0
0
-1 0 ; b = 1 ; c = [1
0 -2
1
1]
x(t) =
eL (t t) bu(t)dt
LMe
]= M 0
MN 0
-t
L
Lt
= L
[(sI L)
te -t
e -t
0
0
0
e -2 t
OP
PP
Q
1]
0]
49
z
t
L ( t -t )
bu(t ) dt
LM
MM
MM
MM
MM
N
z
z
z
t
(t - t )e -(t - t ) dt
OP
PP L1 - e - te
PP = MM1 - e
PP MMN 12 (1 - e )
PP
Q
-t
0
t
- (t - t )
-t
-t
dt
-2t
0
t
e -2( t - t ) dt
OP
PP
PQ
x2 +
x1
1
+y
+
x3
+
2
5.20 (i)
A=
l1 = 1; l2 = 2
OP
l - 1Q
L-1 1OP ; v = LM1OP
= 1: adj(l I A) = M
N 0 0 Q N0 Q
L0 1OP ; v = LM1OP
= 2; adj(l I A) = M
N0 1Q N1Q
adj(lI A) =
For l1
For l2
LMl - 2
N 0
SOLUTION MANUAL
(ii) A =
(iii)
l1 = 1, l2 = 2, l3 = 3
(l1I A)v1 = 0 gives
LM-1
MM12-3
N
-1 0
-1 -2
7 5
v1 = [1
OP LMn
PP MMnn
QN
11
12
13
OP L0O
PP = MMM0PPP
Q N0 Q
1]T
2 1/2]T
LM 0
MM 0.
A= M
MM .
MMN-a0
3]T
1
0
.
.
0
-a n -1
LM l
MM 0.
(l I A) = M
MM .
MMa0
N
0
1
.
.
0
.
-1
li
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. -a 2
0 .
-1 0
.
.
0
0
.
.
1
-a 1
.
.
0
a n -1
.
.
.
.
. li
. a2
OP
PP
PP
PP
PQ
OP
PP
PP
-1 P
P
l + a PQ
0
0
51
vi = [ck1 ck2 .
Let k = n
cn1 = ( 1)n+1 [determinant of (n 1) (n 1) matrix obtained by
deleting last row and first column] = ( 1)n+1 [( 1)n1] = 1
cn2 = ( 1)n+2 [determinant obtained by deleting last row and second
column] = ( 1)n+2 [li( 1)n2] = li
cn3 = ( 1)n+3 [l2i ( 1)n3] = l2i
.
.
.
cnn = ln-1
i
LM 1
l
M
P= M l
MM .
MNl
1
2
1
1
l2
l22
n -1
1
ln2-1
. . .
. . .
. . .
1
ln
l2n
. . .
.
n -1
. . . ln
OP
PP
PP
PQ
(b)
LM 0
A= 0
MM-24
N
LM
MM
N
1
0
- 26
OP
P
-9 PQ
0
1 ; |lI A| = 0
OP
PP
Q
yields: l1 = 2, l2 = 3, l3 = 4
1 1
1
P = -2 -3 -4 = [v1 v2 v3]
4
9 16
5.22 (a)
LM 0
A= 0
MM-2
N
1 0
0 1
-4 -3
OP
PP
Q
SOLUTION MANUAL
LM 1
P = -1 + j1
MM - j2
N
OP
PP
Q
1
1
-1 - j1 -1 ;
1
j2
LM-1 + j1 0 0 OP
P AP = L =
MM 00 -1 0- j1 -01PP
N
Q
LM 1/ 2 - j1/ 2 0OP
LM-1 1
(b) Q = 1/ 2
MM 0 j10/ 2 10PP ; Q LQ = MM-01 -01
N
Q
N
L-4 3OP ; |lI A| = (l + 1) (l 2) = 0
5.23 A = M
N-6 5Q
Ll - 5 3 OP ;
adj(lI A) = M
N -6 l + 4 Q
L-6 3OP ; v = LM1OP
l = 1, adj(l I A) = M
N-6 3Q N1Q
L-3 3OP ; v = LM1OP
l = 2, adj(l I A) = M
N-6 6Q N2Q
L1 1OP ; J = P AP = LM-1 0OP
P= M
N1 2Q
N 0 2Q
Le 0 OP P = LM 2e - e
e = Pe P = P M
N 0 e Q N2 e - 2 e
1
OP
PP
Q
0
0
-1
At
Jt
-t
-2 t
5.24 (a)
L0
A= M
N1
At
-t
2t
-t
OP
Q
LM
MM
MN
1
- e -3 t
2
1
- e -3 t
2
-3 - t 3 -3 t
e + e
2
2
-1 - t 3 -3 t
e + e
2
2
2t
s+4
-3
(
s
+
1)( s + 3)
; (sI A)1 =
1
-4
( s + 1)( s + 3)
LM 3 e
= M2
MN 12 e
-t
-t
-e - t + e 2t
- e - t + 2e 2 t
-3
( s + 1)( s + 3)
s
( s + 1)( s + 3)
OP
PP
Q
OP
PP
PQ
OP
Q
53
1
1
LM 3 e - 1 e
e - e O
PP
2
2
2
e =M2
3
3
-3
-1
e + e P
Q
NM 2 e + 2 e
2
2
L 0 1 OP ; |lI A| = l + 5l + 6 = 0; l
A= M
N-6 -5Q
-t
(b)
5.25 (a)
-3 t
-t
-3 t
At
-t
-3 t
-t
-3 t
= 2, l2 = 3
(b) A =
LM 3e
N-6e
-2 t
- 2e -3t
-2 t
+ 6 e -3 t
LM 0 2 OP ; f(A) = e
N-2 -4Q
e -2 t - e -3 t
-2e -2 t + 3e -3t
At
, l1 = l2 = 2; g(l) = b0 + b1l
b1 = te2t, b0 = (1 + 2t)e2t
eAt =
5.26
LM(1 + 2t )e
N -2te
-2 t
-2 t
OP
Q
2te -2 t
(1 - 2t )e -2 t
OP
Q
SOLUTION MANUAL
G(s) =
LMG
NG
11 ( s )
OP ; H(s) = LM H ( s) OP
( s )Q
N H (s)Q
G12 ( s )
21 ( s ) G22
1
2
s -1 (1 + 2s -1 )
X1 ( s )
=
G
(s)
=
11
1 - ( -2s -1 - 2 s -1 + s -2 ) + ( -2s -1 )(-2 s -1 )
x10
=
s -1 (1 + 2s -1 ) 1 / 2 1 / 2
=
+
D
s +1 s + 3
X1 ( s)
s -2 (1) 1 / 2 -1 / 2
=
G
(s)
=
=
+
12
D
s +1 s + 3
x 20
X 2 (s)
x10
= G21(s) =
s -2 (1) 1 / 2 -1 / 2
=
+
D
s +1 s + 3
X 2 (s)
x 20
= G22(s) =
s -1 (1 + 2s -1 ) 1 / 2 1 / 2
=
+
D
s +1 s + 3
X1 ( s)
s -2 (1) + s -1 (1 + 2s -1 )
1
= H1(s) =
=
D
U ( s)
s +1
X2 ( s)
U ( s)
= H2(s) =
1
s +1
Zero-input response:
x(t) = eAt x0 = L
=
LM
N
1 e - t + e -3t
2 e - t - e -3t
[G(s)x0]
e - t - e -3t
e - t + e -3t
OP LMx OP
Q Nx Q
0
1
0
2
Zero-state response:
z
t
x(t) =
e A (t -t ) bu(t ) dt = L 1 [H(s)U(s)] =
5.27
LM 0
A= 0
MM-6
N
OP
PP
Q
LM OP
MM PP
NQ
LM1 - e OP
N1 - e Q
-t
-t
1
0
0
0
1 ; b = 0 |lI A| = (l + 1) (l + 2) (l + 3) = 0
-11 -6
2
55
LM 1
P = Ml
MNl
l2
1
2
1
OP L 1 1 1 O
LM-1
M
P
l P = -1 -2 -3 ; L = P AP = 0
M
P
MM 0
l PQ MN 1 4 9 PQ
N
LM 1 OP
b = -2 ; c = cP = [1 1 1]
MM 1 PP
N Q
1
3
2
3
l22
b = P1
x& = L x + b u; y = c x
The transformed initial vector is:
0
x =P x
LM 1 OP
= -2
MM 1 PP
N Q
z
z
z
t
x1 (t ) = e
x10
e - ( t -t ) dt = 1
x 2 (t) = e2t x 20 +
e -2 ( t -t ) dt = 1 e2t
0
t
x 3 (t) = e
3t
x 30
e -3( t -t ) dt =
1 2 3t
+ e
3 3
x(t) = P x (t)
x1(t) =
1
2
e2t + e3t; x2(t) = 2(e2t e3t)
3
3
A =
LM 0 1 OP ; eigenvalues are l
N-2 -3Q
= 1, l2 = 2
s+4
1
+
( s + 1)( s + 2) s( s + 1)( s + 2)
OP
PP
Q
0
0
-2 0 ;
0 -3
SOLUTION MANUAL
y(t) =
3
2
1/ 2
1
1/ 2
+
+
s +1 s + 2
s
s +1 s + 2
1
3
+ 2e - t - e -2 t
2
2
-t
-2 t
-2 t
-3 t
-3 t
5.30
A =
LM-6
N4
OP
Q
LM OP
NQ
0.5
7
;b=
; c = [0
0
-5
1]
LM 1 e
MM 34 e
N3
-4t
-4 t
2 -7t
e
3
4
- e -7t
3
z LMN
t
y(t) = x2(t) = 7
5.31
eAt =
LMe + te
N -te
t
-t
-t
LM
N
28 1
1
(1 - e -4 t ) - (1 - e -7t )
3 4
7
te - t
e - t - te - t
OP
Q
4 -4 ( t -t ) 4 -7 ( t -t )
e
dt
- e
3
3
OP
Q
x(t) = e A ( t - t0 ) x ( t 0 )
Given: x1(2) = 2 ; t0 = 1, t = 2
OP
Q
OP
PP
Q
57
1
2
l1 = 1, l2 = 2, l3 = 3
Modes: et, e2t, e3t
(b) Eigenvectors:
v1
LM 1 OP
= -1 ; v
MM-1PP
N Q
LM 1 OP
= -2 ; v
MM1/ 2 PP
N Q
x = P x ; x& = P1
LM 1 OP LM 1
= -3 ; P = -1
MM 3 PP MM-1
N Q N
LM-1 0 0 OP
AP x = 0 -2 0 x
MM 0 0 -3PP
N
Q
3
1
-2
1/ 2
1
-3
3
OP
PP
Q
x (0) = P1 x(0)
LMe
x (t) = M 0
MN 0
-t
0
e
-2 t
0
0
e -3 t
OP L x (0)O
PP MMx (0)PP
Q MN x (0)PQ
1
2
With these initial conditions, only the mode corresponding to e3t will
be excited.
LM0OP LM k OP
x(0) = P x (0) = P 0 = -3k ; k 0
MMkPP MM 3k PP
NQ N Q
SOLUTION MANUAL
LM0 1OP x; y = [1
N2 1Q
2]x
l1 = 2, l2 = 1.
Modes are e2t and et
(b) adj(lI A) =
LMl - 1 1 OP
N 2 lQ
x = P x gives
LM
N
OP LM x OP ; y(t) = cP x = [5
Q Nx Q
0 O L x (t ) O
PQ MN x (t )PQ
2 0
x& = P1 AP x =
0 -1
LM x (t)OP = LMe
Nx (t )Q N
1
2 ( t - t0 )
1] x
e - ( t - t0 )
LM 0 OP = LM K OP ; K 0
N K Q N- K Q
With this initial condition, the mode e2t will be hidden from y(t).
LM e OP = La bO L 1 O ; LM e OP = La b O L 1 O
N-2e Q MNc d PQ MN-2PQ N-e Q MNc d PQ MN-1PQ
-2 t
5.34
-t
-2 t
-t
This gives
eAt =
LMa bOP = LM 2e
N c d Q N2 e
-t
- e -2 t
-2 t
- 2e - t
e - t - e -2 t
2 e -2 t - e - t
OP
Q
59
= L
(sI A)
(sI A) =
A =
5.35
LM c
cA
V= M
MM M
NcA
[(sI A)1]
LM 2 - 1
MM s +2 1 - s +2 2
Ns + 2 s +1
1
1
s +1 s + 2
2
1
s + 2 s +1
OP
PP
Q
LM s -1 OP
N2 s + 3Q
LM 0 1 OP
N-2 -3Q
OP
PP is a triangular matrix with diagonal elements equal to unity;
PQ |V| = ( 1) for all a s. This proves the result.
n
n-1
5.36
5.37
None of the rows of the B matrix corresponding to the Jordan blocks for
l1 = 1, l2 = 2, l3 = 3 is zero row. The system is completely controllable.
First column of C matrix which corresponds to the eigenvalue 1, is a
zero column. Other columns are nonzero. The system is not completely
observable.
5.38 (i)
U = [b Ab] =
LM1
N0
OP
Q
-2
; r(U) = 2
1
Completely controllable
V =
LM c OP = L 1 -1O ; r(V) = 1
NcAQ MN-3 3 PQ
SOLUTION MANUAL
61
r ( V) =
LM c OP
r M cA P = 3
MNcA PQ
2
(i)
1
s+2
G(s) =
s+4
( s + 2)( s + 3)
1
( s + 1)(s + 2)
5.42 (a)
G(s) =
A =
b2
10
= 2
s + a 1s + a 2
s +s
2
0]
b 2s + b 3
10( s + 2)
10 s + 20
= 3
= 3
2
s( s + 1)( s + 2) s + 3s + 2 s s + a 1s 2 + a 2 s + a 3
A =
LM0
MM00
N
LM OP
MM PP
NQ
OP
PP
Q
1 0
0
0 1 ; b = 0 ; c = 20 10 0
-2 -3
1
A =
5.42
10( s + 2)
s( s + 1)( s + 2)
LM0
MM10
N
OP
PP
Q
LM
MM
N
OP
PP
Q
0
0
20
0 -2 ; b = 10 ; c = 0 0 1
1 -3
0
CHAPTER 6
6.1
LM-3
F = -4
MM-1
N
OP
PP
Q
LM
MM
N
OP
PP
Q
0O
-1P ; |zI F| = z
P
z QP
1 0
-3
0 1 ; g = -7
0 0
0
LMz + 3 -1
(zI F) =
MM 41 0z
N
L z
1 M
-(4 z + 1)
(zI F) z =
DM
MN -z
2
6.2
+ 3z2 + 4z + 1 = D
OP
z( z + 3)
z + 3 P z = G(z)
z( z + 3) + 4 PQ
-1
L -3z - 7z OP
1 M
-7z - 9z + 3P
g=
DM
MN 3z + 7 PQ
1
LM
MN
OP
PQ
LM OP
NQ
2 -5
1
6.3 F = 1 -1 ; g =
; c = [2
0
2
G(z) = c(zI F)1 g =
6.4
C=
LM2
N1
OP
Q
0]; |zI F| = z2 z +
1
=D
2
2z + 2
z2 - z +
LM
N
1
2
OP
Q
LM
MN
OP
PQ
LM
N
2 -5
0
1 -2 0
0 4
0
;G=
; F = 1 -1 ; D =
0
1 3
0 0 -2
-1
2
D = |zI F| = z2 z +
OP
Q
1
2
LM
MN
OP
PQ
-30
1 2 z + 2 4D - 4 z - 14
1
-3z - 4
-2D - 3z - 9
D z+ 2
6.5 x1, x2 and x3 : outputs of unit delayers starting at the top and proceeding
towards the bottom.
=
x1(k + 1) =
1
1
x1(k) + x2(k) + 2x3(k) + u(k)
2
4
x2(k + 1) =
1
x2(k) x3(k) u(k)
2
x3(k + 1) = 3x2(k) +
1
x3(k) + 2u(k)
3
LM 1
2
M
F = M0
MM
N0
OP
PP
PP
Q
1
2
1
4
-1
-1 ; g = -1 ; c = [5
2
2
1
3
3
LM
MM
N
OP
PP
Q
6 7]; d = 8
6.6 x1, x2 and x3 : outputs of unit delayers starting at the top and proceeding
towards the bottom.
x1(k + 1) = x2(k) + u1(k); x2(k + 1) = 3x1(k) + 2x3(k)
x3(k + 1) = 12x1(k) 7x2(k) 6x3(k) + u2(k)
SOLUTION MANUAL
LM 0
F= 3
MM-12
N
6.7
(i)
LM
MN
(i)
LM
N
OP
Q
OP
3 PQ
1
-1 ; g =
LM0OP ; c = [ 1
N1 Q
LM OP
N Q
2]; d = 3
OP
PP
PQ
LM
MM
N
OP
PP
Q
3
0.5
4
0 1 ; g = -3 ; c = [0 0
1 -1
4
1]; d = 2
1
2
1
Y (z)
=1
+
+
R( z )
z +1 z +1 z + 3
LM-1
F= 0
MM 0
N
(ii)
OP
PP
Q
b z 3 + b1 z 2 + b2 z + b3
Y ( z ) -2 z 3 + 2 z 2 - z + 2
=
= 03
3
R( z )
z + a1 z 2 + a 2 z + a 3
z3 + z2 - z 4
LM0
F = M1
MM0
N
6.8
LM
MM
N
b z 2 + b 1z + b 2
Y (z)
3z 2 - z - 3
=
= 02
R( z ) z 2 + 1 z - 2
z + a 1z + a 2
3
3
0
F= 2
3
(ii)
OP
PP
Q
1
0
1 0
0 2 0
2 0
;D=
0
2 ;G= 0 0 ;C=
0 0 1
0 1
0 1
-7 -6
Y (z)
=
R( z )
LM 1
3
M
F = M0
MM
N0
OP
PP
Q
LM OP
MM PP
NQ
0
0
1
-2 0 ; g = 1 ; c = [ 1
0 -3
1
5
-2
1
z3
1]; d = 1
F z - 1 I F I FH z - 1 IK
3
H 3K H K
1 0O
PP L0O
1
1 P ; g = M0P ; c = [5 2 3]; d = 0
MM1PP
3
1P
NQ
P
0
3Q
3
65
6.9
LM0
F= 1
MM0
N
OP
PP
Q
LM OP
MM PP
NQ
0 -3
0
0 -7 ; g = 0 ; c = [0 0
1 -5
0
1]; d = 0
LM
N
OP
Q
LM OP
NQ
-1 0
1
5z + 3
7
-2
Y (z)
= 2
=
+
;F=
;g=
;
0 -2
1
R( z ) z + 3z + 2
z +1 z + 2
c = [2 7]; d = 0
(iii) y(k + 3) + 5y(k + 2) + 7y(k + 1) + 3y(k) = r(k + 1) + 2r(k)
z+2
b 2 z + b3
Y (z)
= 3
= 3
2
R( z )
z + a1 z + a 2 z + a 3
z + 5z 2 + 7z + 3
6.10
LM 0 1 0 OP LM0OP
F= 0
MM-3 -70 -51PP ; g = MM01PP ; c = [2
N
Q NQ
L 0 1OP ; g(l) = b + b l
F= M
N-3 4Q
0
1 0]; d = 0
|lI F| = l2 4l + 3 = 0; l1 = 1, l2 = 3
f (l) = lk; f (1) = 1 = g(1) = b 0 + b 1; f (3) = 3k = g(3) = b 0 + 3b 1
b 0 = 1.5 0.5(3)k; b 1 = 0.5[(3)k 1]
LM1.5 - 0.5(3)
N1.5[(3) -1]
k
Fk = b 0I + b 1F =
0.5[(3) k - 1]
-0.5 + 1.5(3)k
OP
Q
LM
N
z +1 1
1
( z + 0.2)( z + 0.8) -0.16 z
OP
Q
z
z -1
SOLUTION MANUAL
67
LM -17 z 22 z 25 z OP
6
+ 9
+ 18 P
M
z
0
.
2
z
0
.
8
z -1 P
+
+
X(z) = M
3
.
4
17
.
6
MM 6 z - 9 z 187 z PP
MN z + 0.2 + z + 0.8 + z - 1 PQ
LM-17 (-0.2) + 22 (-0.8) + 25 OP
9
18 ; y(k) = cx(k) = x (k)
x(k) = M 6
3.4
17.6
MN 6 (-0.2) - 9 (-0.8) + 187 PPQ
k
3
X1(z) X2(z) + 3U(z)
2
X1(z) =
z
z - 1/ 2
-5 z
1
z2
2z
1
x (k) = 5 F I
H 2K
z+
1
2
-2 z
-z
4z
-2 z
; X2(z) =
+
+
1
1
z -1
z -1
zz+
1
-1
-1
+ 2 F I 2; x (k) = 2 F I + 4 F I 1
H2K
H 2K H 2 K
1
-1
y (k) = 3x (k) + 4x (k) 2u(k) = 5 F I + 10 F I + 2
H 2K H 2 K
1
-1
y (k) = x (k) + x (k) = 3 F I + 2 F I + 1
H 2K H 2 K
LM-1 1 0 OP
F = 0 -1 0
MM 0 0 -2 PP
N
Q
k
6.13
LM(-1)
(b) x(k) = F x(0) = M 0
MN 0
k
k (-1) k-1
(-1)
0
OP L0O LMk(-1)
0 P M1 P = M (-1)
MP
(-2) PQ MN1 PQ MN (-1)
k -1
k
k
OP
PP
Q
RS
T
1
1
; G(z) = (1 z1) Z 2
s( s + 2)
s (s + 2)
0.2838z + 0.1485
z - 11353
.
z + 0.1353
1 O
LM 0
L0 O
; g = M P ; c = [0.1485
P
.
N-0.1353 11353
Q N1 Q
L0 1OP ; b = LM0OP ; c = [1 0]
(b) A = M
N0 -2Q N1Q
F=
F = eAT
UV
W
L1
=M
MN0
OP
PQ
1
(1 - e-2 T )
;g=
2
e- 2 T
LM
MN
0.2838]; d = 0
OP LM 12 (T + e 2 -1)OP
dt b = M
PQ M 1 (1- e ) PP
N 2
Q
-2T
e At
-2 T
F=
6.15
F = eAt
AT
c = [2
6.16
4]; d = 6
1
1
and x2 be the output of the block
10s + 1
s
LM0
N0
OP
Q
(sI A)1
F=
LM1
N0
LM OP
NQ
LM OP
N Q
1
0
0
;b=
; b1 =
1
0.1
-0.1
LM1
= Ms
MN 0
OP
PP
Q
LM
N
OP
Q
e A q b dq =
1
-0.1t
)
s( s + 0.1) ; eAt = 1 10(1 - e
- 0.1t
1
0
e
s + 0.1
10(1 - e -0.1T )
e -0.1T
OP ; g =
Q
z
T
-0 .1T
- 0.1T
SOLUTION MANUAL
z
T
g1 =
e Aq b1 dq =
69
- 0.1T
LM OP
N Q
LM x (k + 1) OP = LM1 0.1 OP x(k) + LM0.005OP u(k) + LM 0 OP w(k)
N 0.1 Q
N0.01Q
N x (k + 1)Q N0 0.99Q
LM 1
0 O
P
Le
0 O
0.1
(sI A) = M s +
PQ ; T = 3 sec
0.1
1 P ; e = M0.1te
e
N
MN (s + 0.1) s + 0.1PQ
L0.741 0 OP ; G = e B dq = LM259.182 0 OP ;
F=e = M
N0.222 0.741Q
N 36.936 259.182Q
L1 0OP
C= M
N0 1 Q
L 1 OP = 0.3679(z + 0.7181)
(a) G(z) = (1 z ) Z M
N s (s + 1) Q (z - 1)(z - 0.3679)
F=
LM1
N0
OP
Q
LM
N
OP
Q
0.1
0.005
0
;g=
; g1 =
;
0.99
0.1
0.01
1
2
6.17
- 0.1t
At
- 0.1t
- 0.1t
z
T
At
Aq
6.18
(b)
0.3679 z + 0.2642
Y (z)
G( z )
=
= 2
R( z ) 1 + G( z )
z - z + 0.6321
F=
6.19
Ga(s) =
0.3679]
e -0 . 4 s
s +1
RS e UV = (1 z
T s(s + 1) W
-0 . 4 s
)Z
RS e
T s
- 0. 4 s
e- 0. 4 s
s +1
RS 1 - e UV = 0.4512 z + 0.1809
T z -1 z - e W z - 0.3679z
- 0.6
-1
UV
W
F=
(b)
LM0
N0
OP
Q
LM OP
NQ
1
0
;g=
; c = [0.1809
0.3679
1
0.4512]
Y ( s ) e- 0.4 s
=
U ( s)
s +1
State model,
x&1 (t) = x1(t) + u(t 0.4); tD = 0.4, N = 0, D = 0.4, m = 0.6
F = e1 = 0.3679
0. 6
g2 =
0. 4
-s
e ds = 0.4512; g1 = e
0.6
e-s ds = 0.1809
LM0.3679
N 0
OP
Q
LM
N
OP
Q
0.1809
0.4512
;g=
; c = [1
0
1
0]
0. 5
F = e1 = 0.3679; g2 =
e-s ds = 0.3935;
0. 5
g1 = e
0.5
e-s ds = 0.2387
LM0.3679
0
F= M
MM 0
N 0
6.21
0.2387 0.3935
0
1
0
0
0
0
OP
PP
PQ
0
0
;g=
1
0
s
Y (s )
e- t D
= Ga(s) =
; 0 tD T
U ( s)
s2
x1 = y, x2 = y& ; x&1 = x2, x& 2 = u(t tD)
LM0OP
MM00PP
MN1PQ
A=
F = eAT = I + AT +
g2 =
As
LM
N
1 T
A2T 2
+L=
0 1
2!
LMt
MN
OP
PQ
OP
Q
L (T - t ) / 2 OP ; g = e
b ds = M
N T -t Q
DT
AmT
71
0]
tD = D T = (1 m)T
mT
SOLUTION MANUAL
e A s b ds =
(T tD
tD
)
2
LM1
F = M0
MM0
MN
F
H
T tD T 1
0
tD
2
tD
0
I OP LM (T - t
KP M 2
PP ; g = MM T -1t
QP NM
D
D
)2
OP
PP ; c = [1
PP
Q
0]
6.22 For this problem, the solution comes from Review Example 6.3 with
K = 2.
6.23 x1, x2 and x3: outputs of the blocks
1
1
1
,
and
respectively.
s+2
s s +1
(a)
x&1 = x2; x& 2 = x2 + x3; x& 3 = 2x3 + u
LM 0
A= 0
MM 0
N
OP
PP
Q
LM OP
MM PP
NQ
1 0
0
-1 1 ; b = 0
1
0 -2
Eigenvalues of A are l1 = 0, l2 = 1, l3 = 2
g(l) = b 0 + b 1l + b 2l2; f (l) = elT
For l = 0, elT = 1 = b 0
For l = 1, eT = b 0 b 1 + b 2
For l = 2, e2T = b 0 2b 1 + 4b 2
b 0 = 1; b 1 =
1
1
(3 + e2T 4eT ); b 2 = (1 + e2T 2eT)
2
2
eAT = b 0I + b 1A + b 2A2
LM1
= M0
MM0
MN
e -T
e-2T
LM-3 + 1 T + e - 1 e
4
2
4
M
1
1
bdq = M
-e + e
MM 2 1 1 2
- e
2 2
N
-T
g=
OP
PP
PP
Q
1
(1 + e -2 T - 2e - T )
2
;
e -T - e -2 T
1 - e-T
e Aq
-T
-2T
-2T
-2 T
OP
PP
PP
Q
LM 7 - 1 T - e + 1 e
4
M 4 12
1
F= M - +e - e
MM 2- 1 + 1 e2
N
2 2
-T
-T
-2 T
e -T
1
(1 + e -2 T - 2 e - T )
2
e - T - e -2 T
e -2 T
1 - e -T
-2 T
-2 T
z
t
kT
6.24
Eigenvalues of A are l1 = 1, l2 = 2.
elT = b 0 + b 1l
eT = b 0 b 1; e2T = b 0 2b 1
b 1 = eT e2T; b 0 = 2eT e2T;
eAt = b 0I + b 1A =
z
T
g=
Aq
LM 2e
N-2e
-T
OP
Q
T
e -T - e - 2 T
- e-2
;
T
T
T
-T
+ 2e-2 -e- + 2e-2
L0.5 - e
b dq = M
N e
-T
+ 0.5e-2 T
-T
- e- 2 T
OP
Q
OP
PP
PP
Q
SOLUTION MANUAL
LM 0.6
N-0.465
OP
Q
LM
N
73
OP
Q
0.233
0.2
;g=
0.233
-0.0972
LM 0.4
N-0.698
OP
Q
LM
N
OP
Q
0.233
0.2
;g=
; c = [1
0.233
-0.0972
0]
LM 0.6
N-0.465
OP
Q
LM
N
OP
Q
0.233
0.2
x(k) +
e (k);
0.233 2
-0.0972
LM 0.6
F = -0.465
MM -1
N
OP
PP
Q
LM OP
MM PP
NQ
0.233
0.2
0
-0.0972 0.233 ; g = 0 ; c = [1
0
1
-2
0]
U ( s)
de(t )
; 4.1
+ 9e(t) = u(t)
E ( s)
dt
By backward-difference approximation,
4.1
LM1
N0
OP
Q
LM
N
OP
Q
0.1
0.005
x(k) +
u(k)
0.99
0.1
LM x (k + 1) OP L1
MM xx ((kk ++ 11))PP = MMM00
N
Q N
OP LM x (k) OP LM0OP
0.99 0 x ( k ) + 0 e(k)
PM P MP
0
0 QP MN x ( k ) PQ MN1 PQ
LM0.005OP
+ 0.1 [ 41x (k) + 50(r(k) x (k))]
MM 0 PP
N Q
LM0.75 0.1 -0.205OP
LM0.25OP
= -5 0.99 -4.1 x(k) + 5 r(k)
MM -1 0 0 PP
MM 1 PP
N
Q
N Q
L1 -1 1 -1OP ; r (U) = 2; V = LM c OP ; r (V) = 2
(a) U = [g Fg] = M
N0 0 1 -1Q
NcFQ
1
0.1
6.27
LM 0 1OP ; b = LM0OP ; c = [1 0]
N - 1 0 Q N1 Q
L0 1OP ; r (U) = 2; V = LM c OP = LM1 0OP ; r (V) = 2
U = [b Ab] = M
N1 0 Q
NcAQ N0 1Q
A=
0]x(k)
0]x(k)
SOLUTION MANUAL
75
2 np
n; T 1, 2, 3, K
2p
F
H
1
4
I Fl - 1 I
K H 2K
Eigenvalues of F are: l1 =
(b) G(z) = c(zI F)1 g =
1
1
, l2 =
4
2
Fz - 1I
H 4K
(c) Since there is a pole-zero cancellation, the system is either uncontrollable or unobservable or both.
Given state model is in controllable canonical form. Therefore, the
model is controllable but not observable.
CHAPTER 7
7.1
b s n -1 + b 2 s n - 2 + L + b n
Y (s )
= 1n
U ( s)
s + a 1s n -1 + L + a n
LM 0
M0
&x = M .
MM 0
MN- a
y = [>n
0
.
0
- a n -1
>n1
1 0 .
. . .
. . .
.
OP LM0OP
0
P M0 P
. Px + M . P u
1 P
PP MM . PP
-a Q
MN1PQ
0
>1] x; u = kx + r; k = [k1 k2 L
LM 0
0
M
.
A bk = M
MM 0
MN- a - k
n
1
0
.
0
- a n -1 - k2
0 . .
0
1 0 .
0
. . .
.
. . .
1
. . . - a 1 - kn
LM
M
b=c M
MM
NM
OP LM0OP
0
M
P
P 1
. P M.P
D
. P M.P
M
P
P
*n QP NM1 QP
*1
*2
k2
k3]
LM 0
A bk =
MM-6 0- k
N
1
0
0
1
-11- k2 -6 - k3
OP
PP
PP
PQ
OP
PP
Q
kn]
SOLUTION MANUAL
77
25
3]
x = x x$
(b) ~
~
x ; mT = [m1
x& = (A mc) ~
LM -m
A mc = -m
MM-6 - m
N
m2 m3 ]
0
1
-11 -6
OP
PP
Q
(c)
LM 0
x& = 0
MM-6
N
y = [1
Aee =
OP
PP
Q
LM OP
MM PP
NQ
1
0
0
0
1 x+ 0 u
1
-11 - 6
0
LM 0
N -11
0]x
1
-6
OP ; a
Q
le
= [1
0]
~
x e ; mT = [m1
x& e = (Aee male) ~
m2]
k2
LM-k
A bk = 1
MM 0
N
k3]
-k2 -6 - k3
0
-11
1
-6
OP
PP
Q
LM x& OP L -6 0
(c) x& = M -6 0
M x& P MM-11 1
NM PQ N
L0 0OP ; a
A = M
N1 0 Q
3
1
2
ee
le
1
0
0
OP LM x OP LM0OP
PP MM xx PP + MM10PP u; y = [1
QN Q NQ
= [0
1]; mT = [m1
LM x OP
0] x
Mx P
NM PQ
1
2
m2]
4
4; zwn 1
zw n
LM -1OP
N 3Q
7.5 The estimation error should decay as fast as e10t at least. Hence, the pole
should be at s = 10. Desired characteristic polynomial: s + 10
x& = Ax + bu; y = cx
A=
1]
[2
1] Q = [1
0]
SOLUTION MANUAL
79
Q=
0]q
LM OP LM OP
N Q N Q
$
q
q& 2 = 10 q$ 2 10y 4.5u; q$ 2 = q2 + my; q$ = q1 = 1
$q 2
q$ 2
LM y + q$ OP
N y + 2q$ Q
L0 9OP ; b = LM9OP ; c = [0
(a) A = M
N1 0 Q N0 Q
x$ = Q q$ =
7.6
1]
LM-9k
N1
OP
Q
9 - 9 k2
; |sI (A bk)| = s2 + 9k1s + 9k2 9
0
3]
LM0
N1
9 - m1
- m2
OP ; |sI (A mc)| = s
Q
+ m2s + m1 9
LM81OP
N12Q
L0 9OP ; b = LM9OP ; c = [0
(d) A = M
N1 0Q N9Q
m=
1]
LM 1 2 OP ;
N9 9 Q
7.7 &&
y + w 02 y = u
(a) x& =
LM 0
N-w
OP x + LM0OP u
0Q
N1 Q
1
2
0
LM 0
N-w - k
A bk =
k=
2
0
[3w 02
OP ; |sI (A bk)| = s
-k Q
1
+ k2s + w 02 + k1
4w0]
LM20w OP .
N99w Q
0
2
0
Figure 7.6 gives a block diagram of the observer-based state-feedback control system.
(d) A =
LM 0
N-w
OP ; b = LM0OP ; c = [1
0Q
N1 Q
1
2
0
0]; ~
x& 2 = (Aee male) ~
x2 = m ~
x2
LM 0
N20.6 - k
OP
-k Q
1
SOLUTION MANUAL
81
3.6]
(c)
LM 16 OP
N84.6Q
U ( s)
778.16 s + 3690.72
= k [sI (A bk mc)]1 m = 2
-Y ( s)
s + 19.6 s + 151.2
LM
OP LM OP
N
Q N Q
L0 1OP ; b = LM0OP ; c = [1 0]
(a) A = M
N0 0 Q N1 Q
(b) wn = 1; z =
1
;
2
LM m OP = LM 5 OP
Nm Q N25Q
1
2
(d)
40.4(s + 0.619)
U ( s)
= k [sI (A mc bk)]1 m = 2
s + 6.414 s + 33.07
-Y ( s)
(e) A =
0]
~
x& 2 = (Aee male) ~
x 2 = m ~
x 2 ; s + m = s + 5; m = 5
1
[ 25Y (s) + U (s)];
s+5
2]
U ( s)
8.07(s + 0.62)
=
-Y ( s)
( s + 6.41)
7.10 (a) Desired polynomial: (s + 2) (s + 1 + j1) (s + 1 j1)
= s3 + 4s2 + 6s + 4
x&1 = x2; x& 2 = x2 + x3; x& 3 = 2x3 + u; y = x1
~
x1 = x1 r; ~
x 2 = x2; ~
x 3 = x3
~
x + bu
x& = A ~
LM0
A= 0
MM0
N
LM OP
MM PP
NQ
OP
PP
Q
0
0
-1 1 ; b = 0
0 -2
1
Ab
p1 = [1
LM0
A b] = 0
MM1
N
OP
PP
Q
0]
LM p OP L1 0
MM PP = MM0 1
Np A Q MN0 -1
OP
PP
Q
0
0 ; |sI A| = s3 + 3s2 + 2s
1
P = p1 A
k = [4
0 1
1 -3
-2 4
62
43]; P = [4
1]
U = [c
LM1 0 0 OP
A c (A ) c ] = 0 1 -1
MM0 0 1 PP
Q
N
LM p OP L0 0
0 1]; P = M p A P = M0 1
MNp (A ) PQ MMN1 -3
T T
T 2 T
p1 = [0
T 2
|sI A| = s3 + 3s2 + 2s
mT = [32
24 2
8 3] P = [5
7 8]
1
-2
4
OP
PP
Q
SOLUTION MANUAL
LM x& OP L-1
MM x&z& PP = MMM 10
N Q N
OP LM x OP LM1OP LM 0OP
-2 0 x + 1 u + 0 r
P M P M P MM-1PP
3 0 PQ MN z PQ MN0PQ
N Q
LM1 -1 1OP
Ab A b] = 1 -2 4 ; |U| = 5
MM0 4 -7PP
Q
N
7.11
83
1
2
U = [b
0.2]
LM p OP L-0.8
P= MpAP = M 1
MNp A PQ MMN -1
OP
0
P
0 PQ
0.8 0.2
-1
LM0
A= 0
MM0
N
LM
MM
N
OP
PP
Q
8 2 4 3] P = [ 1.4
2.4
1.6]
(y r)dt
OP
PP
Q
1
0
0
-1
1 ;b= 0 ;
10
-1 -10
1.2
0.1]
7.13 x1 = w; x2 = ia
x&1 = x1 + x2; x& 2 = x1 10x2 + 10u
A=
LM-1
N-1
OP
Q
LM OP
N Q
1
0
;b=
10
-10
z=
( y - r )dt; z& = y r = x1 r
LM-1
A = -1
MM 1
N
OP LM 0 OP
0 ; b = 10
P MM 0 PP
0 PQ
N Q
1 0
-10
0
0.1
0
4]
0]
m3]T = [5
m2
5]T
u Kbq& = La
dia
+ (Ra + 0.1)ia
dt
LM0
A= 0
MM0
N
OP
PP
Q
1
0
LM
MM
N
0
0
5 ;b= 0
20
-20 -2
OP
PP
Q
0.38
1.2]
k1 = k1KA = KA
k2 = k2KA; k2 = 0.11
k3 = k3KA; k3 = 0.33
7.16 10if = 0.5q&& + 0.5q&
u = 100if + 20
di f
dt
SOLUTION MANUAL
LM0
A= 0
MM0
N
1
-1
0
1
u
20
OP LM 0 OP
20 ; b = M 0 P
P M1P
-5PQ
MN 20 PQ
0
13
120]
KA = 40
k2 = 0.325
k3 = 3
7.17
Y (s )
b
=
U ( s) s( s + a )
(a) x&1 = x2; x& 2 = a x2 + b u
A=
LM0
N0
LM OP
NQ
OP
Q
1
0
;b=
-a
b
a2
a -a
; a + b k2 = a1; k2 = 1
; N = k1
b
b
x1 = w; x2 = ia
x& =
LM 0
N-200
OP LM OP LM OP
Q N Q N Q
50
0
-50
x+
u+
TL
-200
200
0
z& = y r = x1 r,
LM x& OP LM 0
MM x&z& PP = MM-200
N Q N1
1
2
50 0
-200 0
0
0
OP LM x OP LM 0 OP LM 0 OP LM-50OP
u+ 0 r+ 0 T
PP MM xz PP + MM200
P
M P M P
Q N Q N 0 PQ MN-1PQ MN 0 PQ
1
2
85
Desired polynomial:
(s + 10 + j10) (s + 10 j10) (s + 300) = s3 + 320s2 + 6200s + 60,000.
k = [ 0.38
0.6
6]
LM-3 2 OP ; b = LM1OP ; c = [0
N 4 -5Q N0Q
1]
1.5]
(b) A bk =
(c)
LM-6
N4
OP
Q
LM
N
OP LM OP
Q NQ
0.5
1
-6 0.5
; x& =
x+
w
4 -5
0
-5
5
1
x2s. Hence, x2s = w
4
7
LM-3
z& = y = x ; A = 4
MM 0
N
OP
PP
Q
LM OP
MM PP
NQ
2 0
1
-5 0 ; b = 0
0
1 0
1.5
LM-5
A bk = 4
MM 0
N
0.5 -3.5
-5
OP
PP
Q
LM -3
N4
OP ; b = LM1OP ; c = [0
-5 Q
N0 Q
2
1]
1.5]
1
= c [A bk]1b; N = 7
N
SOLUTION MANUAL
87
5
x2s;
4
5
x1s + 0.5x2s = 7r; x2s = r = y ()
4
1
w
7
(d) z& = y r = x2 r
LM x& OP L-3
MM x&z& PP = MMM 40
N Q N
2 0
-5 0
1 0
k = [2
3.5]
1
2
1.5
LM x& OP L-5
MM x&z& PP = MMM 40
N Q N
1
2
0.5 -3.5
0
-5
1
0
1
2
OP LM x OP LM1OP LM 0OP
PP MM xz PP + MM00PP w + MM-01PP r
QN Q NQ N Q
1
2
Y ( s)
4s
Y ( s)
14
=
; y() = 0;
=
;
W ( s) ( s + 1)( s + 2)( s + 7)
R( s) ( s + 1)( s + 2)( s + 7)
y() = r
7.21
10
r
10.1
(c) z& = w r
A bK =
-100 K 2
0
OP
Q
z
t
(w ( t ) - r )dt
7.22
LM 0
F= 0
MM-4
N
1
0
-2
OP LM0OP
1 ;g= 0
P MM1PP
-1PQ
NQ
0
FH
1
1
+ j
2
2
IK FH z + 1 - j 1 IK
2
2
= z3 + z2 +
1
z
2
LM
N
LM 1
2
F = M -1
MM 0
N
k = -4 -
7.23
3
2
OP
Q
OP
0 1 P ; c = [1 0 0]
P
0 0 PQ
1
|zI (F mc)| = z + FH m - IK z
1 0
+ (1 + m2)z + m3
FH
1
1
+ j
2
4
IK FH z + 1 - j 1 IK
2
4
= z3 + z2 +
LM 3 - 11 0OP
N 2 16 Q
LM 0 1 0 OP LM0OP
F= 0
MM- 0.5 - 00.2 111. PP ; g = MM01PP
N
Q NQ
T
m=
7.24
5
z.
16
SOLUTION MANUAL
LM 0 1 OP ; c = [1
N- 0.16 -1Q
1]
x$ (k + 1) = x (k + 1) + m[y(k + 1) c x (k + 1)]
x (k + 1) = (F mcF) ~
x (k)
State error equation is, ~
|zI (F mcF)| = z2 + (1 0.16m1) z + 0.16 (1 m1 m2)
Desired characteristic polynomial: z2
m = [6.25 5.25]T
7.26
LM 0 1 0 OP
LM0OP
x(k + 1) = 0
MM-0.5 -00.2 111. PP x(k) + MM01PP u(k)
N
Q
NQ
LM x (k + 1)OP L 0 0 1 O LM x (k)OP L0O
MM x (k + 1)PP = MMM 1 0 0 PPP MM x (k)PP + MMM0PPP u(k)
N x (k + 1)Q N-0.2 -0.5 11. Q N x (k)Q N1Q
LM x (k)OP
y(k) = [1 0 0] M x ( k ) P
MN x (k)PQ
2
2
1
3
~
x e (k + 1) = (Fee mf1e) ~
x e (k)
Fee =
LM 0 0 OP ; f
N-0.5 11. Q
1e
= [0
1]
LM x$ (k ) OP
N x$ (k )Q
1
x$ e (k + 1) =
89
LM 2 -1OP ; g = LM4OP
N - 1 1 Q N 3Q
L4 5 OP
U = [g Fg] = M
N3 -1Q
1
L p OP = 1 LM 3 - 4OP
p =
[3 4]; P = M
19
Np FQ 19 N10 -7Q
1
1
|zI F| = z 3z + 1; |zl (F gk)| = F z + j I F z - j I = z
H
KH
K
7.27 (a) F =
k=
LM -3 3OP P = LM111
N 4 Q N 76
-18
19
OP
Q
P=
LM1 1OP ; p
N1 0Q
OP = LM1 -1OP
Q N3 -2Q
FTcT] =
LM p
Np F
1
= [1
1]
|zI FT| = z2 3z + 1
|zI (FT mTcT)| = z2
mT = [ 1
3] P = [8
5]
7.28 (a)
Y (z)
1
= 2
U ( z ) z + z + 0.16
x(k + 1) = Fx(k) + gu(k); y(k) = cx(k)
1
4
SOLUTION MANUAL
F=
LM 0
N- 0.16
OP ; g = LM0OP ; c = [1
-1Q
N1 Q
1
91
0]
2.2]
LM 0 1OP ; g = LM0OP ; c = [1
N- 0.16 -1Q N1Q
0]
U(z )
2.56(1 + 0.1375z -1 )
=
(1 - 2.2 z -1 )
-Y ( z)
7.29 Let us transform c from [1 1] to [1
x(k) = Qq(k); Q =
LM1
N0
0].
OP
Q
-1
F =
LM 0 1OP ; g = LM0OP
N-0.16 -1Q N1Q
0] q(k)
Controller design:
|zI ( F g k)| = z2 + (1 + k2)z + 0.16 + k1
Desired characteristic polynomial: z2 1.2z + 0.52;
k = [0.36
2.2]
Observer design:
F =
LM 0 1OP ; g = LM0OP ; c = [1
N- 0.16 -1Q N1Q
0]
U(z )
2.56(1 + 0.1375z -1 )
=
-Y ( z)
1 - 2.2 z -1
7.30 Double integrator plant:
x(k + 1) = Fx(k) + gu(k);
y(k) = cx(k)
LM1 T OP ; g = LM T / 2 OP ; c = [1
N0 1 Q N T Q
2
F=
0]
-zw n T jw n T 1-z 2
= 0.77 j0.278
LM
N
OP
Q
T2
T2
k1 Tk2 + 1
k1 - 2 z +
2
2
3.95]
Prediction observer:
Result follows from Example 7.14.
m=
7.31
SOLUTION MANUAL
L1
f(F) = M
N0
U = [g
OP ;
0.905 Q
L0.00484
Fg] = M
N 0.0952
0.0952
93
OP
0.0862Q
0.0139
14.648]
Observer design:
z (k + 1) = FTz(k) + cTh(k); h(k) = mTz(k)
f(FT) =
LM 1
N0.0952
OP
Q
0
0.905
LM1
N0
1
0.0952
U = [cT
FTcT] =
mT = [0
1] U1 f(FT) = [19
OP
Q
8.6]
LM1
N0
OP
Q
LM
N
OP
Q
0.0952
0.00484
;g=
; c = [1
0.905
0.0952
0]
~
x 2 (k + 1) = (Fee mf1e) ~
x 2 (k); Fee = 0.905, f1e = 0.0952
z
T
AT
= 0.368; g =
e -t dt = 0.632
-T
et
= 0.135
1
= c (F gk 1)1 g; N = 1.37
N
With u(k) = 0.3687y(k) + 1.37r we have
y(k + 1) = 0.135y(k) + 0.866r + 0.632w(k)
At steady state, with w = 0;
ys = 0.135ys + 0.866r; ys =
0.866
r @r
0.865
0.632
w = 0.73w
0.865
-zw n T jw n T 1-z 2
= 0.128 j0.043
Fg]=
U = [g
p1 = [ 1.58
P=
LM0.632
N0.632
k = [ 0.35
OP
Q
1.58]
LM p OP = LM-1.58
Np F Q N 0
1
0.2326
0.8646
OP
Q
1.58
1.58
1.624]P = [0.553
2.013]
SOLUTION MANUAL
(e) F g k =
LM0.018
N0.018
- 1.27
OP
Q
- 0.27
With w = 0,
LM y OP = LM0.018
Nv Q N0.018
s
OP LM y OP + L 0O r
- 0.27Q N v Q MN -1PQ
- 1.27
LM y OP = LM0.018
Nv Q N0.018
s
OP LM y OP + LM0.632OP w
- 0.27Q N v Q N0.632Q
- 1.27
95
CHAPTER 8
0] = HHT
8.1 A =
ATP + PA = Q gives P =
LM5 2OP
N2 1 Q
LM 0 1OP ; A P + PA = I
N-1 1Q
LM -3
Solving for P, we get: P = M 2
MN 12
8.2 A =
OP
PP
Q
1
2
-1
LM x OP
Nx Q
e
1
e
2
0 = x 2e ; 0 = x1e x 2e + 2; xe =
LM2OP
N0 Q
x
Let ~
x = A ~
x1 = x1 2, ~
x 2 = x2; then ~
LM 3
0 1O
L
2
A= M
N-1 -1PQ ; A P + PA = I gives P = MM 1
N2
T
1
2
1
OP
PP
Q
0] T is
SOLUTION MANUAL
8.4
L- 4 K
A= M
N 4K
L7
OP ; A P + PA = I; P = MM 40 K
- 6KQ
MN 101K
4K
1
10 K
3
20 K
97
OP
PP
Q
LM-1
x = Ax; A = 1
MM 0
N
L0 0
Take Q = M0 0
MM0 0
N
OP
PP
Q
0 -K
0 ; ATP + PA = Q;
-1
1 -1
OP
P
2 PQ
0
0 = HHT; HT = [0
2]
1
P=
( K + 1)( K - 8)
LM - 3
MMK--32
N
K -2
-3
- ( K + 4) - ( K + 4)
- ( K + 4) - (5K + 8)
OP
PP
Q
3( K + 4) - 9
-3
> 0;
> 0,
( K + 1) 2 ( K - 8) 2
( K + 1)( K - 8)
and
1
( K + 1)( K - 8)
LM - 3
MMK--32
N
-3
- ( K + 4)
- ( K + 4)
OP
>0
P
- (5 K + 8)PQ
K -2
- ( K + 4)
or
K > 1; K < 8
K>1
(K + 1)2 (K 8) < 0; K < 8
Therefore, 1 < K < 8 will guarantee system stability. It can easily be
examined that Routh criterion gives the same result.
98
8.6 F =
2.25
OP
Q
3.875
LM 0 0.5OP ; F PF P = I, gives,
N- 0.5 -1Q
40 O
LM 52
27
27 P
P= M
40 100 P
MN 27 27 PQ
8.7 F =
LM 6
N-2
LM-3
N1
1
-1 - 3 x 22
-2
2 + 6 x 22
OP
Q
OP
Q
|Q| = 36 x 22 + 8 > 0
Q is positive definite; therefore origin is asymptotically stable.
CHAPTER 9
LM 0
N-1
OP
Q
J=
LM OP
NQ
L2 0OP ; R = 0; K = 0
2 x (t)dt; Q = M
N0 0 Q
1
1
x = Ax; x(0) =
-2z
0
1
2
e2(t)dt =
2
1
LM2z + 1
2z
Solving for P, we get: P = M
MM 1
N
J = xT(0) Px(0) = z +
OP
1 P
P
2z PQ
1
1
4z
dJ
1
d2J
=1
=
0;
z
=
0.5;
> 0; Jmin = 1
dz
4z 2
dz 2
9.2 The closed-loop transfer function
Y ( s)
K
= 2
R ( s) s + a s + K
y + a y + Ky = Kr; y(0) = y (0) = 0
e + a e + Ke = 0; x1 = e, x2 = e
e = r y;
x =
LM 0
N- K
J=
OP
Q
LM OP
NQ
1
1
x; x(0) =
-a
0
e2(t)dt =
x12 (t)dt; Q =
LM2 0OP ; R = 0; K = 0
N0 0 Q
LM a + 1
P = MK a
MN K1
OP
PP
Q
1
K ; J = 1 xT (0) Px(0) = a + 1
1
2
2 K 2a
Ka
(i) K = constant:
K,
2 J
>0
a 2
I = 0; K
K
L0 1OP ; B = LM0OP ; K = [1 k]; Q = LM1 0OP ;
A=M
N0 0 Q N1 Q
N0 1 Q
L 0 1 OP ; x(0) = LM1OP
R = 0; (A BK) = M
N-1 - k Q
N1Q
(ii) a = constant:
9.3
J
1
1
=
;a=
a
2 K 2a 2
F
H
1
J
a
=
- 2
K
K
2
LM k + 2
P = M 2k
MN 12
2
OP
PP
Q
1
2
2 ; J = 1 xT (0) Px (0) = k + 2k + 4
1
4k
2
k
J
3
= 0 gives k = 2; Jmin =
2
k
|lI (A BK)| = l2 + 2l + 1; l1 = 1, l2 = 1.
The system is stable.
For k = 1.5, J = 1.54.
For k = 2, J = 1.5
Skopt =
9.4
0.04 / 1.5
DJ / J
=
= 0.107
0.5 / 2
Dk / k
Y (s )
100
= G(s) = 2 ;
y = 100u; y(0) = y (0) = 0
U ( s)
s
x1 = y, x2 = y ; x =
LM0 1OP x + LM 0 OP u
N0 0Q N100Q
u = r y(t) K y (t)
Let ~
x1 = y r = x1 r, ~
x 2 = y = x2
x1 Kx~2 ; K = [1
Then u = ~
K]
LM OP
N Q
LM OP
N Q
2 0
-1
~ + Bu; ~
~
x (0) =
;Q=
;R=0
x = Ax
0
0 0
(A BK)TP + P(A BK) + Q = 0
Solving for P, we get,
LM100K + 1
P = M 100 K
MN 1001
2
J=
1
100
1
10 4 K
OP
PP
Q
100 K 2 + 1 J
1 ~T
x (0) =
;
= 0 gives K = 0.1;
x (0) P ~
200 K
K
2
Jmin = 0.1,
2 J
>0
K2
0.000556 / 0.1
DJ / J
=
= 0.0556
0.01 / 0.1
DK / K
9.5 A =
k2]; (A BK) =
LM 0
N-k
OP x or x
-k Q
1
OP
-k Q
1
LM 0
N- 4
LM 5
2k
P= M
MM
N
+
2
1
8
k2
8
OP
PP
PQ
LM
N
OP
Q
1
k
1 T
1 5
J
8
+ 2 ;
;J=
x (0) Px(0) =
=0
5
2
2 2 k2
k2
8
8 k2
20 ;
gives k2 =
2 J
>0
k 22
LM0
N0
L2
Q= M
N0
9.6 A =
5
4
1
-k
OP
Q
(A BK)TP + P (A BK) + Q = 0
Solving for P we get
LM1 + 2k
P= M k
MN 1k
OP
PP
Q
1
1
1 J
k
; J = xT (0) Px (0) = 1 +
;
=0
2( k + 1)
2
2k k
2k 2
gives k
LM2 0OP ; R = 2
N0 2 Q
LM (k + 1)
P= M k
MM 1 + k
N k
OP
PP
PQ
1+ k2
(1 + k ) 2 J
k
;J=
;
= 0 gives k = 1; Jmin = 2
2
(1 + k )(1 + k )
k
2k
k2
For k = 1, J = 2.
For k = 0.9, J = 2.0055.
Skopt =
9.8 A =
0.0055 / 2
DJ / J
=
= 0.0275
0.1 / 1
Dk / k
LM2 3
N2
2
2
OP ; K = R
3Q
BP = [1
3]
LM2 0OP = H H = LM 2 OP [
N0 0 Q
N0Q
T
0]; r
LM H OP = 2
NHAQ
LM2 2
N2
2
2
OP ; K = R
2Q
BP = [1
2 ];
|lI (A BK)| = l2 + 2 l + 1
The roots of this equation are in the left half of the complex plane. The
optimal closed-loop system is therefore stable.
9.10 A =
LM 2 OP [
N0Q
0]
LM 6
N-8
OP
Q
-8
; K = R1BTP = [ 1 4]
16
|lI (A BK)| = l2 + 2l + 1
Optimal closed-loop system is asymptotically stable:
u = Kx = [ 1 4]x
9.11 A =
LM 2 OP [
N0Q
0]
1 2
1
-1 2
p11 + 2 = 0; p12 + p22 p11p12 = 0;
p12 = 0
2
2
2
This gives p11 = p22 = 0. Therefore a positive definite solution of the
Ricatti equation is not possible. Hence an optimal solution to the control
problem does not exist.
2( p11 + p12)
9.12 x =
LM0
N0
OP LM OP
Q N Q
0
1
1
x+
u; y = x1; J =
-2
20
2
Let ~
x1 = x1 r = x1 1; ~
x 2 = x2. Then
LM
N
OP
Q
LM OP
N Q
0
0
1 ~
~
x +
x + Bu;
u = A~
x =
0 -2
20
J=
LM OP
N Q
1 0
1 ~2
( x1 + u2)dt; Q =
;R=1
20
0 0
LM1OP [1
N0 Q
ATP + PA PBR1BTP + Q = 0
Solving for P, we get
LM 6.63
P = M 20
MN 0.05
OP
4.63 P ; K = R
P
400 Q
0.05
1 T
B P = [1
0.23]
x = x1 0.23x2 + r
u = K ~
9.13 A =
1
1
1
2 ( y12 + y 22 + u2)dt =
2 (yTy + u2)dt =
J=
2
2
2
0
Q=
LM2 0OP ; R = 2
N0 8 Q
(xTCTCx + u2)dt
LM 24 2 OP ; K = R B P = [1 6 ]; u = x
N 2 24 Q
L0 1OP ; B = LM0OP ; Q = LM2 0OP ; R = 2
A= M
N0 -1Q N1Q N0 2Q
P=
9.14
1 T
6 x2
P=
LM 4 2OP ; K = R
N2 2Q
1 T
B P = [1
1]
LM OP
N Q
m1
; C = [1
x = (A MC) x + Bu + My: M =
m2
0]
LM OP
NQ
5
x = A x + Bu + M[y C x ]; M =
4
9.15 State variable description of the system, obtained from Fig. P9.15, is given
by
x =
LM0
N0
0]x
LM
N
LM OP
NQ
OP
Q
0
0
1 ~
~
x +
x + Bu
u = A~
x =
0 -5
1
x , that miniThe problem is to determine optimal control law, u = K ~
mizes
z FH
J=
I
K
1
~
x12 + u 2 dt
2
LM2 0OP ; R = 1
N0 0 Q
LM 2 OP [
N0Q
P=
LM7.495
N 2
OP
0.275Q
2
0.275]
x (0) = [ 5
The minimum value of J for an initial condition ~
J0 =
9.16 A =
0]T is,
1 ~T
~( 0 ) = 93.2375
x ( 0)Px
2
LM F 2 I
2r
GH 25 + r JK
M
P= M
MM 2r
NM
1/ 2
1/ 2
LM3.5397
N0.6325
2 r 1/ 2
F
GH
2 r - 5 + 25 +
OP
PP
2 IP
JP
r KP
Q
OP
Q
0.6325
; K = R1BTP = [3.1623 0.5968]
0.1194
LM1.3416
N 0.2
OP
Q
0.2
; K = [10
0.0342
1.7082]
LM0.5941
N0.0632
OP
Q
0.0632
; K = [31.6228
0.0088
4.3939]
x + Bu; u = K ~
x = [k1 k2] ~
x
9.17 ~
x = A ~
The constraint of partial state feedback can be met by setting k2 = 0 in the
optimization problem.
For the problem under consideration, the Lyapunov equation is,
(A BK)TP + P(A BK) + KTRK + Q = 0
LM (25 + k )(2 + k )
10k
P= M
2
MM + k
N 2k
2
1
1
2
1
2 + k12
2 k1
2 + k12
10 k1
OP
PP
PQ
x (0) = [ 5
For an initial condition ~
value:
J=
25( 25 + k1 )( 2 + k12 ) J
1 ~T
x (0) =
;
= 0 gives k1 = 1.345;
x (0)P ~
20k1
2
k1
2 J
>0
k12
Jmin = 93.26
The matrix (A BK) is stable.
9.18 From Fig. P9.18, we obtain,
y = y + u + w; y(0) = 0
(~
y 2 + u~ 2 )dt
(a) A = 1, B = 1, Q = 2, R = 2
ATP + PA PBR1BTP + Q = 0, gives P2 + 4P 4 = 0
P = 2 2 2; K = R1BTP = 2 1
(b) u us = K(y ys)
u = Ky + Nr; Kys + us = Nr
N 1 = C (A BK)1 B =
(c) From Fig. P9.18,
Y(s) =
1
;N=
2
Y ( s)
1
1
1
=
=
; W(s) = ;
s
W ( s) s + 1 + K s + 2
1
s( s + 2 )
1
.
2
(d) y = y + u; z = y r
LMyOP = L-1 0O L yO + L1 O u + L 0O r
NzQ MN 1 0PQ MN z PQ MN0PQ MN-1PQ
~
z = z zs; u~ = u us
y = y ys; ~
J=
(~
y2 + ~
z 2 + u~ 2 ) dt
A=
z
t
[y(t) r]dt
(e) Block diagram of the control scheme is shown in the figure that
follows:
Y ( s)
s
1
1
=
; W(s) = ; Y(s) =
2
s
( s + 1) 2
W ( s) ( s + 1)
Steady-state error: lim sY (s) = 0
s 0
~ + 100 u~
~ = 0.5w
w
~ = w w ; u~ = u u
where, w
s
s
J=
~ 2 + 100u~ 2 ) dt
(w
10
r
10.1
(c) z = w r
At steady-state: w = 0, z = 0. Therefore,
~ = w w , ~z = z z , u~ = u u
w
s
s
s
J=
B=
LM OP
N Q
LM
N
OP
Q
2 0
- 0.5 0
~2 + ~
(w
z 2 + 100u~ 2 ) dt; Q =
; R = 200; A =
;
0 2
1
0
LM100OP
N0Q
LM0.21
N 0.2
0.2
2.2
OP ; K = R
Q
1 T
B P = [0.105 0.1]
z
t
For G(s) =
100
, the closed-loop transfer function is:
s+a
10.5
w( s )
=
s( s + 10 + a) + 10.5
R( s)
For R(s) =
1
, we have w () = lim sw ( s) = 1
s 0
s
2 + 1.5 K 2
2K - K 2
J=
1 + 0.75K 2
1 T
x (0) Px (0) =
{x(0)}2
2
2K - K 2
J
2
= 0 gives K = .
3
K
0.027 / 1.499
DJ / J
=
= 0.1207
0.1 / 0.67
DK/ K
J=
k= 0
RS 1 UV = 1 - e
T s(s + 1) W z - e
-T
-T
Y (z)
0.4
=
; y(k + 1) = 0.6y(k) + 0.4u(k)
z - 0.6 U ( z )
J=
1
~
y 2 ( k ) + u~ 2 (k); F = 0.6, G = 0.4, Q = 1, R = 1
2 k=0
0.1108
r = 0.217r
0.5108
0.5108
r=r
0.5108
9.23 (a) x(k + 1) = 0.5x(k) + 2u(k) = Fx(k) + Gu(k)
Let xs and us be the steady-state values. At steady state,
xs = 0.5xs + 2us
Substituting in the state equation, we get
~
x (k + 1) = 0.5 ~
x (k) + 2 u~ (k)
y() =
1
~
x 2 ( k ) + u~ 2 ( k ) ; F = 0.5, G = 2, Q = 1, R = 1
J=
2 k=0
The matrix Ricatti equation,
P = Q + FTPF FTPG(R + GTPG)1GTPF yields,
4P2 3.25P 1 = 0; P = 1.0505; K = (R + GTPG)1 GTPF = 0.2
x (k)
(b) u~ (k) = K ~
u(k) = Kx(k) + Kxs + us = Kx(k) + Nr
where,
Kxs + us = Nr
N1 = C(F GK I)1G; N = 0.45
u(k) = 0.2x(k) + 0.45r
The closed-loop system becomes: x(k + 1) = 0.1x(k) + 0.9r.
At steady-state, x() = r
(c) Let
F + dF = 0.3
x(k + 1) = 0.3x(k) + 2u(k)
then, x(k + 1) = 0.3x(k) 0.4x(k) + 0.9r = 0.1x(k) + 0.9r
At steady state, x() =
0.9
r
11
.
CHAPTER 10
10.1 Describing functions of some entries of Table 10.2 have been derived in
Section 10.4 and Section 10.11.
10.2 Revisiting Example 10.1 (Fig. 10.19) will be helpful.
G(jw) =
-pE
4
1
;=
2
4M
N ( E)
jw (1 + jw )
90 2 tan1 w1 = 180
This gives w1 = 1 rad/sec
1
N E1
a f
= |G(jw1)| = 2
8M
sin t
p
10.3 Revisiting Example 10.1 (Fig. 10.22) will be helpful.
y(t) = e(t) =
G(jw) =
5
4
; N(E) =
2
pE
jw (1 + j 0 .1w )
1-
FH 0 .1 IK
E
1
N E1
a f
= |G(jw1)| = 0.25
1
for any value of E
N ( E)
The intersection of the two curves does not occur; therefore no limit cycle
exists.
Intersection of the two curves occurs for
114
pD
< 0.206 or D < 0.131
2
10
10.5 G(jw) =
(1 + j 0 . 4w ) (1 + j 2w )
4
pE
N (E) =
LM
MN
1-
FH H IK
E
- j
OP
PQ
H
; H = 0.2
E
-1
locus.
N ( E)
Im
Re
pH
4
E increasing
-1
N(E)
E=H
G( jw)
-1
locus, measure the
N(E)
1
N E1
a f
p E1
= 0.33
4
N(E) =
2
p
K
jw (1 + jw ) 2
LM p - sin
MN 2
-1
1
1
E
E
1-
FH 1 IK
E
OP
PQ
=1-
LM
N
2
1
1
+
sin -1
p
E
E
1-
OP = 1 N (E)
Q
1
E2
-1
locus
N(E)
-1
locus; but the point of intersection
N(E)
corresponds to an unstable limit cycle.
N(E) =
10
jw 1 + jw 1 + j 0 .5w
a
2 L
sin
p MN
fa
-1
1
1
+
E
E
1-
1
E2
OP = N (E)
Q
c
-1
N E1
a f
gives E1 = 4.25
The limit cycle with amplitude 4.25 and frequency 2 rad/sec is a stable
limit cycle.
10.8 Revisiting Example 10.2 (Fig. 10.24) will be helpful.
G(jw) =
K
jw (1 + jw ) (1 + j 0 . 5w )
-1
locus. For K = 2, two
N(E)
intersection points are found. One corresponds to unstable limit cycle and
the other corresponds to a stable limit cycle of amplitude 3.75 and
frequency 1 rad/sec.
10.9 (a) Characteristic equation has two real, distinct roots in the left half of
s-plane.
The origin in the (y, y ) plane is a stable node.
(b)
d 2 ( y - 1)
d ( y - 1)
+ 6(y 1) = 0
+5
2
dt
dt
116
The singular point is located at (1, 0) in the (y, y ) plane. The characteristic equation is
s2 + 5s + 6 = 0 = (s + 3) (s + 2)
The singular point is a stable node.
(c)
d2 y - 2
d y-2
+ 17(y 2) = 0
-8
2
dt
dt
The singular point is located at (2, 0) in the (y, y ) plane. The characteristic equation is
s2 8s + 17 = 0 with complex roots in right half s-plane. The singular
point is an unstable focus.
x1 = q and x2 = q , we have
x 1 = x 2
x 2 = K sin x1 ax2
Singular points are given by the solution of the equations
x2 = 0
K sin x1 a x2 = 0
This gives x1 = kp; k in an integer. We therefore have multiple singular
points.
Linearized equation around singular point (0, 0):
q + aq + Kq = 0
q + aq Kq = 0
The characteristic equation is
s2 + as K = 0
The singular point is a saddle point.
10.11
d 2 ( y - 1)
d ( y - 1)
+y1=0
+ 2z
2
dt
dt
ch
Jq + Tc sgn q = KA K1 e; e = qR q
Therefore
T
K
e +
e + c sgn ( e ) = 0; K = KAK1
J
J
LM
N
e + w 2n e +
OP
Q
Tc
sgn ( e ) = 0; wn =
K
K/J
LM
N
x 2 = wn x1 +
For
Tc
sgn w n x 2
K
fOPQ
Tc = 0, we have
x1 = wn x2; x 2 = wn x1
d x2
x
= 1 ; this gives x12 + x 22 = x 21 (0)
d x1
x2
The effect of the Coulomb friction is to shift the centre of the circles in
phase plane to + Tc/K for x2 < 0 and to Tc/K for x2 > 0. The steady-state
error found from phase trajectory is 0.2 rad. From the phase trajectory,
we see that
(a) the system is obviously stable for all initial conditions and inputs; and
(b) maximum steady-state error = 0.3 rad.
10.13 With x1 = y and x2 = y , we get
x1 = x2
x 2
R|- x
= S- x
|T- x
2
2
2
a - 1 < x < 1f
- 2a x - 1f ; Region II a x > 1f
- 2a x + 1f ; Region III a x < - 1f
; Region I
From the phase portrait shown in the figure below, it is seen that the
system is stable in the equilibrium zone.
118
10.14 Revisiting Review Example 10.6 (Fig. 10.42) will be helpful. The system
equation in the linear range is
e + e + e = 0
The characteristic equation
s2 + s + 1 = 0
has complex roots in left half of s-plane. Therefore, on the (e, e ) plane, the
origin is a stable focus.
The system equation in saturation region is
e + e = sgn (e)
The trajectories are asymptotic to the ordinates 1 and + 1 depending on
whether the error is +ve or ve.
From the phase trajectories plotted from the given initial conditions (with
and without saturation) we find that velocity is always greater for trajectories without saturation; thus the error saturation has a slowing down effect
on the transient.
10.15 With x1 = e, x2 = e and u = f (e), we have
x1 = x2
x 2 = x2 f (x1)
e = u = f(e); x1 = e, x2 = e
10.16 (a)
The trajectories corresponding to x1 > 0 are given by (refer Eqns
(10.24))
x1(t) =
1 2
1
x 2 (t) + x1(0) + x 22 (0)
2
2
1 2
1
x 2 (t) + x1(0) x 22 (0)
2
2
e = u = f (e + KD e ); x1 = e, x2 = e
(b)
The trajectories corresponding to (x1 + KD x2) > 0 are given by
x1(t) =
1 2
1
x 2 (t) + x1(0) + x 22 (0)
2
2
1 2
1
x 2 (t) + x1(0) x 22 (0)
2
2
120
(c) Constructing a trajectory for the case of large KD proves the point. An
illustrative trajectory is shown in the figure.
x2
x2
Switching
line
x1
Trajectory
x1
Trajectory
Slope = -
1
KD
x2
Switching
line
x1
Trajectory
qR = const +
e +
1
s + 0.5
-2
1
s
0.5
x2
2
1
x1
x1 + 0.5 x2 = 0
The system oscillates with everdecreasing amplitude and everincreasing frequency (refer Fig. 10.32).
122
F
H
x 2 = x2 f x1 +
1
x2
3
I
K
FG 1 + x IJ
H 1 + x ( 0) K
2
FG 1 - x IJ
H 1 + x ( 0) K
2
FG
H
x2
x2
ln 1 + 2
| x2 |
| x2 |
IJ
K
The figure given below shows the switching curve and a few typical minimum-time trajectories.
CHAPTER 11
11.4 E =
2
1
0.4 - s ( -3w + w0 )) 2 + (0.8 - s (2 w + w0 )
2
E
= 0
w
= [(0.4 s (3w + w0)) s (3w + w0) (1 s (3w + w0)) (3)
+ (0.8 s (2w + w0)) s (2w + w0) (1 s (2w + w0))(2)]
= [3x + 2y]
E
= 0 = [x + y]
w0
This gives x = y = 0
s ( a ) = 0 only at a -
s ( a ) = 1 only at a +
Therefore
s ( 3w + w0) = 0.4
which gives
3w + w0 = 0.41
The equation y = 0 gives
s (2w + w0) = 0.8
or,
2w + w0 = 1.386
Solving for w and w0, we get
w = 0.36, w0 = 0.666
FG w
H
n
11.5 zl = s
h1
li x i
+ wlh01
i =1
IJ
K
FG w z + w IJ
H
K
bv t + v g
m
tr = s
y j =
h1
rl l
h1
r0
l =1
jr r
j0
r =1
wrlh2 ( k + 1) = wrlh2 ( k ) + h t r (1 - tr ) zl v jr e j ( k )
j =1
wrh02 ( k + 1) = wrh02 ( k ) + h tr (1 - tr ) v jr e j ( k )
j =1
wlih1 ( k
h1
+ 1) = wli ( k ) + h xi zl (1 - zl )
wlh01 ( k + 1) = wlh01 ( k ) + h zl (1 - zl )
LM e v
MN
q
j =1
r =1
LM e v
MN
q
j =1
h2
jr wrl tr (1 - tr )
h2
jr wrl tr (1 - t r )
r =1
1 - e-a
2
1
-a - =
1 + e-a
1+ e
s (a) =
(1 - s ( a ))(1 + s ( a )) ds ( a )
=
2
da
Network Output:
y ( k ) = s
FG w x IJ ; x
H
K
n
i i
=1
i= 0
h
( y - y ( k ) ) 1 - y 2 ( k ) x i
2
w i xi (1 )
= 1 + 2 0.5 = 2.5
i =1
h
( -1 - 0.848 ) 1 - ( 0.848) 2 x (1)
2
= [0.974, 0.948, 0, 0.526]
M
w (1) = w (0) +
LM x
N
3
w1(1) = w1(0) + h
= 1.0518
M
FG w x + w IJ ; l = 1, 2
H
K
2
11.7 (a) zl = s
li i
i =1
l0
p =1
( p) ( p)
e
1
b1 - ( y
( p) 2
g OP
Q
OP
PQ
OP
PQ
126
FG v z + v IJ
H
K
2
y = s
l l
l =1
e = y y
vl (k + 1) = vl (k) + 0.1e (k) zl (k) y (k) [1 y (k)]
v0 (k + 1) = v0 (k) + 0.1e (k) y (k) [1 y (k)]
wli (k + 1) = wli (k) + 0.1xi (k) e (k) y (k) [1 y (k)] zl (k) [1 zl (k)]
wlo (k + 1) = wlo(k) + 0.1e (k) y (k) [1 y (k)] zl (k) [1 zl (k)]
11.8 s (a) =
1 - (s ( a )) 2 ds ( a )
=
2
da
zl = s (wl x + wl0); l = 1, 2, , m
y = s
FG v z + v IJ
H
K
m
l l
l =1
e(k) = y y (k)
b
g
h
v (k + 1) = v ( k ) + e( k )b1 - y ( k ) g
2
h
w (k + 1) = w ( k ) + e( k ) b1 - y ( k )g v ( k )b1 - z ( k ) g x ( k )
4
h
w (k + 1) = w ( k ) + e( k )b 1 - y ( k ) g v ( k )b 1 - z ( k ) g
4
vl (k + 1) = vl ( k ) +
h
e( k ) 1 - y 2 ( k ) zl ( k )
2
2
l0
l0
CHAPTER 12
FUZZY CONTROL
12.7
mR
3
*
12.11 z =
FH 1 IK + 4 FH 1 IK + 5 FH 1 IK + 6 FH 1 IK + 7 FH 1 IK + 7.5 FH 3 IK + 8 FH 3 IK + 9 FH 3IK
4
4
4
2
2
4
4
8
1
1
1
1
1
3
3
3
FH IK + FH IK + FH IK + FH IK + FH IK + FH IK + FH IK + FH IK
4
4
4
2
2
4
4
8
= 6.76
12.12 Crisp value for speed =
1600 ( 0.9) + 1700 ( 0.9) + 1800 ( 0.9) + 1900 (0.8) + 2000 (0.7)
+ 2100 ( 0.5) + 2200 ( 0.3) + 2300 ( 0.15) + 2400 ( 0 )
0.9 + 0.9 + 0.9 + 0.8 + 0.7 + 0.5 + 0.3 + 0.15
= 1857.28
12.13 x = 4; y = 8
FG
IJ F I
H
K H K
F
I
a = min G m ( 4 ), m (8)J = min F 1 , 2 I = 1
H ~ ~ K H 3 3K 3
F
I
F2
I
min G a , m ( z )J = min G , m ( z )J
H ~ K
H3 ~ K
F1
I
min (a , m ( z )) = min G , m ( z )J
H3
K
~
R F2
I F1
IU
m (z) = m ( z ) = max S min G , m ( z )J , min G , m ( z )J V
~
T H 3 ~ K H 3 ~ KW
a1 = min m A1 ( 4 ), m B2 ( 8) = min 2 , 1 = 2
3
3
~
~
2
agg
A2
B2
C1
C1
C2
C2
~
C1
C1
C2
128
2
z* =
FH 1 IK + 3 FH 2 IK + 4 FH 2 IK + 5 FH 2 IK + 6 FH 1 IK + 7 FH 1 IK + 8 FH 1 IK
3
3
3
3
3
3
3
FH 1 IK + FH 2 IK + FH 2 IK + FH 2 IK + FH 1 IK + FH 1 IK + FH 1 IK
3
3
3
3
3
3
3
= 4.7
12.14 x = distance D = 27
y = vehicle speed V = 55
F
I
H ~
K
~
min F m (27), m ( 55)I = 0.62
H ~
K
~
FH
min F a
H
PM
PL
z = breaking force B
F
I
IK
H
K
~
, m ( z )I = min F 0.62, m ( z )I
K
H
K
~
~
~
m (z) = max RSmin F 0.25, m ( z )I , min F 0.62, m ( z )I UV
K H
KW
~
~
T H
PM
PM
agg
PL
PM
F
I 3
H ~
K 5
~
2
min F m ( 60), m ( 70 )I =
H ~
K 5
~
1
min F m (60 ), m ( 70 )I =
H ~
K
~
5
1
min F m ( 60 ), m ( 70 )I =
H ~
K 5
~
a1 = min m MD ( 60), m MG ( 70 ) =
a2 =
a3 =
a4 =
MD
LG
LD
MG
LD
LG
F
I F3
I
H ~ K H 5 , m ~ ( z )K
2
min F a , m ( z )I = min F , m ( z )I
H ~ K H5 ~ K
1
min F a , m ( z )I = min F , m ( z )I
H ~ K H5 ~ K
1
min F a , m ( z )I = min F , m ( z )I
H ~ K H5 ~ K
3
2
1
m (z) = max RS min F , m ( z )I , min F , m ( z )I , min F , m ( z )I UV
H
K
H
K
H
5 ~
5 ~ KW
T 5 ~
min a 1 , m M ( z ) = min
VL
agg
VL
VL
(6 - 0)
b2
10
g or 0.006 in the
-1