Solution Manual Digital Control and State Variable Methods

SOLUTION MANUAL
TO
DIGITAL CONTROL
AND
STATE VARIABLE METHODS
CHAPTER 1
OUTLINE OF THE SOLUTION MANUAL
This Solution Manual has been designed as a supplement to the textbook:

Gopal, M, Digital Control and State Variable Methods, 2nd Edition, Tata
McGraw-Hill, New Delhi, 2003.
Throughout the manual, the numbers associated with referenced Equations,
Figures, Tables, Examples, Review Examples and Sections are pointers to the
material in the textbook.
The detailed solutions of the problems have been avoided; only assistance has
been provided.
CHAPTER 2
SIGNAL PROCESSING IN DIGITAL CONTROL
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
2.3 (a) x1 : output of the unit delayer
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
(b) R (z) = 1; Y(z) =
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) +
2.4 (a) y (k + 1) = ay (k) + b r (k);

R(z) = A; Y(z) =
(b) R (z) =
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
(d) r(k) = A cos (Wk) = Re {AejWk}; Z {ejWk} =
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
DIGITAL CONTROL AND STATE VARIABLE METHODS
2.5 (a) Given difference equation in shifted form:

y (k) + 3y (k 1) + 2y (k 2) = 0
Y (z) + 3z1 Y (z) + 3y ( 1) + 2z 2 Y (z) + 2z 1 y ( 1) + 2y ( 2) = 0
z
z
z
=
z
z
1
2
+
+
3
2
z + z+
k
k
y (k) = ( 1) ( 2) ; k 0
Y (z) =
(b) 2Y (z) 2z 1 Y (z) + z 2 Y (z) =

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
From the given difference equation we get,

y (k + 1) 1.3679 y (k) + 0.3679 y (k 1)
= 0.3679r (k) + 0.2642 r (k 1)
0 . 3679 z + 0 . 2642
R (z)
Y (z) = 2
z - 1. 3679 z + 0 . 3679
R (z) = 1 + 0.2142z 1 0.2142z 2
Hence,
( 0 . 3679 z + 0 . 2642 )
Y (z) = 2
1 + 0 . 2142 z -1 - 0 . 2142 z-2
z - 1. 3679 z + 0 . 3679
= 0.3679z 1 + 0.8463z 2 + z 3 + z 4 + z 5 + L
y(0) = 0; y (1) = 0.3679; y (2) = 0.8463;
y (k) = 1, k 3.
2.7
Taking z-transform of the given equation:
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
y() = lim (z 1) Y (z) =

z 1
For y () = 1, K = 1
K 1 - a 2 (1 - a )
a1 - a f
2 (
1 - a)
=K
2.11
Refer Eqn (2.45)

Y (z) =
( 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
The output y (k) is bounded because of matching of system poles with

excitation poles.
2.13 (a) D(z) = z3 1.3z2 0.08 z + 0.24 = 0
(i) D(1) = 0.14 < 0
The first condition of Jurys criterion is violated. The system is unstable; we may stop the test here.
(b) D(z) = z4 1.368 z 3 + 0.4z 2 + 0.08z + 0.002 = 0
(i)
D(1) = 0.114 > 0; satisfied
(ii)
D( 1) = 2.69 > 0; (n even); satisfied
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
D(z) = z 4 + 0.5 z 3 0.2 z 2 + z + 0.4 = 0
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
Refer Section 2.8; Eqn (2.56)
2.16 (a) Refer Section 2.9

(b) s2 + 2s + 2 = s2 + 2zw ns + w 2n
wn =
2;
ws p
p
= > 2; T <
2
T
2
(c) Noise signal: n(t) = cos 50t
50 k 2 p
50
Z {cos 50kT} = Z cos

=
} = 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.
It can be seen that the noise signal cos 50t sampled at
2.17
Refer Section 2.10; Fig. 2.36.
2.18
Refer Section 2.12; Eqns (2.72)
2.19
(i) s = a + jb; z = e aT e jbT

(ii) s = a jw0; z = eaT e jw0T
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) =
For T = 0.4 sec, G(z) =

2.22
-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
(i) Refer Eqn (2.90b)

(ii) Refer Eqn. (2.107)
)2
10 ( z + 0 . 76)
16 ( z - 1) ( z - 0 . 46 )
-2 T
10
2.23
Refer Section 2.12; Fig. 2.41a.
2.24
Refer Section 2.12; Figs 2.44 and 2.37.
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)
D(s) is a phase lag compensator that meets the requirements.
(ii)
D(z) = D(s) with s =
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
u(k) = uP(k) + u1(k) + uD(k)

where
uP(k) = Kce(k)
K T
u1(k) u1(k 1) = c [e(k) + e(k 1)]
2 TI
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
ke(k ) - eak - 1fpOPP

Q
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
= y(k 1) aTy(k) + Tr(k)

y(k) =
1
T
y(k 1) +
r(k)
1 + aT
1 + aT
(k
(b) y(k + 1) = y(k) a
+ 1) T
(k
+ 1) T
y (t) dt +
kT
r (t) dt
kT
= (1 aT) y(k) + Tr (k)

y(k) = (1 aT) y(k 1) + Tr (k 1)
2.29 (a)
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
(b) x1 = y; x2 = y& ; x&1 = x2; x& 2 = bx1 ax2
LM 0
N- b
OP
Q
1
-a
Using Eqn (2.113) we obtain,
A=
x(k + 1) = x(k) + T)x(k) = (I + AT) x(k); x(0) =
LMa OP
Nb Q
CHAPTER 3 MODELS OF DIGITAL CONTROL DEVICES AND

SYSTEMS
3.1 D(z) = {Gh0(s)G1(s)} = Gh0G1(z)
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 )
3.4 Reduced form of the block diagram in Fig. P3.4:
Y(z) = GpH2 R(z) +
D ( z ) Gh 0 G p ( z )
1 + D ( z ) Gh 0 G p ( z )
[H1R(z) GpH2R(z)]
This is the required answer.

3.5 Y(z) = Gh0G1G2(z)U(z); X(z) = Gh0G1(z) U(z)
E(z) = R(z) X(z) Y(z);
U(z) = D(z) E(z)
= D(z) [R(z) Gh0G1(z) U(z) Gh0G1G2(z) U(z)]
U(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
X(z) = Gh0G1(z) U(z)
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:
Y(z) = WG(z) D(z)Gh0G(z) Y(z); Y(z) =
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
For T = 0.25 sec,

Gh0G(z) =
0 . 0288( z + 0 . 92 )
( z - 1) ( z - 0 . 7788)
3.8 Plant transfer function is,

G(s) =
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
Let x(k) be the input to D/A block.

x(k) = KF wr (k) + KP [wr (k) w (k)]
X(z) = KF wr (z) + KP[wr(z) w(z)]; w(z) = Gh0G(z) X(z)
(K F + K P )Gh 0 G( z )
w( z )
=
1 + K P Gh 0 G ( z )
wr ( z )
14
3.9 The filter is described by the following difference equation,

u(k) = u(k 1) + 0.5e(k);
Gh0G(z) = (1 z 1) Z
fs = 5 Hz =
Gh0G(z) =
U (z)
z
= 0.5
z -1
E(z )
RS 1 UV = aT -1+ e fz +a1-e -Te f

z -1 a z - e f
T s (s + 1) W
-T
-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
(i) Gh0G(z) = (1 z1) Z
RS e UV
T s (s + 1) W
-0 . 4 s
Using transform pairs of Table 3.1, we obtain,
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
3.11 Refer Section 3.6.

3.12 Refer Gopal M., Digital Control Engineering, New Delhi, Wiley Eastern, 1988.
3.13 (a) 1 + G(s) = 0; s3 + 3s2 + 2s + 5 = 0
From Routh table, we find that the closed-loop system is stable.
(b) Gh0G(z) = (1 z1) Z
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
A pole lies outside the unit circle; the system is unstable.
SOLUTION MANUAL
3.14 z3 0.1z2 + 0.2Kz 0.1K = D(z)

D(1) = 0.1K + 0.9 > 0
D( 1) = 1.1 0.3 K < 0
From Jurys table, we get the following conditions. (refer conditions
(2.50b))
| 0.1K| < 1; True for 0 < K < 10
|0.01K2 1| > | 0.19K|; |0.01K2 1| > |0.19K|
K2 + 19K 100 = 0
The system is stable for 0 < K < 4.293.
3.15 Gh0G(z) = K(1 z1) Z
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 +
(i) For T = 0.5, system stable for 0 < K < 4.723

(ii) For T = 1, system stable for 0 < K < 3.315
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
3.16 Gh0G(z) = (1 z1) Z

(
-T
-T
)2
-T
-T
D(z) = 1 + Gh0G(z) = 0; z2 az + b = 0
where,
a = e T + 1 K(T 1 + e T); b = e T + K(1 e T Te T)

1+ r
Put
z=
, then r2 (1 + a + b) + 2r(1 b) + 1 a + b = 0
1- r
System is stable for,
1 + a + b > 0; 1 b > 0; 1 a + b > 0
Substituting for a and b and solving for K yields:

K<
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<
3.17 For T = 1 sec,

Gh0G(z) = K
(0 . 368 z + 0 . 264 )
z z 2 - 1. 368z + 0 . 368
15
16
D(z) = z3 1.368z2 + 0.368(1 + K)z + 0.264K = 0

D(1) = 0.368 + 0.368(1 + K) + 0.264K > 0
D( 1) = 2.368 0.368(1 + K) + 0.264K < 0
From Jurys table, we get the following conditions (refer conditions
(2.50b)):
|0.264K| < 1, gives K < 3.79
|0.07K2 1| < |0.361K + 0.368 + 0.368K|
This gives, K < 0.785.
The system is stable for 0 < K < 0.785.
3.18 (a) G(s) =
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
(b) T = 0.01 sec,

Gh0G(z) =
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
By dividing the numerator polynomial by the denominator polynomial, we obtain,

y(T) = 1.3198, y(2T) = 1.3712, y(3T) = 0.7426, y(4T) = 0.9028,
y(5T) = 1.148 T = 0.001 sec,
Gh0G(z) =
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
Dividing the numerator polynomial by the denominator polynomial,

we can obtain the response.
Gh 0 G( z )
Y (z)
=
1 + Gh 0 GH ( z )
R( z )
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 =
3.20 Gh0G(z) = (1 z1) Z
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 )
y(0) = 0; y(1) = 0.632; y(2) = 0.465; y(3) = 0.509
Y (z) = Z {Gh0(s) G(s)e DTs)} E(z); E(z) = R(z) Y(z);

Y(z) = Z {Gh0(s) G(s)} E(z)
E(z) =
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
y (k) = [0.5 0.107 ( 0.264)k 1] m(k 1)

y (1) = 0.393 = y(0.5T); y (2) = 0.528 = y(1.5T)
18
y (3) = 0.493 = y(2.5T); y (4) = 0.5019 = y(3.5T)
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
Refer Figs 3.19 3.20

(ii)
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
Refer Figs 3.21 3.22

10 z 2 + z +1
233.33 127.08
25 106.25
3.22 D(z) = 2
=
+
+ 2 +
z - 0.5
z - 0.8
z
z
z (z - 0.5) (z - 0.8)
233.33z -1
127.08z -1
=+
+ (106.25 + 25z 1)z 1
1- 0.5z -1
1- 0.8 z-1
SOLUTION MANUAL
3.23 (a) Process steady-state gain, K =
qss
Qm
q(t) = 0.283qss at t1 = 25 min

q(t) = 0.632qss at t2 = 65 min
Therefore (refer Eqns (3.53b))
tD +
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 +
TI = 2.5tCD = 13.75 min

TD = 0.4tCD = 2.2 min
3.24 Ultimate gain, Kcu = 5
Ultimate period, Tu = 34 sec
Kc = 0.45 Kcu = 2.13
TI = Tu /1.2 = 666.66 sec
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
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
CNT000Counter with a Set Value of 5.

3.27
00000
10000
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
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
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
CHAPTER 4 DESIGN OF DIGITAL CONTROL ALGORITHMS

4.1 Steady-state error can be calculated from the corresponding continuoustime system as sampling does not affect steady-state performance of a
continuous-time system.
R(s) +
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
4.2 Plant model:

-j
G(s) =
wT
2
1.57
1.57e
; G ( jw) G( jw) =
; T = 1.57 sec
s( s + 1) h0
jw ( jw + 1)
Bode plot analysis:

Phase margin (without ZOH) = 45 deg
Phase margin (with ZOH) = 0 deg
Specification: f M = 45 deg
Let us use a lag compensator.
From the Bode plot of the uncompensated system, we see that the phase
margin of 45 deg may be realized if the gain cross over frequency is moved
from the present value (1 rad/sec) to a frequency of 0.5 rad/sec. To accommodate phase lag, we take wc2 = 0.4 rad/sec
20 log b = 8; b = 2.5
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.
26 DIGITAL CONTROL AND STATE VARIABLE METHODS
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 =
Kv of the original analog system is given by, Kv = lim s

s0
1.57
= 1.57
s ( s + 1)
Kv of the equivalent digital system is:

1
lim (z 1) D1(z) Gh0G(z)
Kv =
T z 1
where Gh0G(z) = 1.57
LM 1.57 - 0.792 OP , K = 1.57

N z - 1 z - 0.208 Q
v
4.3 Kp = lim Gh0G(z) = ; Kv =

z1
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
e -zw n T = 0.965 = r ; zwnT = ln r; wnT 1 - z 2 = q

From the above equations, we get
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
4.5 (a) (i) W(s) = 0;

Y1(z) = Gh0G(z) [R(z)D2(z) + {R(z)D3(z) Y1(z)}D1(z)]
Y1(z) =
[ 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)
(b) D3(z) = D2(z) GD0G(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
(c) D1(z) can be made large to reject the disturbances.

4.6 Consider the corresponding continuous-time system.
(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 )
cos(wT ) - 0.607 + j sin(wT )

; |S(e jwT)|2
cos(wT ) - 0.214 + j sin(wT )
=
ws
2p
=
= 6.28 rad/sec
2
2T
1.3685 - 1.214 cos(wT )

1.0458 - 0.428 cos(wT )
|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
Neglecting higher order terms, we obtain,

Dlk =
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
A(z) + KB(z) = (z 0.607) + K(0.393) = 0

Nominal value of K = 1.
Closed-loop pole is at z= 0.213 = l
A(l) = 0.213 0.607 = 0.394;
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
Nominal value of p = e 2 = 0.6065

Closed-loop pole is at z = 0.213 = l
A(l) = 1.213;
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
From the Bode plot and Nichols chart, we obtain,

fM = 28; GM = 8 dB; wb = 1.35 rad/sec; gb = 1.6 rad/sec
1
; T = 0.1 sec
4.10 G(s) =
s( s + 2 )
Gh0G(z) = 0.004683
( z + 0.9355)
1 + 0.05w
;z=
1 - 0.05w
( z - 1)( z - 0.8187)
Gh0G(w) = 0.5
(1 + 0.001666 w )(1 - 0.05w )

w (1 + 0.5016 w )
(a) lim wGh0G(w) = Kv = 0.5K; K = 10

w0
Gh0G(w) =
5(1 + 0.001666 w )(1 - 0.05w )

w (1 + 0.5016 w )
Bode plot analysis: f M = 30 (crossover at 2.6 rad/sec)
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 )
Kv = lim wD(w) Gh0G(w), gives K = 10.

w0
5(1 + 0.001666 w )(1 - 0.05w )

w (1 + 0.5016 w )
(uncompensated system; K = 10 has been used in the plant model)
gives f M = 30
The Bode plot of G(w) =
Required phase margin = 55 + 15 (error compensation).

Crossover frequency wc2 = 0.7
D(w) =
w
1+ t w 1
; = c22 = 0.18; t = 5.71
1 + bt w t
( 2)
Corresponding gain = 20 log10 b = 17; b = 7.0;

D(w) =
w=
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
Bode plot/Nichols chart analysis:

Gain crossover frequency = 6.6 rad/sec.
f M = 20, gb = 10 rad/sec, wb = 9.27 rad/sec.
0.219w + 1
results in gb = 18 rad/sec,
(b) Lead compensator D(w) =
0.06 w + 1
wb = 14.65 rad/sec.
1.6 w + 1
results in gb = 5 rad/sec,
Lag compensator D(w) =
6.4 w + 1
wb = 4.9 rad/sec.
(c) For partial compensation, we design lag section by selecting a cross
over frequency of 3.2 rad/sec. The uncompensated plot has to be
brought down by 9 dB.
20 log b = 9; b @ 3
1
3.2
= 2 = 0.8
t
2
1.25w + 1
results in f M = 54, gb = 4.3.
D1(w) =
3.75w + 1
1
= 0.333. The
We constrain the lead section design by taking a =
b
lag compensated system has a dB of
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) =
(d) D1(z) = 0.342
FH z - 0.923 IK ; D (z) = 2.49 FH z - 0.793 IK

z - 0 .973
z - 0.484
2
Refer Figs 3.193.22 for realization schemes.

4.13 (a)
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;
Lag compensator D(w) =

w=4
1+ w
satisfies the requirements.
1 + 10 w
FH z - 1 IK ; D(z) = 0.122 FH z - 0.6 IK

z +1
z - 0.951
(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)
Breakaway points are at z = 0.4783, 1.5247; Critical gain

K = 1.4557.
(iii) T = 4 sec, Gh0G(z) =
3.0183K ( z + 0.3010 )
( z - 1)( z - 0.0183)
Breakaway points are at z = 0.3435, 0.9455; Critical gain

K = 0.9653. The smaller the sampling period, the larger the critical
gain for stability.
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) =
(a) 1 + Gh0GH(z) = 0; z 0.9048 + 0.091K = 0

For K = 1, z 0.8138 = 0
eT/t = 0.8138;
T
= 0.206; t = 0.4854 sec
t
(b) Required time-constant =
0.4854
= 0.12136
4
eT/0.12136 = 0.43867; 0.091K = 0.46613; K = 5.1223

4.19 Gh0G(z) =
0.01873 K ( z + 0.9356)
( z - 1)( z - 0.8187)
(a) z = 0.5; wn = 4.5; z = e -zw nT wnT(1 z 2)

This gives z1,2 = 0.6354 45 = 0.4493 j0.4493.
Angle deficiency at point P corresponding to z1 is 72.25 deg. We
choose the zero of the controller to cancel the pole at z = 0.8187.
Then the pole of the controller is determined to satisfy the angle condition at P. This gives
D(z) =
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
z = 0.7, wn = 0.3, z = e -zw nT wnT(1 z 2)

This gives z1,2 = 0.78 j0.18
Place a compensator zero at 0.8.
Angle criterion gives compensator pole location as z = 0. Magnitude criterion gives K/2 = 0.18.
Gh0G(z) D(z) =
Ka =
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) =
Kp = lim Gh0G(z) D(z) = ; e*ss = 0

z1
4.23 (a) Refer Examples 4.94.10.

(b) G(s) =
1
0.0048( z + 0.9833)
; T = 0.1 sec; Gh0G(z) =
s( s + 1)
( z -1)( z - 0.9048)
We select an M(z) that has pole excess of at least equal to that of

Gh0G(z), and unstable (or critically stable) poles of Gh0G(z) are included in 1M(z) as zeros. M(z) = z1 satisfies these requirements.
D(z) =
4.24 G(s) =
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
This gives z1,2 = 0.55 j0.22

Gh0G(z) =
( 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)
D(z) = z2 1.1z + 0.3509

We select an M(z) that has pole excess of at least equal to that of
Gh0G(z), unstable poles of Gh0G(z) are included in 1 M(z) as zeros,
and satisfies transient accuracy requirements.
1 M(z) = (z 1) F(z); F(z) =
z -a
z - 1.1z + 0 . 3509
2
E(z) = R(z) [1 M(z)]

e*ss(unit-step) = lim (z 1) E(z) = 0
z 1
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)
(b) y(k) = 0, 0.5, 1, 1, K

Y(z) = 0.5z 1 + z 2 + z 3 + L
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
ess = lim (z 1) E(z) = 0.15.

z 1
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
4.26 Parallel to Review Example 4.3.

Result:
u(k) = 10e(k) 6e(k 1) 0.75u (k 1)
U(z) = 10E(z) 6z1 E(z) 0.75z1 U(z)
10 - 6 z-1
U(z)
= D(z) =
E( z )
1 + 0 . 75 z-1
2
4.27 G(s) =
( s + 1) (s + 2 )
Gh0G (z) = 0.4
; 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
For no intersample ripples, we require (refer Eqn. (4.81))

U(z) = u(0) + u(1)z1 + u(2) [z2 + z3 + L]
Dividing U(z) by R(z),
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
Comparing the coefficients, we get

a1 = 0.731, a2 = 0.269,
>0 = 1.8275, >1 = 0.919, >2 = 0.09
D(z) =
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 )
U(z) = u(0) + u(1)z1 + u(2) [z2 + z3 + L]

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
y(0) = 0, y(1) = 0, y(2) = 1.582(1 e0.5) = 0.6225

y(k) = 1; k 3
Y(z) = 0.6225z2 + z3 + z 4 + L = 0.6225z2 + z3
1
1 - z -1
Y ( z)
= M(z) = 0.6225z2 + 0.3775z3
(
)
Rz
Pole excess of M(z) = 2 = pole excess of Gh0G(z)
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
Pole excess = 2; second-order model.

Y ( z)
= a2z2
R( z )
U ( z)
= u(0) + [u(1) u(0)]z1 + [u(2) u(1)]z2 = b0 + b1z1 + b2z2
R( z )
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
CONTROL SYSTEM ANALYSIS USING STATE

VARIABLE METHODS
5.1
Je = n2J = 0.4 ; Be = n2B = 0.01

x&1 = x2 ; 0.4 x& 2 + 0.01x2 = 1.2 x3
0.1 x& 3 + 19x3 = 100 x4 1.2x2 ; 5 x& 4 + 21x4 = 4

x& = Ax + bu
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
x&1 = x2 ; 0.5 x& 2 + 0.5x2 = 10x3
20 x& 3 + 100x3 = 50u ; y = x1
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
e a = Kcec = Kc [k1 (er Kt w) k2 ia}
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
=
2 s -1 (1 - 8 s -1 ) + 15 s -2 (1) + ( -2 s -1 ) (1 + 11s -1 ) + 2 s -1 ( 6 s -1 ) 2 (1)

1 - [ -11s -1 + 8 s -1 + ( -15 s -1 )( 6 s -1 )] + [( -11s -1 )( 8 s -1 )]
1
s 2 + 3s + 2
s 1
X1
2
15
11
U
6
1
2
X2
s 1
8
5.6
LM0 1OP ; b = LM0OP

N0 0 Q N1 Q
L 1 1 OP ; b = P
A = P AP = M
N1 1Q
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
Taking outputs of integrators as state variables, we get (x1 being the

output of rightmost integrator),
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
G(s) = c (sI A)1 b

=
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
x&1 = 3x1 + 2x2 + [ 2x1 1.5x2 3.5x3]

x& 2 = 4x1 5x2
x& 3 = x2 r
A =
LM-5
MM 40
N
G(s) = c(sI A)1 b =

5.14 (a)
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)
x 1 = output of lag 1/(s + 2)

x&1 + 2x1 = x2 ; x& 2 + x2 = x1 + u
y = x2 + ( x1 + u)
A =
LM-2 1 OP ; b = LM0OP ; c = [1
N -1 -1Q N1Q
1]; d = 1
0]
(b)

x 2 = output of lag 1/s
x&1 + 2x1 = y ; x& 2 = x1 + u
x& 3 + x3 = x1 + u ; y = x2 + x3
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
u1 = K1r1 K1y1; u2 = K2r2 K2y2

y1 = x1 + x2; y2 = x3 + x4
Writing the state equations we get,
x& = Ax + Bu
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
y = x1 + x2 + x3 = 2.5 2et tet 0.5 e2t
x2 +
x1
1
+y
+
x3
+
2
5.20 (i)
A=
LM1 1OP ; |lI A| = (l 1) (l 2) = 0

N0 2 Q
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
LM-3 2OP ; |lI A| = l + 3l + 2

N-1 0Q
L1O L2O
l = 1, l = 2; v = M P , v = M P
N1Q N1Q
LM 0 1 0 OP
A= 3
MM-12 -07 -26PP ; |lI A| = (l + 1) (l + 2) (l + 3) = 0
N
Q
2
(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
(l2I A)v2 = 0 gives

v2 = [1
2 1/2]T
(l3I A)v3 = 0 gives

v3 = [1
5.21 (a)
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 .
ckn]T; the cofactors of the k th row.
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
The characteristic equation is,

l3 + 3l2 + 4l + 2 = 0
l1 = 1 + j1, l2 = 1 j1, l3 = 1.
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
g(l) = b0 + b1l; f(A) = eAt; f(l) = elt

f(li) = g(li) gives
e2t = b0 2b 1; e3t = b0 3b1
Solving we get,
b1 = e2t e3t, b0 = 3e2t 2e3t
eAt = b0I + b1A =
(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
f(l1) = g(l1) gives e2t = b0 2b1

d
d
g(l )
f (l )
=
gives
dl
dl
l = -2
l = -2
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
The state model in Jordan canonical form:
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
The solution is,
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
x3(t) = 2(2e2t 3e3t); y(t) = x1(t)

5.28
A =
LM 0 1 OP ; eigenvalues are l
N-2 -3Q
= 1, l2 = 2
Y(s) = c(sI A)1 x0 + c(sI A)1 b U(s)

=
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
LM1 0OP LMs + 3 1OP LM2 1OP LM 1/ s OP

N1 1Q N -2 sQ N0 1Q N 1/(s + 3)Q
LM 3s + 16s + 18 OP
= M s( s + 1)( s + 2)( s + 3) P
MM 4s + 6 PP
N s(s + 2)(s + 3) Q
L y (t ) OP = LM3 - 25 e - e + 12 e OP
y(t) = M
Ny (t)Q MN 1 + e - 2e PQ
5.29 Y(s) = C(sI A)1 BU(s) =

2
-t
-2 t
-2 t
-3 t
-3 t
x&1 = 3x1 + 2x2 + [7r 3x1 1.5 x2]
5.30
x& 2 = 4x1 5x2
A =
LM-6
N4
OP
Q
LM OP
NQ
0.5
7
;b=
; c = [0
0
-5
1]
eAt = L 1 [(sI A)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
0.5 -4t 0.5 -7t

e e
3
3
2 -4 t 1 -7t
e + e
3
3
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
Manipulation of the equation gives

x1(2) = 2e1 x1(1) + e1 x2(1) = 2
If x2(1) = 2k, then x1(1) = e1 k
Thus
LMe - k OP is a possible set of states L x (1) O for any k 0

MN x (1)PQ
N 2k Q
LM 0 1 0 OP
5.32 (a) A = 3
MM-12 -07 -26PP
N
Q
1
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
x1 (0) = x 2 (0) = 0. x 3 (0) = k 0
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
5.33 (a) x& =
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
LM1 1OP ; v = LM1OP

N2 2Q N2Q
L-2 1 OP ; v = LM 1 OP
For l = 1, adj(lI A) = M
N 2 -1Q N-1Q
L1 1 OP
P= M
N2 -1Q
For l = 2, adj(lI A) =
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 )
If x1 (t 0 ) = 0, the mode e2t will be suppressed in y(t) = 5 x1 x 2 .

x(t0) = P x (t0) = P
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
U = [b Ab ... An1 b] is a triangular matrix with diagonal elements equal

to unity; |U| = ( 1)n for all ais. This proves the result.
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
Not completely observable.

(ii) The system is in Jordan canonical form; it is controllable but not
observable.
(iii) The system is in Jordan canonical form; it is both controllable and
observable.
SOLUTION MANUAL
61
(iv) The system is in controllable companion form. The given system is

therefore controllable. We have to test for observability property only.
r ( V) =
LM c OP
r M cA P = 3
MNcA PQ
2
The system is completely observable.

(v) Given system is in observable companion form. We have to test for
controllability property only.
r(U) = r[b Ab A2b] = 3
The system is completely controllable.
5.39 (i) Observable but not controllable
(ii) Controllable but not observable
(iii) Neither controllable nor observable.
Controllable and observable realization:
A = 1 ; b=1 ; c=1
5.40
(i)
G(s) = c(sI A)1 b =
1
s+2
Given state model is in observable companion form. Since there is a

pole-zero cancellation, the state model is uncontrollable.
(ii)
G(s) =
s+4
( s + 2)( s + 3)
The given state model is in controllable companion form. Since there

is a pole-zero cancellation, the model is unobservable.
5.41 (a) |lI A| = (l 1) (l + 2) (l + 1)
The system is unstable.
(b)
G(s) = c(sI A)1 b

=
1
( s + 1)(s + 2)
The G(s) is stable

(c) The unstable mode et of the free response is hidden from the transfer
function representation
5.42 (a)
G(s) =
A =
b2
10
= 2
s + a 1s + a 2
s +s
2
LM0 1OP ; b = LM0OP ; c = [10

N0 -1Q N1Q
0]
(b) Let us obtain controllable companion form realization of

G(s) =
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
(c) Let us obtain observable companion form realization of

G(s) =
A =
5.42
Refer Section 5.4.
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
STATE VARIABLE ANALYSIS OF DIGITAL

CONTROL SYSTEMS
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
H(z) = (zI F)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
G(z) = C(zI F)1 G + D
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
y(k) = 5x1(k) + 6x2(k) 7x3(k) + 8u(k)
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
(i) y(k + 3) + 5y(k + 2) + 7y(k + 1) + 3y(k) = 0

Refer Fig. 6.3.
x1(k + 1) = 3x3(k)
x2(k + 1) = 7x3(k) + x1(k)
x3(k + 1) = 5x3(k) + x2(k)
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
(ii) y(k + 2) + 3y(k + 1) + 2y(k) = 5r(k + 1) + 3r(k)
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
6.11 Refer Example 6.3

(zI F)1 =
LM
N
z +1 1
1
( z + 0.2)( z + 0.8) -0.16 z
OP
Q
X(z) = (zI F)1 zx(0) + (zI F)1 gU(z); U(z) =
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
6.12 x1(0) = 5; x2(0) = 1

zX1(z) + 5z =
3
X1(z) X2(z) + 3U(z)
2
zX2(z) z = X1(z) X2(z) + 2U(z)

U(z) =
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
Eigenvalues of matrix F are 1, 1 and 2.

(a) Therefore the modes of the free response are ( 1)k, k( 1)k and ( 2)k
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
6.14 (a) Ga(s) =
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
Thus for T = 1 sec,
LM1 0.4323OP ; g = LM0.2838OP ; c = [1 0]

N0 0.1353Q N0.4323Q
L0.696 0.246OP ; g = (e I)A b = LM-0.021OP ;
=M
N 0.123 0.572Q
N 0.747 Q
F=
6.15
F = eAt
AT
c = [2
6.16
4]; d = 6
Let x1 be the output of the block
1
1
and x2 be the output of the block
10s + 1
s
x&1 = x2; x& 2 = 0.1x2 + u + 0.1w

A=
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 =
LM10T -100 + 100e OP

N 10 -10e
Q
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
LMT -10 + 10e OP

N 1- e
Q
- 0.1T
- 0.1T
For T = 0.1 sec,
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) =
LM 0 1OP ; g = LM0OP ; c = [0.2642

N-0.6321 1Q N1Q
0.3679]
e -0 . 4 s
s +1
(a) G(z) = (1 z1) Z
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
T = 1; tD = 0.4 = DT; m = 1 D = 0.6

From Table 3.1, we obtain
G(z) = (1 z1) Z
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
x1(k + 1) = 0.3679x1(k) + 0.1809u(k 1) + 0.4512u(k)

Let us introduce a new state,
x2(k) = u(k 1);
x(k + 1) = Fx(k) + gu(k); y(k) = cx(k)
F=
6.20
LM0.3679
N 0
OP
Q
LM
N
OP
Q
0.1809
0.4512
;g=
; c = [1
0
1
0]
x& (t) = x(t) + u(t 2.5); tD = 2.5 = NT + DT; T = 1

N = 2, D = 0.5, m = 0.5
0. 5
F = e1 = 0.3679; g2 =
e-s ds = 0.3935;
0. 5
g1 = e
0.5
e-s ds = 0.2387
x(k + 1) = 0.3679x(k) + 0.2387u(k 3) + 0.3935u(k 2)

x2(k) = u(k 3), x3(k) = u(k 2), x4(k) = u(k 1)
x(k + 1) = Fx(k) + gu(k)
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=
LM0 1OP ; b = LM0OP ; c = [1

N0 0 Q N1 Q
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
N = 0 (Refer Eqn. (6.35))

x(k + 1) =
LM1 T OP x(k) + g u(k 1) + g u(k)

N0 1 Q
1
Introduce x3 = u(k 1). Then,

x(k + 1) = Fx(k) + gu(k); y = cx(k)
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
x(k + 1) = eAT x(k) + g[r(k) x1(k)] = Fx(k) + gr(k)
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
(b) x(t) = eA(t kT) x(kT) +
e A( t -t ) bu(t )dt ; kT t < (k + 1)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
For T = 1 sec, eAT =
LM 0.6
N-0.465
OP
Q
LM
N
73
OP
Q
0.233
0.2
;g=
0.233
-0.0972
Discrete-time model of the plant is, x(k + 1) = eAT x(k) + gu(k);

y(k) = x1(k)
For the feedback system,
e(k) = r(k) x1(k) = u(k)
x(k + 1) = eAT x(k) + g[r(k) x1(k)]
Discrete-time model of the closed-loop system is,
x(k + 1) = Fx(k) + gr(k); y = cx(k)
F=
LM 0.4
N-0.698
OP
Q
LM
N
OP
Q
0.233
0.2
;g=
; c = [1
0.233
-0.0972
0]
6.25 Plant model,

x(k + 1) =
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
e2(k + 1) = 2e2(k) + e1(k)

Let e2(k) = x3(k), then x3(k + 1) = 2x3(k) + [r(k) x1(k)]
Discrete-time model of the closed-loop system is,
x(k + 1) = Fx(k) + gr(k); y = cx(k)
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
6.26 D(s) = 9 + 4.1s =
0]
U ( s)
de(t )
; 4.1
+ 9e(t) = u(t)
E ( s)
dt
By backward-difference approximation,
4.1
LM e(k) - e(k -1) OP + 9e(k) = u(k); u(k) = 41e(k 1) + 50e(k)

N T Q
Choosing e(k 1) as controller state variable, xc(k), we obtain,

xc(k + 1) = e(k), u(k) = 41xc(k) + 50e(k) as the state model of the controller. The plant difference equations are given by (solution to Problem
6.16)
x(k + 1) =
LM1
N0
OP
Q
LM
N
OP
Q
0.1
0.005
x(k) +
u(k)
0.99
0.1
The augmented state model becomes,
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
Therefore system is both controllable and observable.

(b) Given system is in Jordan canonical form. It is both controllable and
observable.
6.28
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=
The continuous-time system is both controllable and observable.

Comparing the given state model with Eqn (6.59), we observe that the
given system is a harmonic oscillator with frequency w = 1 or period
T = 2p.
Therefore, T = np; n = 1, 2, K will lead to hidden oscillations.
For T = p, for example, the discrete-time model is given by (refer Eqns
(6.60))
x(k + 1) =
LM -1 0 OP x(k) + LM2OP u(k); y(k) = [1

N 0 -1Q
N0 Q
0]x(k)
The system is obviously both uncontrollable and unobservable.

For T = 2p, we have the following discrete-time model;
x(k + 1) =
LM1 0OP x(k) + LM0OP u(k); y(k) = [1

N0 1 Q
N0 Q
0]x(k)
The system is both uncontrollable and unobservable. In general, for

T = np, n = 1, 2, K the system is uncontrollable and unobservable.
SOLUTION MANUAL
75
6.29 The poles are: s1 = 1, s2,3 = 0.02 jp

For Re(li) = Re(lj)
Im(li lj) = 2p
T
2 np
n; T 1, 2, 3, K
2p
F
H
6.30 (a) |lI F| = l -
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
POLE-PLACEMENT DESIGN AND STATE

OBSERVERS
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
x& = [A bk] x + br; y = cx
LM 0
0
M
.
A bk = M
MM 0
MN- a - k
n
1
0
.
0
- a n -1 - k2
G(s) = c[sI (A bk)]1
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
*1 = Co-factor of =n k1, is independent of k.

*2 = Co-factor of =n1 k2, is independent of k.
.
.
Zeros are not affected by k.
7.2 (a) k = [k1
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
Charteristic equation is,

s3 + (6 + k3)s2 + (11 + k2)s + 6 + k1 = 0
Desired characteristic equation is
(s + 5) (s + 2 + j3.464) (s + 2 j3.464) = s3 + 9s2 + 36s + 80 = 0
k = [74
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
|sI (A mc)| = s3 + (6 + m1)s2 + (11 + 6m1 + m2)s + 11m1 + 6m 2

+ m3 + 6
(s + 5) (s + 2 + j3.464) (s + 2 j3.464) = s3 + 9s2 + 36s + 80
m1 = 3, m2 = 7, m3 = 1
Observation equation is Eqn (7.31) and the structure is given in
Fig. 7.6.
(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]
|sI (Aee male)| = s2 + (6 + m1)s + 6m1 + m2 + 11

(s + 2 + j3.464) (s + 2 j3.464) = s2 + 4s + 16
m1 = 2, m2 = 17
Observer equations may be obtained from Eqns (7.38) (7.49).
7.3 (a) k = [k1
k2
LM-k
A bk = 1
MM 0
N
k3]
-k2 -6 - k3
0
-11
1
-6
OP
PP
Q
|sI (A bk)| = (s + 5) (s + 2 + j3.464) (s + 2 j3.464)

k1 = 3, k2 = 7, k3 = 1
(b) mT = [m1 m2 m3]
|sI (A mc)| = (s + 5) (s + 2 + j3.464) (s + 2 j3.464)
m1 = 74, m2 = 25, m3 = 3
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]
|sI (Aee male)| = (s + 2 + j3.464) (s + 2 j3.464)

m1 = 16, m2 = 4
7.4 Estimation error should decay in less than 4 sec.
Settling time =
4
4; zwn 1
zw n
The observer poles may be fixed at s = 2, 3.

Characteristic polynomial: s2 + 5s + 6.
|sI (A mc)| = s2 + (2 + m2)s + 2m2 + 1 + m1
Comparing and solving the resulting equations: m =
LM -1OP
N 3Q
x&$ = (A mc) x$ + (B md)u + my
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=
LM1 0OP ; b = LM1OP ; c = [2

N0 0Q N1Q
1]
We obtain a transformation: x(t) = Qq(t), that transforms c from

[2 1] to [1 0]
q& = Q1 AQq + Q1bu; y = cQq
[2
1] Q = [1
0]
SOLUTION MANUAL
LM1 1OP ; Q = L 2 -1O ;

MN -1 1PQ
N1 2Q
L 2 2 OP q + LM1OP u; y = [1
q& = M
N-1 -1Q N0Q
79
Q=
0]q
q~& 2 = (Aee male) q~2 = ( 1 2m) q~2
Characteristic polynomial: s + 1 + 2m = s + 10; m = 4.5

Refer Eqn (7.49b)
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]
(b) k = [k1 k2]

(A bk) =
LM-9k
N1
OP
Q
9 - 9 k2
; |sI (A bk)| = s2 + 9k1s + 9k2 9
0
Desired polynomial: (s + 3 + j3) (s + 3 j3) = s2 + 6s + 18.

k = [2/3
3]
(c) m = [m1 m2]T

A mc =
LM0
N1
9 - m1
- m2
OP ; |sI (A mc)| = s
Q
+ m2s + m1 9
Desired polynomial: (s + 6 + j6) (s + 6 j6) = s2 + 12s + 72.
LM81OP
N12Q
L0 9OP ; b = LM9OP ; c = [0
(d) A = M
N1 0Q N9Q
m=
1]
Select gain k which places one of the closed-loop poles at s = 1.

Pole-zero cancellation makes the feedback system unobservable.
Desired characteristic polynomial: (s + 1) (s + 2) = s2 + 3s + 2

|sI (A bk| = s2 + 3s + 2, gives k =
LM 1 2 OP ;
N9 9 Q
LM-1 7 OP ; c(A bk) = [0 2]

N 0 -2Q
L c OP = L0 1O ; r (V) = 1. System is unobservable
V=M
Nc(A - bk)Q MN0 -2 PQ
A bk =
7.7 &&
y + w 02 y = u
(a) x& =
LM 0
N-w
OP x + LM0OP u
0Q
N1 Q
1
2
0
(b) wn = 2w0; z = 1; s = 2w0

Characteristic polynomial: (s + 2w0)2 = s2 + 4w0s + 4w 02
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]
(c) m = [m1 m2]T

|sI (A mc| = (s + 10w0)2 gives m =
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
Characteristic polynomial: s + m. Desired polynomial: s + 10w0

m = 10w0
Refer Eqns (7.38) (7.49) and Fig. 7.7.
x& 2 = 10w0 x 2 101w 20 y + u; x$ 2 = x 2 + 10w0y
7.8 (a) k = [k1 k2]

(A bk) =
LM 0
N20.6 - k
OP
-k Q
1
SOLUTION MANUAL
81
Characteristic polynomial: |sI (A bk)| = s2 + k2s 20.6 + k1

Desired polynomial: (s + 1.8 + j2.4) (s + 1.8 j2.4) = s2 + 3.6s + 9.
k = [29.6
3.6]
(b) m = [m1 m2]T

|sI (A mc)| = (s + 8)2 gives m =
(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
(d) x& = Ax bk x$ ; x$& = (A mc bk) x$ + my

1
16
-16
x$ +
x
=
84.6 1
-93.6 -3.6
7.9
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
|sI (A bk)| = s2 + 2zwns + w 2n gives k = [k1 k2] = [1

(c) wn = 5; z = 0.5; s2 + 2zwns + w 2n = s2 + 5s + 25
|sI (A mc)| = s2 + 5s + 25 gives m =
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 =
LM0 1OP ; b = LM0OP ; c = [1

N0 0 Q N1 Q
0]
~
x& 2 = (Aee male) ~
x 2 = m ~
x 2 ; s + m = s + 5; m = 5
Refer Eqns (7.38) (7.49).

x& 2 = 5 x$ 2 + u; x$ 2 = x 2 + 5y
(f) x& 2 = 5 x 2 25y + u; X2 (s) =

u = k1x1 k2 [ x 2 + 5y]
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
x = k1x1 k2x2 k3x3 + k1r; N = k1;

u = k~
U = [b
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]
(b) Desired polynomial: s + 8s + 24s + 32

z& = ATz + cT h; h = mTz
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
Conditions for existence of integral control solution are satisfied.

p1 = [ 0.8 0.8
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
Desired polynomial: s3 + 4s2 + 8s + 8

|sI A| = s3 + 3s2 + 2s; k = [8
u(t) = 1.4x1 2.4x2 1.6

x1 = q; x2 = q& ; x3 = ia
x& = Ax + bu
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
|sI (A bk)| = s3 + (11 + 10k3) s2 + (11 + 10k2 + 10k3)s + 10k1

Characteristic polynomial:
(s2 + 2zwns + w 2n ) (s + 10) = (s2 + 2s + 4) (s + 10) = s3 + 12s2 + 24s + 40
k = [4
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
|sI ( A b k)| = s3 + (11 + 10k2)s2 + (11 + 10k1 + 10k2)s + 10k3

= (s + 10) (s + 1 + j 3 ) (s + 1 j 3 ) = s3 + 12s2 + 24s + 40
k = [1.2
7.14 c = [1
0.1
0
4]
0]
|sI (A mc)| = s3 + (11 + m1)s2 + (11 + 11m1 + 11m2)s + 11m1

+ 10m2 + m3
Desired polynomial: (s + 10) (s + 3 + j 3 ) (s + 3 j 3 )
= s3 + 16s2 + 72s + 120.
m = [m1
m3]T = [5
m2
5]T
7.15 x1 = q, x2 = q& , x3 = 0.1ia

KT ia = Jq&& ; q&& = 50ia
x&1 = x2; x& 2 = 5x3;
u Kbq& = La
dia
+ (Ra + 0.1)ia
dt
This gives, x& 3 = 2x3 20x2 + 20u
LM0
A= 0
MM0
N
OP
PP
Q
1
0
LM
MM
N
0
0
5 ;b= 0
20
-20 -2
OP
PP
Q
|sI (A bk)| = s3 + (20k3 + 2)s2 + (100 + 100k2)s + 100k1

Desired polynomial: (s + 3 + j3) (s + 3 j3) (s + 20)
= s3 + 26s2 + 138s + 360.
k = [3.6
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
x&1 = x2; x& 2 = x2 + 20x3; x& 3 = 5x3 +
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
k1 = k1KA = KA; k2 = k2KA; k3 = k3KA
|sI (A bk)| = s3 + (6 + 0.05 k3 )s2 + (5 + 0.05 k3 + k2 )s + k1

Desired polynomial: (s2 + 2s + 4) (s + 10) = s3 + 12s2 + 24s + 40.
k = [40
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
|sI (A bk)| = s2 + (a + b k2)s + b k1 = s2 + a1s + a2

b k1 = a2; k1 =
7.18
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
|sI (A bk)| = s3 + 200 (1 + k2)s2 + 10000(1 + k1)s + 10000k3
85
Desired polynomial:
(s + 10 + j10) (s + 10 j10) (s + 300) = s3 + 320s2 + 6200s + 60,000.
k = [ 0.38
0.6
6]
Resulting system is of type-1.

Steady-state error to constant disturbance is zero, w(t) r.
7.19 (a) A =
LM-3 2 OP ; b = LM1OP ; c = [0
N 4 -5Q N0Q
1]
|sI (A bk)| = s2 + (8 + k1)s + 7 + 5k1 + 4k2

Desired polynomial: (s + 4) (s + 7) = s2 + 11s + 28.
k = [3
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
At steady state, x& = 0; xls =
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
|sI (A bk)| = s3 + (8 + k1)s2 + (7 + 5k1 + 4k2)s + 4k3

Desired polynomial: (s + 1) (s + 2) (s + 7) = s3 + 10s2 + 23s + 14.
k = [2
3.5]; x& = [A bk] x + bw
1.5
LM-5
A bk = 4
MM 0
N
0.5 -3.5
-5
OP
PP
Q
St steady state, x& = 0; ys = x2s = 0

A=
LM -3
N4
OP ; b = LM1OP ; c = [0
-5 Q
N0 Q
2
1]
(a) |sI (A bk)| = (s + 4) (s + 7), gives k = [3

(b)
1.5]
1
= c [A bk]1b; N = 7
N
With u = kx + Nr, the feedback system becomes,
SOLUTION MANUAL
87
x&1 = 6x1 + 0.5x2 + 7r; x& 2 = 4x1 5x2

As t , x&1 = x& 2 = 0
4x1s 5x2s = 0; x1s =
6
5
x2s;
4
5
x1s + 0.5x2s = 7r; x2s = r = y ()
4
(c) x&1 = 3x1 + 2x2 3x1 1.5x2 + w; x& 2 = 4x1 5x2

x2s () = y () =
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
OP LM x OP LM1OP LM 0OP LM1OP

PP MM xz PP + MM00PP u + MM-01PP r + MM00PP w
QN Q NQ N Q NQ
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
w& = 0.5w + 100u; u = Kw + Nr; w& = ( 0.5 100K)w + 100 Nr

(a) Time constant = 0.1 sec.
s + 0.5 + 100K = s + 10; K = 0.095
N1 = c (A bK)1b = 10; N = 0.1;
At steady-state w& 0 . This gives w() = r
(b) A = 0.5; A + dA = 0.6
w& = 0.6w + 100u = 0.6w + 100 ( 0.095w + 0.1r) = 10.1w + 10r

w() =
10
r
10.1
(c) z& = w r
LMw& OP = LM-0.5 0OP LMw OP + LM100OP u + L 0O r

N z& Q N 1 0Q N z Q N 0 Q MN -1PQ
A bK =
LM- 0.5 - 100 K

N 1
-100 K 2
0
OP
Q
|sI (A bK)| = s2 + (0.5 + 100K1)s + 100K2 = s2 + 11s + 50

K1 = 0.105, K2 = 0.5
z
t
u(t) = 0.105w(t) 0.5
(w ( t ) - r )dt
At steady-state, z& 0; this gives w() = r.
7.22
LM 0
F= 0
MM-4
N
1
0
-2
OP LM0OP
1 ;g= 0
P MM1PP
-1PQ
NQ
0
FH
Desired characteristic equation: z z +
1
1
+ j
2
2
IK FH z + 1 - j 1 IK
2
2
= z3 + z2 +
1
z
2
|zI (F gk)| = z3 + (1 + k3) z2 + (2 + k2) z + 4 + k1
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
Desired characteristic polynomial: z z +
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
|zI (F gk)| = z3 + (k3 1.1) z2 + (k2 + 0.2) z + k1 + 0.5

Desired polynomial: z3.
k = [ 0.5 0.2 1.1]
7.25 F =
LM 0 1 OP ; c = [1
N- 0.16 -1Q
1]
The current observer equations are:

x (k + 1) = F x$ (k) + gu(k)
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]
|zI (Fee mf1e)| = z2 + (m2 1.1) z 0.5m1

Desired characteristic polynomial: z2
m = [0
1.1]T; x$ 2 (k) = x2(k) = y(k); x$ e (k) =
LM x$ (k ) OP
N x$ (k )Q
1
Refer Eqns (7.91) (7.97).
x$ e (k + 1) =
LM 0 0OP x$ (k) + LM0OP u(k) + LM 1 OP y(k) + LM 0 OP y(k + 1)

N-0.5 0Q
N1Q N- 0.2Q N11.Q
e
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
(b) x$ (k + 1) = (F mc) x$ (k) + (g md)u(k) + my(k); c = [1 1]

z (k + 1) = FTz(k) + cTh(k); h(k) = mTz(k)
U = [cT
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]
(c) x(k + 1) = Fx(k) + gu(k); u(k) = k x$ (k)
x$ (k + 1) = (F mc) x$ (k) + gu(k) + my(k); y(k) = cx(k) + du(k)

x1(k + 1) = 2x1(k) x2(k) 5.84 x$1 (k) + 3.79 x$ 2 (k)
x2(k + 1) = x1(k) + x2(k) 4.38 x$1 (k) + 2.84 x$ 2 (k)
and
x$1 (k + 1) = 11.84 x$1 (k) 5.21 x$ 2 (k) + 8[x1(k) + x2(k)]
x$ 2 (k + 1) = 0.38 x$1 (k) + 8.84 x$ 2 (k) 5[x1(k) + x2(k)]
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]
(b) |zI (F gk)| = z2 + (1 + k2)z + 0.16 + k1

Desired characteristic equation: (z 0.6 + j0.4) (z 0.6 j0.4)
= z2 1.2z + 0.52
k = [0.36
(c) F =
2.2]
LM 0 1OP ; g = LM0OP ; c = [1
N- 0.16 -1Q N1Q
0]
x$ 2 (k + 1) = Fee x$ 2 (k) + fe1 y(k) + geu(k) + m(y(k + 1) f11 y(k)
g1u(k) f1e x$ 2 (k))

= ( 1 m) x$ 2 (k) 0.16y(k) + my(k + 1) + u(k)
m = 1 gives dead-beat response.
x$ 2 (k + 1) = 0.16y(k) y(k + 1) + u(k)
(d) u(k) = 0.36x1(k) + 2.2 x$ 2 (k) = 0.36y(k) + 2.2 [ y(k)

0.16y(k 1) + u(k 1)]
= 2.56y(k) 0.352y(k 1) + 2.2u(k 1)
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
q(k + 1) = Q1 FQq(k) + Q1 gu(k) = F q(k) + g u(k)
F =
LM 0 1OP ; g = LM0OP
N-0.16 -1Q N1Q
y(k) = cQq(k) = c q(k) = [1
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]
q$ 2 (k + 1) = Fee q$ 2 (k) + fe1 y(k) + geu(k) + m(y(k + 1) f11y(k) g1u(k)

f1e q$ 2 (k))
= q$ 2 (k) 0.16y(k) + my(k + 1) mu(k) m q$ 2 (k)

q~2 (k + 1) = (Fee mf1e) q~2 (k) = ( 1 m) q~2 (k)
m = 1 gives dead-beat response.
q$ 2 (k + 1) = 0.16y(k) y(k + 1) + u(k)
u(k) = 0.36q1(k) + 2.2 q$ 2 (k) = 2.56y(k) 0.352y(k 1)

+ 2.2u (k 1)
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=
Regulator: z = 0.5; wn = 4, z1,2 = e
0]
-zw n T jw n T 1-z 2
= 0.77 j0.278
Characteristic polynomial: z 1.54z + 0.67
LM
N
|zI (F gk)| = z2 + Tk2 +

k = [13
OP
Q
T2
T2
k1 Tk2 + 1
k1 - 2 z +
2
2
3.95]
Prediction observer:
Result follows from Example 7.14.
LM 2 OP ; U(z) = k [zI (F gk mc)] m = 65.5( z - 0.802)

z + 0.46 z + 0.26
N10Q -Y(z)
L1 0.0952OP x(k) + LM0.00484OP u(k); y(k) = [1 0] x(k)
x(k + 1) = M
N0 0.905 Q
N 0.0952 Q
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
Using Ackermans formula:

k = [0
1]U1 f(F) = [105.01
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]
Reduced order dead-beat observer:

F=
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
Desired characteristic equation: z = 0; m = 9.51

Refer Equations (7.91) (7.97)
x$ 2 (k + 1) = 9.51y(k + 1) 9.51y(k) + 0.05u(k)

7.32 (a) y& + y = u + w; T = 1 sec; A = 1, b = 1;
z
T
AT
= 0.368; g =
e -t dt = 0.632
y(k + 1) = 0.368y(k) + 0.632u(k) + 0.632w(k)

(b) Time constant = 0.5 sec; z =
-T
et
= 0.135
Desired characteristic equation: z 0.135 = 0

F gk = 0.368 0.632K
|z (F gk)| = z (0.368 0.632K) = 0
Comparison with desired characteristic equation gives, K = 0.3687
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
(c) At steady state, with r = 0;

ys = 0.135ys + 0.632w; ys =
0.632
w = 0.73w
0.865
(d) Integral control:

z = 0.5, wn = 4
rejq = e
-zw n T jw n T 1-z 2
= 0.128 j0.043
(z + 0.128 + j0.043) (z + 0.128 j0.043) = z2 + 0.256z + 0.018

Desired characteristic equation: z2 + 0.256z + 0.018
v(k) = v(k 1) + y(k) r
LM y(k + 1)OP = LM0.368 0OP LMy(k)OP + LM0.632OP u(k) + LM0.632OP w(k) + L 0O r

Nv(k + 1)Q N0.368 1Q Nv(k)Q N0.632Q N0.632Q MN -1PQ
L y - y OP ; ~x (k + 1) = F ~x (k) + gu~ (k)
~
x =M
Nv - v Q
L0.368 0OP ; g = LM0.632OP ;
F =M
N0.368 1Q N0.632Q
s
|zI F | = z2 + 0.256z + 0.018
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
Solving the above set, we get ys = r

With r = 0:
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
Solving the above set, we get ys = 0.
95
CHAPTER 8
LYAPUNOV STABILITY ANALYSIS
LM 0 1OP . Let us take Q = LM4 0OP = LM2OP [2

N -1 -2 Q
N0 0 Q N 0 Q
L H OP = r LM2 0OP = 2
rM
N H A Q N0 2 Q
0] = HHT
8.1 A =
ATP + PA = Q gives P =
LM5 2OP
N2 1 Q
Since P is positive definite, the system is asymptotically stable.

Also, V(x) = xTPx as ||x||
Therefore the system is asymptotically stable in-the-large.
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
P is not a positive definite matrix; the system is unstable.

8.3 x1 = x2, x 2 = x1 x2 + 2
Equilibrium state xe =
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
P is positive definite matrix. Therefore equilibrium state [2

asymptotically stable.
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
P is positive definite for K > 0; the system is asymptotically stable for

K > 0.
8.5 From Fig. P8.5, we have
x1 = x1 Kx3; x 2 = x1 x2; x 3 = x2 x3
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]
From Lyapunov equation, we obtain,
1
P=
( K + 1)( K - 8)
LM - 3
MMK--32
N
K -2
-3
- ( K + 4) - ( K + 4)
- ( K + 4) - (5K + 8)
For P to be positive definite,
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)
These conditions reduce to the following:

(K + 1) (K 8) < 0
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 =
LM 0.5 1OP ; F PF P = I gives P = LM 3.5

N -1 -1Q
N2.25
2.25
OP
Q
3.875
P is a positive definite matrix. Therefore system is asymptotically stable.
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 =
P is a positive definite matrix. Therefore, the system is asymptotically

stable.
8.8 x1 = x2; x 2 = (1 |x1|) x2 x1
Take V(x) = x12 + x 22
Then, V (x) = 2x1 x1 + 2x2 x 2 = 2 x 22 (1 |x1|)
For V (x) to be negative definite, (1 |x1|) > 0 for x2 0 or |x1| < 1
V (x) is not identically zero anywhere other than the origin. Therefore, for
|x1| < 1, origin is the equilibrium state and is asymptotically stable.
8.9 x1 = x2; x 2 = x1 x12 x2

V(x) = x12 + x 22 ; V(x) as ||x||
V (x) = 2 x12 x 22 < 0
Therefore origin is the equilibrium state and is asymptotically stable inthe-large.

8.10 x1 = 3x1 + x2; x 2 = x1 x2 x 23 ; J =
Take P = I. Then Q = (JT + J) =
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
LINEAR QUADRATIC OPTIMAL CONTROL
9.1 The system of Fig. P9.1 is governed by the differential equation:

y + 2z y + y = 0
Defining state variables as x1 = y, x2 = y ,
we obtain the following state equations for the system,
x =
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
The Lyapunov equation becomes,

ATP + PA + Q = 0
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
Lyapunov equation: ATP + PA + Q = 0

Solving for P, we get
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
(A BK)TP + P(A BK) + Q = 0

Solving for P we get,
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
SOLUTION MANUAL 101
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
For K = 0.1, J = 0.1.

For K = 0.09, J = 0.100556
SKopt =
0.000556 / 0.1
DJ / J
=
= 0.0556
0.01 / 0.1
DK / K
LM0 1OP ; B = LM0OP ; K = [k

N0 0 Q N1 Q
L0
Closed-loop system: x = M
N- k
9.5 A =
k2]; (A BK) =
LM 0
N-k
OP x or x
-k Q
1
OP
-k Q
1
= x2; x 2 = k1x1 k2x2
Eliminating x2 from this equation yields

x1 + k2 x1 + k1x1 = 0
Since the undamped natural frequency is specified as 2 rad/sec, we obtain
k1 = 4.
Therefore, (A BK) =
LM 0
N- 4
OP ; R = 0; Q = LM1 0OP ; x(0) = LM1OP

-k Q
N0 1 Q
N0 Q
1
(A BK) P + P(A BK) + Q = 0

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
For this value of k2 : Jmin =
LM0
N0
L2
Q= M
N0
9.6 A =
5
4
OP ; B = LM0OP ; K = [k k]; (A BK) = LM 0

0Q
N1 Q
N- k
0O
1
P2Q ; R = 0; x(0) = LMN0OPQ
1
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
9.7 (A BK)TP + P(A BK) + KTRK + Q = 0; Q =
LM2 0OP ; R = 2
N0 2 Q
Solving Lyapunov equation, we get
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
LM0 1OP ; B = LM0OP ; u = Kx; Q = LM2 0OP ; R = 2

N0 0 Q N1 Q
N0 2 Q
{A, B} pair is controllable, and Q is positive definite.

Matrix Ricatti equation is: ATP + PA PBR1BTP + Q = 0
Solving for P, we get,
P=
LM2 3
N2
2
2
OP ; K = R
3Q
BP = [1
3]
SOLUTION MANUAL 103
9.9 The matrix Ricatti equation is: ATP + PA PBR1BTP + Q = 0

Q=
LM2 0OP = H H = LM 2 OP [
N0 0 Q
N0Q
T
0]; r
LM H OP = 2
NHAQ
{A, H} pair is observable. Sufficient conditions satisfied.

Solving the Ricatti equation, we get
P=
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 =
LM0 0OP ; B = LM1OP ; Q = LM2 0OP ; R = 2

N0 1Q N1Q N0 0Q
{A, B} pair is controllable.

Q = HTH =
LM 2 OP [
N0Q
0]
{A, H} pair is not observable. Sufficient conditions not satisfied.

Solving the Ricatti equation, ATP + PA PBR1BTP + Q = 0, we get
P=
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-1 0OP ; B = LM1OP ; Q = LM2 0OP ; R = 2

N 1 0 Q N0 Q N0 0 Q
{A, B} pair is controllable.

Q = HTH =
LM 2 OP [
N0Q
0]
{A, H} pair is not observable. Sufficient conditions not satisfied.

Solving Ricatti equation, A TP + PA PBR1BTP + Q = 0, we get
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
[y(t) 1]2 + u2dt; yd = r = 1
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
{A, B} pair is controllable

Q=
LM1OP [1
N0 Q
0] = HTH. {A, H} pair is observable.
ATP + PA PBR1BTP + Q = 0
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 =
LM0 1OP ; B = LM0OP ; C = LM1 0OP

N0 0 Q N1 Q N0 2 Q
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
{A, B} pair is controllable. Q is positive definite.

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
SOLUTION MANUAL 105
P=
LM 4 2OP ; K = R
N2 2Q
1 T
B P = [1
Equation of the state observer:
1]
LM OP
N Q
m1
; C = [1
x = (A MC) x + Bu + My: M =
m2
0]
|lI (A MC)| = l2 + (1 + m1)l + (m1 + m2) = 0

If the poles of the observer are to lie at s = 3, the desired characteristic
equation is l2 + 6l + 9 = 0. Comparing the coefficients, we get
m1 = 5, m2 = 4; u = x1 x 2
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
OP x + LM0OP u; x(0) = LM0OP ; y = [1

-5 Q
N1 Q
N0 Q
1
0]x
In terms of the shifted state variables, ~

x1 = x1 qr; ~
x 2 = x2, the model
becomes
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
From this J, we obtain the following matrices:

Q=
LM2 0OP ; R = 1
N0 0 Q
The pair {A, B} is controllable.

Q = HTH =
LM 2 OP [
N0Q
0]. The pair {A, H} is observable.
Solving the matrix Ricatti equation, ATP + PA PBR1BTP + Q = 0,

we get
P=
LM7.495
N 2
OP
0.275Q
2
The optimal gain matrix is K = R1BTP = [ 2

The matrix (A BK) is stable.
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
LM0 1 OP ; B = LM0OP ; Q = LM2 0OP ; R = 2r.

N0 -5Q N1Q N0 0Q
LM F 2 I
2r
GH 25 + r JK
M
P= M
MM 2r
NM
1/ 2
1/ 2
Case (i): r = 0.1

P=
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
Poles: 0.6377, 4.9592

Case (ii): r = 0.01
P=
LM1.3416
N 0.2
OP
Q
0.2
; K = [10
0.0342
1.7082]
Poles: 2.2361, 4.4721

Case (iii): r = 0.001
P=
LM0.5941
N0.0632
OP
Q
0.0632
; K = [31.6228
0.0088
4.3939]
Poles: 4.6970 j3.0921
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
SOLUTION MANUAL 107
Solving for P we get,
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=
0]T, the performance index has the
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
Let ys and us be steady-state values (assuming w = 0 for the time being).

At steady state: 0 = ys + us
The steady-state equation can now be expressed as,
~
y = ~
y + u~ , where ~
y = y ys, u~ = u us; J =
(~
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 )
Steady-state error due to disturbance: lim sY (s) =

s 0
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
At steady state y = z = 0, and therefore
LM 0OP r = LM-1 0OP LM y OP + LM1OPu

N-1Q N 1 0Q N z Q N0Q
s
Substituting in state equation, we get
LM~y OP = L-1 0O L~y O + L1Ou~

N~z Q MN 1 0PQ MN~z PQ MN0PQ
~
z = z zs; u~ = u us
y = y ys; ~
J=
(~
y2 + ~
z 2 + u~ 2 ) dt
A=
LM-1 0OP ; B = LM1OP ; Q = LM2 0OP ; R = 2

N 1 0 Q N0 Q N0 2 Q
This shifted regulator problem has already been solved in Example

9.8. The matrix, K = [1 1]
z
t
Therefore, u(t) = y(t)
[y(t) r]dt
(e) Block diagram of the control scheme is shown in the figure that
follows:
Block diagram manipulation gives (for r = 0)
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
SOLUTION MANUAL 109
9.19 (a) w = 0.5w + 100u

Let ws and us be the steady-state values. At steady state:
0 = 0.5ws + 100us
The state equation can now be expressed as:
~ + 100 u~
~ = 0.5w
w
~ = w w ; u~ = u u
where, w
s
s
J=
~ 2 + 100u~ 2 ) dt
(w
A = 0.5, B = 100, Q = 2, R = 200

Solving Ricatti equation for P: ATP + PA PBR1BTP + Q = 0, we get
P 50P2 + 2 = 0. This gives P = 0.19; K = R1BTP = 0.095.
~ ; u = 0.095w + 0.095w + u ; u + 0.095w = Nr
Now, u~ = 0.095w
s
N 1 = C(A BK)1 B = 10, N = 0.1

The control law, therefore, is u = 0.095w + 0.1r
The closed-loop system becomes: w = 0.5w + 100u = 10w + 10r
At steady-state: w = 0, w () = r
(b) A = 0.5, A + dA = 0.6
w = 0.6w + 100u = 0.6w + 100( 0.095w + 0.1r) = 10.1w + 10r

At steady-state: w () =
10
r
10.1
(c) z = w r
LMw OP = LM- 0.5 0OP LMw OP + LM100OP u + L 0O r

N z Q N 1 0Q N z Q N 0 Q MN -1PQ
At steady-state: w = 0, z = 0. Therefore,
LM 0OP r = LM- 0.5 0OP LMw OP LM100OP u

N-1Q N 1 0Q N z Q N 0 Q
s
where ws, us, zs are steady-state values. Substituting in the state

equations,
LMw~ OP = L- 0.5 0O Lw~ O + L100O u~

MN ~z PQ MN 1 0PQ MN ~z PQ MN 0 PQ
~ = 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
ATP + PA PBR1BTP + Q = 0, gives

P=
LM0.21
N 0.2
0.2
2.2
OP ; K = R
Q
1 T
B P = [0.105 0.1]
z
t
u(t) = 0.105w(t) 0.1 [w (t) r]dt

0
The control scheme is shown in figure that follows.
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
Therefore, for A + d A = a, the steady-state error is zero.

9.20 F = 1, G = 1, Q = 2, R = 1.5
From Lyapunov equation, (F GK)TP(F GK) P + KTRK + Q = 0,
we get
P=
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
SOLUTION MANUAL 111
For K = 0.67, J = 1.499.

For K = 0.57, J = 1.526.
SKopt =
0.027 / 1.499
DJ / J
=
= 0.1207
0.1 / 0.67
DK/ K
9.21 x(k + 1) = 0.368x(k) + 0.632u(k)
J=
[x2(k) + u2(k)]; F = 0.368, G = 0.632, Q = 2, R = 2
k= 0
From matrix Ricatti equation, P = Q + FTPF FTPG(R + GTPG)1GTPF,

we get
0.3994P2 + 0.9304P 4 = 0
P = 2.207; K = (R + GTPG)1GTPF = 0.178; u(k) = 0.178x(k)
9.22 Gh0G(z) = (1 z1) Z
For T = 0.5, Gh0G(z) =
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 )
(a) Let ys and us be the steady-state-values. At steady-state,

ys = 0.6ys + 0.4us
Substituting in the state equation,
~
y (k + 1) = 0.6 ~
y (k) + 0.4u~ (k)
where ~
y = y ys, u~ = u us
J=
1
~
y 2 ( k ) + u~ 2 (k); F = 0.6, G = 0.4, Q = 1, R = 1
2 k=0
The Ricatti equation P = Q + FTPF FTPG(R + GTPG)1GTPF gives,

0.16P2 + 0.48P 1 = 0; P = 1.415
K = (R + GTPG)1GTPF = 0.277
(b) The closed-loop system is described by the equation,
y(k + 1) = 0.6y(k) + 0.4[0.277 (r y(k)] = 0.4892y(k) + 0.1108r
At steady-state, y() = ys =
0.1108
r = 0.217r
0.5108
(c) N1 = C(F GK I )1G = (0.6 0.4 0.277 1)1 0.4;

N = 1.277
The closed-loop system is,
y(k + 1) = 0.6y(k) + 0.4[ 0.277y(k) + 1.277r]
= 0.4892y(k) + 0.5108r
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() =
x (k) = x(k) xs , u~ (k) = u(k) us

where ~
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
.
(d) Add to the plant equation, an integrator equation,

v(k) = v(k 1) + x(k) r where v(k) is the state of the integrator. A
control law of the form, u(k) = K1x(k) K2v(k) will provide the
required robustness. Refer Fig. 7.17 for the control structure.
CHAPTER 10
NONLINEAR CONTROL SYSTEMS
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
This gives E1 = 8M/p
8M
sin t
p
y(t) = e(t) =
G(jw) =
5
4
; N(E) =
2
pE
jw (1 + j 0 .1w )
1-
FH 0 .1 IK
E
90 2 tan1 0.1w1 = 180

This gives w1 = 10 rad/sec.
For a stable limit cycle, 2 D < E < ; D = 0.1
1
N E1
a f
= |G(jw1)| = 0.25
This gives E1 = 0.3

Amplitude of limit cycle is 0.3 and frequency is 10 rad/sec.
For a limit cycle to exist,
2 D < E < ; D = 0.2
G(jw1) = 180 for w1 = 10.95. |G(jw1)| = 0.206

|G(jw1)| -
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
The following figure shows G(jw)-plot and
-1
locus.
N ( E)
Im
Re
pH
4
E increasing
-1
N(E)
E=H
G( jw)
At the point of intersection of G(jw)-plot with
-1
locus, measure the
N(E)
angle of G(jw). This comes out to be 115.7.

G(jw1) = tan1 0.1w1 tan1 2w1 = 115.7
This gives w1 = 5.9 rad/sec
|G(jw1)| = 0.33
1
N E1
a f
p E1
= 0.33
4
This gives E1 = 0.42

10.6 G( jw) =
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
SOLUTION MANUAL 115
=1-
LM
N
2
1
1
+
sin -1
p
E
E
1-
OP = 1 N (E)
Q
1
E2
The function Nc(E) is listed in Table 10.3.

For any K > 0, one of the following can happen.
(i) G(jw)-plot does not intersect
-1
locus
N(E)
-1
locus; but the point of intersection
N(E)
corresponds to an unstable limit cycle.
(ii) G(jw)-plot intersects the
10.7 Revisiting Review Example 10.3 (Fig. 10.40) will be helpful.

G(jw) =
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
The function Nc(E) is listed in Table 10.3.

G(jw1) = 180 gives w1 =
|G(jw1)| =
-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.
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.
For K = 1, G(jw)-plot does not intersect
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.
10.10 e = f(qR q) = sin (qR q) = sin ( q)
q + aq + K sin q = 0

With
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
The characteristic equation is

s2 + as + K = 0
The singular point is stable and is either a node or a focus depending upon
the magnitudes of a and K.
Linearization about the singular point (p, 0) gives
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
SOLUTION MANUAL 117
(i) z = 0; singularity (1, 0) on (y, y ) plane is a centre

(ii) z = 0.15; singularity (1, 0) on (y, y ) plane is a stable focus.
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
With x1 = e and x2 = e /wn, we have

x1 = wn x2
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)
Without hysteresis, the system behaviour is oscillatory with decreasing

(tending towards zero) period and amplitude of oscillations (refer Fig.
10.32). With hysteresis, the system enters into a limit cycle, as is shown in
the figure below.
SOLUTION MANUAL 119
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
and trajectories for x1 < 0 are given by

x1(t) =
1 2
1
x 2 (t) + x1(0) x 22 (0)
2
2
The system response is a limit cycle as shown in the figure.
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
and 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
With derivative feedback, the limit cycle gets eliminated as shown in

the figure.
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
10.17 q + 0.5q = 2 sgn(e + 0.5q )

With x1 = e and x2 = e , we have
x1 = x2
x 2 = 0.5x2 2 sgn(x1 + 0.5 x2)
As seen from the phase trajectory in the figure, the system has good damping, no oscillations but exhibits chattering behaviour. Steady-state error is
zero.
SOLUTION MANUAL 121
qR = const +
e +
1
s + 0.5
-2
1
s
0.5
x2
2
1
x1
x1 + 0.5 x2 = 0
10.18 (a) With x1 = e, x2 = e and u = f(e), we have

x1 = x2
x 2 = x2 f(x1)
The system oscillates with everdecreasing amplitude and everincreasing frequency (refer Fig. 10.32).
122
(b) A rough sketch of the phase trajectory is shown in the figure.
(i) Deadzone provides damping; oscillations get reduced.

(ii) Deadzone introduces steady-state error; maximum error = 0.2.
(c) x1 = x2
SOLUTION MANUAL 123
F
H
x 2 = x2 f x1 +
1
x2
3
I
K
A rough sketch of the phase trajectory is shown in the figure. By

derivative control action (i) settling time is reduced, but (ii) chattering
effect appears.
10.19 Section 10.10 provides solution to this problem. Optimum switching curve
is given by Eqns (10.48). Figure 10.37 shows a few trajectories.
e + e = u; x1 = e, x2 = e
10.20
For u = +1 (refer Eqns (10.26))
x1 x1(0) = (x2 x2(0)) + ln
FG 1 + x IJ
H 1 + x ( 0) K
2
The trajectories are asymptotic to the ordinate 1.

For u = 1
x1 x1(0) = (x2 x2(0)) ln
FG 1 - x IJ
H 1 + x ( 0) K
2
The trajectories are asymptotic to the ordinate +1.

For x1(0) = x2(0) = 0,
x1 = x2 + ln (1 + x2); u = + 1
x1 = x2 ln (1 x2); u = 1
Switch curve is given by
x1 = x2 +
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 =
NEURAL NETWORKS FOR CONTROL
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
a0.4 - s (-3w + w )fa1 - s (-3w + w )fs ( -3w + w ) = 0

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
vjr (k + 1) = vjr (k) + h tr ej (k)

vj0 (k + 1) = vj0 (k) + h ej (k)
ej (k) = yj - y j (k)
q
wrlh2 ( k + 1) = wrlh2 ( k ) + h t r (1 - tr ) zl v jr e j ( k )
j =1
SOLUTION MANUAL 125

q
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
11.6 (a) s (a) =
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
Weight update rule:

wi (k + 1) = wi ( k ) +
(b) a(1) =
h
( y - y ( k ) ) 1 - y 2 ( k ) x i
2
w i xi (1 )
= 1 + 2 0.5 = 2.5
i =1
y (1) = s [a(1)] = 0.848
h
( -1 - 0.848 ) 1 - ( 0.848) 2 x (1)
2
= [0.974, 0.948, 0, 0.526]
M
w (1) = w (0) +
(c) y (1) = s w1 x1( 1) + w2 x 2 (1) + w3 x 3 (1) + w4 x 4 (1) = 0.8483

e(1) = y(1) y (1) = 1.8483
y ( 2 ) = 0.7616; e(2) = 0.2384

y ( 3 ) = 0.8483; e(3) = 1.8483
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
m PS ( 55) = 0 ; m PM ( 55) = 0.25 ; m PL ( 55) = 0.75

~
m PS ( 27) = 0.38 ; m PM ( 27) = 0.62 ; m PL ( 27 ) = 0

~
F
I
H ~
K
~
min F m (27), m ( 55)I = 0.62
H ~
K
~
a1 = min m PS (27), m PM (55) = 0.25

a2 =
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
min a 1 , m PL ( z ) = min 0.25, m PL ( z )

~
PM
PM
agg
PL
PM
10 ( 0.2) + 20 ( 0.4) + 30 ( 0.6 ) + 40 ( 0.62 ) + 50 ( 0.62 )

+
60 ( 0.62 ) + 70 ( 0.6 ) + 80 ( 0.4 ) + 90 ( 0.25) + 100 ( 0.25)
z* =
0.2 + 0.4 + 0.6 + 0.62 + 0.62 + 0.62 + 0.6 + 0.4 + 0.25 + 0.25
= 53.18
4
1
; m LD ( 60) =
12.15 m SD ( 60 ) = 0 ; m MD ( 60 ) =
~
~
~
5
5
3
2
; m LG ( 70) =
m NG ( 70 ) = 0 ; m MG (70 ) =
~
~
~
5
5
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
SOLUTION MANUAL 129
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
H ~ K H5 ~ K
1
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
10 ( 0 ) + 15 ( 0.325) + 20 ( 0.6 ) + 25 ( 0.6 ) + 30 ( 0.6) + 35 ( 0.4 )

+ 40 ( 0.4 ) + 45 ( 0.4) + 50 ( 0.4 ) + 55 ( 0.25) + 60 ( 0.2)
z* =
0 + 0.325 + 0.6 + 0.6 + 0.6 + 0.4 + 0.4 + 0.4 + 0.4 + 0.25 + 0.2
= 34.40
12.16 With 10 bits we can get solution accuracy of
interval (0,6).
(6 - 0)
b2
10
g or 0.006 in the
-1
Let the first string of initial population be :

11001000001110010000
The first substring decodes to value equal to (29 + 28 + 25) = 800 . Thus
( 6 - 0 ) 800
= 4.692 . Similarly for
corresponding parameter value is 0 +
1023
second substring, the parameter value is equal to 5.349. Thus the first
string in initial population corresponds to the point x(1) = [4.692 5.349]T.
The function value at this point is equal to f [x(1)] = 959.680, and the
1
= 0.001.
fitness function F [x(1)] =
1 + 959.680

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SOLUTION MANUAL

OUTLINE OF THE SOLUTION MANUAL

This Solution Manual has been designed as a supplement to the textbook:

SIGNAL PROCESSING IN DIGITAL CONTROL

2.3 (a) x1 : output of the unit delayer

(b) R (z) = 1; Y(z) =

2.4 (a) y (k + 1) = ay (k) + b r (k);

(d) r(k) = A cos (Wk) = Re {AejWk}; Z {ejWk} =

DIGITAL CONTROL AND STATE VARIABLE METHODS

2.5 (a) Given difference equation in shifted form:

(b) 2Y (z) 2z 1 Y (z) + z 2 Y (z) =

From the given difference equation we get,

Taking z-transform of the given equation:

y() = lim (z 1) Y (z) =

DIGITAL CONTROL AND STATE VARIABLE METHODS

Refer Eqn (2.45)

The output y (k) is bounded because of matching of system poles with

D(1) = 0.114 > 0; satisfied

D( 1) = 2.69 > 0; (n even); satisfied

D(z) = z 4 + 0.5 z 3 0.2 z 2 + z + 0.4 = 0

Refer Section 2.8; Eqn (2.56)

2.16 (a) Refer Section 2.9

(c) Noise signal: n(t) = cos 50t

Z {cos 50kT} = Z cos

It can be seen that the noise signal cos 50t sampled at

Refer Section 2.10; Fig. 2.36.

Refer Section 2.12; Eqns (2.72)

(i) s = a + jb; z = e aT e jbT

For T = 0.4 sec, G(z) =

(i) Refer Eqn (2.90b)

DIGITAL CONTROL AND STATE VARIABLE METHODS

Refer Section 2.12; Fig. 2.41a.

Refer Section 2.12; Figs 2.44 and 2.37.

D(s) is a phase lag compensator that meets the requirements.

D(z) = D(s) with s =

u(k) = uP(k) + u1(k) + uD(k)

ke(k ) - eak - 1fpOPP

= y(k 1) aTy(k) + Tr(k)

(b) y(k + 1) = y(k) a

= (1 aT) y(k) + Tr (k)

(b) x1 = y; x2 = y& ; x&1 = x2; x& 2 = bx1 ax2

x(k + 1) = x(k) + T)x(k) = (I + AT) x(k); x(0) =

CHAPTER 3 MODELS OF DIGITAL CONTROL DEVICES AND

3.4 Reduced form of the block diagram in Fig. P3.4:

Y(z) = GpH2 R(z) +

This is the required answer.

X(z) = Gh0G1(z) U(z)

Y(z) = WG(z) D(z)Gh0G(z) Y(z); Y(z) =

For T = 0.25 sec,

3.8 Plant transfer function is,

Let x(k) be the input to D/A block.

DIGITAL CONTROL AND STATE VARIABLE METHODS

3.9 The filter is described by the following difference equation,

RS 1 UV = aT -1+ e fz +a1-e -Te f

(i) Gh0G(z) = (1 z1) Z

Using transform pairs of Table 3.1, we obtain,

3.11 Refer Section 3.6.

A pole lies outside the unit circle; the system is unstable.

3.14 z3 0.1z2 + 0.2Kz 0.1K = D(z)

(i) For T = 0.5, system stable for 0 < K < 4.723

3.16 Gh0G(z) = (1 z1) Z

a = e T + 1 K(T 1 + e T); b = e T + K(1 e T Te T)

Substituting for a and b and solving for K yields:

3.17 For T = 1 sec,

Y (z) = Z {Gh0(s) G(s)e DTs)} E(z); E(z) = R(z) Y(z);

y (k) = [0.5 0.107 ( 0.264)k 1] m(k 1)

y (3) = 0.493 = y(2.5T); y (4) = 0.5019 = y(3.5T)