In each chapter, there are five problem types: = Exercises = Problems * Advanced Problems Design Problems/Continuous Design Problem = MATLAB Problems In total, there are over 800 problems. The abundance of problems of increas ing complexity gives students confidence in their problem-solving ability as they ‘work their way from the exercises to the design and MATLAB problems, ‘A set of Mefile, the Modern Control Systems Toolbox, have been developed by the authors to supplement this Solurion Manual. The M-files contain the scripts from each MATLAB problem in the Solution Manual. You may retrieve the M- files from the MCS website site at http://www.prenhall.com/dorf. The Modern Control Systems Toolbox is for use with the program MATLAB, available from “The MathWorks, Inc. located in Natick, MA, U.S.A. at (508) 653-1415. THE SOFTWARE Tis assumed that instructors (and students) have access to MATLAB and the Con trol System Toolbox. All of the MATLAB solutions in this Solution Manual were developed and tested on a Window 98 platform using MATLAB 5.3 and the Con- trol System Toolbox Version 4.2. It is not possible to verify each solution on all the available computer platforms that are compatible with MATLAB. Please for- ‘ward any incompatibities you encounter with the MATLAB scripts to one of the ‘email addresses given below. 1. Mariap is registered trademark of The MathWorks, Inc.iv Preface ACKNOWLEDGEMENTS We wish to express our appreciation to the following reviewers: Dr. Hy Tran, University of New Mexico, and Ed Chan, University of California, Berkeley. We ‘would also like to thank the following University of Texas at Austin graduate students for their assistance with the solutions of some of the problems: Eduardo Gildin and Rich Mrozinski. Finally, our gratitude goes to Lynda Ferrera Bishop for her assistance in typesetting the Solution Manual. OPEN LINES OF COMMUNICATION ‘The authors and the staff at Prentice Hall would like to establish an open line of, communication with the instructors using Modern Control Systems. We encour- age you (0 contact Prentice Hall with comments and suggestions for this and fu- ture editions. Robert H. Bishop _bishop@esr.utexas.cd Richard C. Dorf _redorf@ece.uedavis.eduTable of Contents v TABLE OF CONTENTS Introduction to Control Systems Mathematical Models of Systems State Variable Models ... Sec Feedback Control System Characteristics. - ‘The Performance of Feedback Control Systems . ‘The Stability of Linear Feedback Systems ‘The Root Locus Method ...... Frequency Response Methods .... 1. Stability in the Frequency Domain - 10. The Design of Feedback Control Systems : 11, The Design of State Variable Feedback Systems ..... 12, Robust Control Systems . paaweene ~ 13, Digital Control Systems ...Introduction to Control Systems There are, in general, no unique solutions to the following exercises and prob- Jems. Other equally valid block diagrams may be submitted by the student. EXERCISES El.1 A microprocessor controlled laser system: nae ince lene Mca SEM) ame a = a Sane = E12 A driver controlled cruise control system: Driver Leet) Carand ee oon Engine on ee snewstet_—_ SpeedometerCHAPTER 1 Introduction to Controt Systems E13 Although the principle of conservation of momentum explains much of the pro- cess of fly-casting, there does not exist a comprehensive scientific explanation of how a fly-fisher uses the small backward and forward motion of the fly rod to cast an almost weightless fly lure long distances (the current world-record is 236 fi). The fly lure is attached to a short invisible leader about 15-ft long, which is in tum attached to a longer and thicker Dacron line. The objective is cast the fly lure to a distant spot with deadeye accuracy so that the thicker part ofthe line touches the water first and then the fly gently settles on the water just as an insect, might. ‘win caioanee od, tine, and eaat il ny tat a ba faa aaee > [* eee Se me cE & net et : 1 fetaExercises ELS Tacking a sailboat as the wind shifts: a | Sailor wu Le set oro senen Coaanl le | tt EL7 Using the speedometer, the driver calculates the difference between the measured speed and the desired speed. The driver throotle knob or the brakes as necessary to adjust the speed. Ifthe current speed is not too much over the desired speed, the driver may let frietion and gravity slow the motorcycle down. pose iorCHAPTER 1 Introduction to Control Systems EL8 Human biofeedback control system:Problems PROBLEMS P1.1 An automobile interior cabin temperature control system block diagram: “Thermostat and omnes ——=(} sar conditioning so | Y ala ‘Soiree ry Sensoe 4 PL2 A human operator controlled valve system: vm tome eo | fra Vawe Tank ral ma! | Saat cope | Miadoeoet™ aoe + oper nnn P13 Achemical composition control block diagram: ee! ave | Mixer crema Ne | Tube, Infrared eewsi dence AnalyzerCHAPTER 1 Introduction to Controt Systems PL4 A nuclear reactor control block diagram: eh _—-/Duat Ban | alectny om we et eats Om P16 Ifyou assume that increasing worker's wages results in increased prices, then by delaying or falsifying cost-of-living data you could reduce or eliminate the pres- ‘Sure o increase worker's wages, thus stabilizing prices. This would work only if there were no other factors forcing the cost-of-living up. Government price and ‘wage economic guidelines would take the place of additional “controllers” in the block diagram, as shown in the block diagram. erate | Govt a os Industry | en | suldetines | = ca ule eatteng P17 Assume that the cannon fires initially at exactly 5:00 p.m.. We have a positive feedback system. Denote by At the time lost per day, and the net time error byProblems. Ey. Then the follwoing relationships hold: Ar =4/3 min, +3 min, = 13/3 min, and 12 days x 13/3 min./day . ‘Therefore, the net time error after 15 days is Ey = 52min. PLB The student-teacher learning process: aan student sowtne J Exams PLO Aheart-rate control system: coe a part +t Brain boot Arm & ro a wi lawns | muscles | |, ot 7 PressureCHAPTER 1 Introduction to Control Systems LAO An aircraft flight path control system using GPS: ‘loons, 7 (-)--|Computer a fiaweoet 5” Auto-pllot rudder, and eee et Saotee | engine useess___[ Global Positioning Samm —| System PLL The accuracy of the clock is dependent upon a constant flow from the orifice; the flow is dependent upon the height of the water in the float tank. The height of the ‘water is controlled by the float. The control system controls only the height of the water. Any errors due to enlargement of the orifice or evaporation of the water in the lower tank is not accounted for. The control system can be seen as: Steg ——n()—Float level fet he. “7 ~ PLI2 Assume that the turret and fantail are at 90°, if Av #4 @r-90°. The fantail operates ‘on the error signal 0 - @r, and as the fantail tums, it drives the turret to tum. te tantall | roe = actuator oars & turret |eProblems 9 PLI3 This scheme assures the person adjusts the hot water for temperature control, and then adjusts the cold water for flow rate control. Pild If the rewards in a specific trade is greater than the average reward, there is a positive influx of workers, since att) = file) -r@). If an influx of workers occurs, then reward in specific trade decreases, since ) = fig). | Fe -r) se: 4 -fqio) rate ° _! 7 115 A computer controlled fuel injection system: feccereesc | wign Pressure Fuel! ana —2()-~ Blectronic | ——~) Supply Fump and pe. = a ae a ee ee [ pusi pressure | TEI ee LS10 PLIs CHAPTER 1 Introduction to Control Systems With the onset of a fever, the body thermostat is turned up. The body adjusts by shivering and less blood flows to the skin surface. Aspirin acts to lowers the ther- ‘mal set-point in the brain. ‘Adjustments. Dost wnoertre =| within the ane ow tare body body Tempore Internat | Romsey ‘soneor bossa I PLIT PLIs Hitting a baseball is arguably one of the most difficult feats in all of sports. Given. that pitchers may throw the ball at speeds of 90 mph (or higher!), batters have only about 0.1 second to make the decision to swing—with bat speeds aproach- {ng 90 mph. The key to hiting a baseball a long distance is to make contact with the ball with a high bat velocity. This is more important than the bat’s weight, which is usually around 33 ounces (compared to Ty Cobb’s bat which was 41 ounces!). Since the pitcher can throw a variety of pitches (fast ball, curve ball, slider, et.) a batter must decide if the bal is going to enter the strike zone and if possible, decide the type of pitch. The batter uses his/her vision as the sensor in the feedback loop. A high degree of eye-hand coordination is key to success— that is, an accurate feedback control system. Define the following variables: p = output pressure, f, = spring force = Kx, fa diaphragm force = Ap, and fy = valve force = f,- fz. The motion of the valve is described by 5) = fu/m where m is the valve mass. The output pressure is proportional to the valve displacement, thus p = cy , where c is the constant of proportionality.Problems "1 PLI9 A control system to keep a car at a given relative position offset from a lead car: Ses Ses = om = tera P1.20 A control system for a high-performance car with an adjustable wing: Race Car es a | eee — strain gouges P21 A control system for a twin-lift helicopter system: Helicopter aa —~ | ttimeter =12 CHAPTER 1 Introduction to Control Systems P1.22 The desired building deflection would not necessarily be zero. Rather it would be prescribed so that the building is allowed moderate movement up to a point, and then active control is applied if the movement is larger than some predetermined amount. Hydrautte 7 actuator Bullding = peteton stiffeners, I | | reel ‘Strain gauges: Hi * Sructore 1.23 The human-like face of the robot might have micro-actuators placed at strate- zgic points on the interior of the malleable facial structure, Cooperative control of the micro-actuators would then enable the robot to achieve various facial ex- i pressions * eum __[ Electro: ae SO mpi mrechenls! |) pagar cas sctuator tet 124 We might envision a sensor embedded in a “gutter” atthe base of the windshield which measures water levels—higher water levels corresponds to higher inten- sity rain. This information would be used to modulate the wiper blade speed.Problems P125 A feedback control system for the space traffic contro: a ‘Eanunie [Reaction owing oy ene! | Bas 13 eta ean14 CHAPTER 1 Introduction to Control Systems DESIGN PROBLEMS CDP1.1 The machine tool with the movable table in a feedback control configuration: ag | iachine ve terana | uma cc feaiwath fo. 5 ee em l Position oan pr tomer" | DPL1 Use the stereo system and amplifiers to cancel out the noise by emitting signals 180” out of phase with the noise.Design Problems: DPL3 An automoted cow milking system: 15 Vision con taton [system oan = issuer ttt = 3_J Motor and Rabat armand |e _|Cowand ura "| gears ‘cup gripper 7 leaner Vision controller | | vehicle dynamics | wicwenee it16 CHAPTER 1 Introduction to Controt Systems P16 _A vibration damping system for the Hubble Space Telescope: swt; 2+ computer |» reation ener! 95 Her whools cae SSeeiime -—Peeee | Gyroanc | ier” | Spaceoratt ‘dynamics