Chapter 6 Problem 1P

Step 1 of 18
The input of the given system is,

Apply z-transform on both sides.

(8)
Substitute Equation (8) and (7) in Equation (5).

Re-arrange the terms in the equation.

(9)
Apply partial fraction expansion to Equation (9).

(10)

Thus,
(11)
Substitute 1 for z in Equation (11).

Substitute

Substitute

for z in Equation (11).

for A and

for B in Equation (10).

(12)

Step 2 of 18
Compare Equation (9) with Equation (12).

Apply inverse z-transfer on both sides.

(13)

Thus, the output equations

for the given system is

Step 3 of 18
The table for

0.6321

0.465099

0.509221

0.497564

0.500644

0.49983

0.500045

0.499988

0.500003

10

0.499999

11

0.5

12

0.5

13

0.5

14

0.5

15

0.5

Table 1

with the variable k varies from 0 to 15 shown in table 1.

The output response is shown in Figure 1.

Figure 1
Hence, the output response for the given system is plotted.

Step 4 of 18
(b)
Determine the output function,

From Figure P6-1 in the text book, the output transfer function

(14)

(15)
The input of the given system is,

(16)
The plant transfer function

is,

(17)

Step 5 of 18
Substitute Equation (17) in Equation (15).

(18)

Step 6 of 18
Substitute equations (18) and (16) in equation (14).

is,

 (19)

Step 7 of 18
Apply partial fraction expansion to Equation (19).

(20)

Thus,
(21)
Substitute 0 for s in Equation (21):

Substitute

for s in Equation (21):

Substitute 0.5 for A and

for B in Equation (20):

(22)
Compare Equation (19) and Equation (22).

Apply inverse Laplace to the above equation:

(23)

Thus, the output function

is

Step 8 of 18
The table for

with the variable t varies from 0 to 15 shown in Table 2.

0.31606

0.432332

0.475106

0.490842

0.496631

0.498761

0.499544

0.499832

0.499938

10

0.499977

11

0.499992

12

0.499997

13

0.499999

14

0.5

15

0.5

Table 2

Step 9 of 18
The output response is shown in Figure 2.

Figure 2
Hence, the unit step response is plotted.

Step 10 of 18

(c)
Substitute Equation (3) in Equation (2).

Substitute 0.4 for T in the above equation,

(24)

Substitute Equation (24) in the equation,

(25)

Step 11 of 18

Substitute Equation (8) and (25) in

Re-arrange the terms in the equation.

(26)

Step 12 of 18
Apply partial fraction expansion to Equation (26).

 (27)

Thus,
(28)
Substitute 1 for z in Equation (28).

Substitute

Substitute

for z in Equation (28).

for A and

for B in Equation (27).

(29)

Step 13 of 18
Compare Equation (26) and Equation (29).

Apply inverse z-transfer on both sides.

(30)

Thus, the output equations

for the given system is,

Step 14 of 18
Substitute

for t in Equation (23).

Thus, the output function

The table for

is

with the variable k varies from 0 to 15 shown in Table 3.

k
0

0.1813

0.16485

0.296861

0.275349

0.370519

0.349416

0.417469

0.399064

0.447395

0.432342

0.466469

0.454649

0.478628

0.469601

0.486377

0.479624

0.491317

0.486342

10

0.494465

0.490845

11

0.496472

0.493863

12

0.497751

0.495887

13

0.498567

0.497243

14

0.499086

0.498152

15

0.499418

0.498761

Table 3

Step 15 of 18
The output response is shown in Figure 3.

Figure 3
Hence, the output response for the given system is plotted.

Step 16 of 18
(d)
From Equation (13), the system DC gain for part (a) is,

From Equation (23), the system DC gain for part (b) is,

Step 17 of 18
From Equation (13), the system DC gain for part (c) is,

The DC gain is a function of only

. The system DC gain is independent of time T.

Hence, the system gains are equal.

Step 18 of 18
(e)
The following is the MATLAB program to plot the step response for the system.
n = [0.6321];
d = [1 0.2642];
s = tf(n,d,2);
t = d2c(s);
step(t)
The MATLAB output for the step response for the given system is shown in Figure 4.

Figure 4
Therefore, the unit step response is verified using MATLAB.
The following is the MATLAB program to plot the step response for the system:
n = 0.5;
d = [1 1];
t = tf(n,d);
step(t)

The MATLAB output for the step response for the given system is shown in Figure 5.

Figure 5
Therefore, the step response is verified using MATLAB.

Chapter 6 Problem 2P
Step 1 of 10
Consider the closed-loop transfer function with the time

(1)
Denominator of the transfer function is the characteristics equation.
From Equation (1), write the following:

The pole is

Step 2 of 10
Write the formula for the pole.

There is no imaginary part in the poles. So, the value for r is 0.2642.
Write the formula for the time constant

(2)
Substitute the given values 2s for T and 0.2642 for r in Equation (2):

Thus, the time constant is

Step 3 of 10

(b)
The system output for the unit-step response is 98 percent.
Consider the system output

is,

Substitute the given value 0.98 for

in the above equation.

(3)

Step 4 of 10
Take logarithmic on both sides of Equation (3):

(4)
Substitute 1.503s for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time for the system output to reach 98 percent of its final value with step function is

Step 5 of 10
(c)
Consider the closed-loop transfer function with the time

(5)
Denominator of the transfer function is the characteristics equation.
From Equation (5), consider the denominator.

The pole is
Write the formula for the pole.

There is no imaginary part in the poles. So, the value for r is 0.6374.
Substitute the given values 0.4 s for T and 0.6374 for r in Equation (2):

Step 6 of 10
Substitute 0.888s for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time constant with
percent of its final value is

is

and the time for the system output to reach 98

Step 7 of 10
(d)
Figure 1 is redrawn and represented by removing the sampler-data-hold as Figure 2.

Figure 2

Step 8 of 10
For the analog system, the system with the sampler-data-hold removed is shown in
Figure 2.
Write the plant transfer function.

(6)
From Figure (2), write the closed loop transfer function.

(7)

Step 9 of 10
Substitute Equation (6) in Equation (7).

(8)

Step 10 of 10
For the analog system, the time constant
From Equation (8), write the time constant

is calculated from the above closed loop transfer function.

.

Substitute 1s for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time constant for the analog system is
percent of its final value is

and the time for the system output to reach 98

Chapter 6 Problem 3P
Step 1 of 5
(a)
Modify the system with the time of

as shown in Figure 1.

Figure 1

Step 2 of 5
The transfer function of the system

from Figure 1 is,

Where,
indicates z-transform.
Rearrange the equation.

(1)

The formula for z-transfer

is,

(2)
Substitute equation (2) in equation (1).

 (3)

Step 3 of 5

Consider the equation for the continuous output of the system.

Write the transfer function of the system

from Figure 1.

(5)
Consider the transfer function

for the step response.

Apply z-transform.

(6)
Substitute equations (5) and (6) in the equation (4)

(7)
Write the transfer function of the system from the above expression.

Write the above equation in series form.

(4)

 (8)
Write the first factor

from equation (7).

(9)
Apply partial fraction expansion to equation (9).

(10)

Therefore,
(11)
Substitute 0 for s in equation (11).

Substitute

for s in equation (11).

Substitute 1 for A and

for B in equation (10).

(12)
Compare equations (9) and (12).

Apply inverse Laplace transform.

(13)
From equations (7), (8), and (9),

Apply inverse Laplace transform to the above equation:

Substitute equation (13) in the above equation.

(14)
Substitute the given value 1 for t in equation (13).

Thus, the transfer function value at

is

Step 4 of 5
(b)
Write the output equation from equation (14).

Substitute the given value 3 for t in the above equation.

Thus, the transfer function value at

is

(c)
The transfer function value with the given time of

is same for the equations (13) and (14).

From the step response of the analog plant,

The output

cannot change simultaneously for the step inputs.

Thus,

Step 5 of 5
(d)
From equation (13),

Substitute the given value 2 for t in the above equation.

(15)
From equation (14),

Substitute the given value 2 for t in the above equation.

(16)
From equations (15) and (16), the output equations
Thus, the output equations

give the same value at

Chapter 6 Problem 4P

give the same value at

.

Step 1 of 9
Refer Figure P6-4 in the text book,
Consider the transfer function of the plant,

(1)
The transfer function of the system is,

Take the substitution

and consequently converting

into

(2)

Step 2 of 9
The closed loop transfer function is,

(3)
Substitute 0.04 for H and Equation (2) in Equation (3):

(4)
The given system input is step function with 0.4 V.
The input of the given system is,

Step 3 of 9
Apply z-transform on both sides.

(5)
The closed loop System transfer function is,

Re-arrange the terms.

Substitute Equations (4) and (5) in the equation.

Step 4 of 9
Re-arrange the above equation:

(6)
Apply partial fraction expansion to Equation (6):

(7)

Thus,
(8)
Substitute 1 for z in Equation (8).

Substitute 0.7 for z in Equation (8).

Step 5 of 9
Substitute

for A and

for B in Equation (7).

(9)
Compare Equation (6) with Equation (9).

Apply inverse z-transfer on both sides.

(10)

Thus, the output equations

for the given system is

Step 6 of 9
(b)
Consider the equation for the output of the zero-order hold,
(11)
The table for

and

c ( kT )

m ( kT )

0.4

0.416

0.384

0.704

0.372

1.05

0.360

1.30

0.348

16

1.38

0.345

Infinity

1.383

0.345

with the variable k varies from 0 to

Table 1

Step 7 of 9
The output response is shown in Figure 1.

Figure 1
Hence, the output response for the given system is plotted.
(c)
The formula for the steady-state output is,
(12)
Consider the equation of

shown in table 1.

Substitute this in Equation (12).

Thus, the steady-state output for the given system is

Step 8 of 9
(d)
Refer Figure P6-4 in the text book, In the plant equation, replacing the variable gain 2 by K.
Consider the transfer function of the plant,

(13)
The transfer function of the system is,

Take the substitution

and consequently converting

in to

(14)

Step 9 of 9
Substitute Equation (14) in Equation (3).

(15)
Consider the formula for the dc gain,

Substitute Equation (15) in the equation.

(16)
This is

From Equation (16),

From this equation, the value of 0.2592 is very small. So, neglect it.

The steady-state value of output with larger K value is,

(17)
The value for constant input is 0.4 V.
Substitute 0.4 for constant input and 25 for dc gain in Equation (17).

Thus, the value for the output response in steady state with the larger K value is

Chapter 6 Problem 5P
Step 1 of 14
Take the Z transform for equation (1).
The transfer function

is,

Where,
indicates z-transform
Re-arrange the above equation.

 (2)

The z-transfer

formula is,

(3)
Substitute equation (3) in equation (2).

(4)

Step 2 of 14
The closed loop system transfer function is,

(5)

(6)

Step 3 of 14
Substitute 0.04 for

and equation (4) in equation (6).

(7)

Step 4 of 14
The input of the given system is,

Apply z-transform.

(8)
Substitute equations (8) and (7) in equation (5).

Re-arrange the equation.

(9)

Step 5 of 14
Apply partial fraction expansion to equation (9).

(10)

From the above equation,

(11)
Substitute 1 for z in equation (11).

Substitute

Substitute

for z in equation (11).

for A and

for B in equation (10).

(12)

Step 6 of 14
Compare equation (9) and equation (12).

Apply inverse z-transfer to the above equation.

(13)

Thus, the output equations

for the system is

Step 7 of 14
Consider problem 6.4, the output equations

for the given system is,

(14)

Thus, the output equations

The table for

for the given system is

with the variable k varies from 0 to

Table 1

(problem 6.4)

(problem 6.5)

0.4149

1.520072

0.70533

1.364568

0.908631

1.380476

1.050942

1.378849

1.150559

1.379015

1.220291

1.378998

1.269104

1.379

1.303273

1.379

1.327191

1.379

1.343934

1.379

10

1.355654

1.379

11

1.363857

1.379

12

1.3696

1.379

13

1.37362

1.379

14

1.376434

1.379

shown in Table 1.

15

1.378404

1.379

16

1.379783

1.379

17

1.380748

1.379

18

1.381424

1.379

19

1.381896

1.379

20

0.4149

1.520072

Step 8 of 14
The output response is shown in Figure 1.

Figure 1

Step 9 of 14
Hence, the output response for the given system is plotted.

Step 10 of 14
(b)
Determine the output function

From given Figure, the output transfer function

(15)

Step 11 of 14
The input of the given system is,

(16)
The plant transfer function

(17)

is,

is,

Step 12 of 14
Substitute equation (16) and (17) in equation (15).

(18)

Step 13 of 14
Apply partial fraction expansion to equation (18).

(19)

From the above equation,

(20)
Substitute 0 for s in equation (20).

Substitute

for s in equation (20).

Substitute 1.6 for A and

for B in equation (19).

(21)

Step 14 of 14
Compare equation (18) and equation (21).

Apply inverse Laplace to the above equation.

Thus, the output function

is

Chapter 6 Problem 6P
Step 1 of 6

The formula for the time constant

(2)
Substitute the given values

for T and 0.7 for r in Equation (2):

Thus, the time constant,

is

Step 2 of 6
(b)
Determine the time for the system output to reach 98 percent of its final value with step function.
The system output for the unit-step response is 98 percent.

The system output

is

Substitute the given value 0.98 for

in the above equation:

(3)
Take logarithmic on both sides of Equation (3):

(4)
Substitute 1.68 for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time for the system output to reach 98 percent of its final value with step function is

Step 3 of 6
(c)
Determine the time constant

and the time for the system output to reach 98 percent of its final value

for the given system with

Consider the closed loop transfer function with the time

(5)
From Equation (5):
The pole is
(6)

The formula for the pole in rectangular form:

(7)
Convert Equation (6) into rectangular form:

Compare Equation (6) and Equation (7):

Substitute the given values 6 s for T and 0.1020 for r in Equation (2):

Substitute 2.63 s for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time constant with
percent of its final value is

is

and the time for the system output to reach 98

Step 4 of 6
(d)
Determine the time constant
and the time for the system output to reach 98 percent of its final value
for the given system with the sampler-data-hold removed.
Figure 1 is redrawn and represented by removing sampler-data-hold as Figure 2:

Figure 1

Step 5 of 6
For the analog system, the system with the sampler-data-hold removed is shown in Figure 1.
For the given analog system,
The plant transfer function is,

(8)
From Figure (1),
The closed loop transfer function is,

 (9)
Substitute Equation (8) in Equation (9):

(10)

Step 6 of 6
For the analog system, the time constant

is calculated from the above closed loop transfer function.

From Equation (10),

The time constant

Substitute 1.72 for

in Equation (4):

The above time is equal to the system to reach steady state

Thus, the time constant for the analog system is
98 percent of its final value is

Chapter 6 Problem 7P
Step 1 of 10
Consider the forward gain transfer function,
The value of

Substitute 1 for

is,

(5)
Take Z transform for Equation (5).

.
and the time for the system output to reach

Substitute 0.1 for T in the equation.

Step 2 of 10
Substitute 10 for K in the equation

(6)
The closed loop System transfer function is,

Step 3 of 10
Substitute 0.07 for

and Equation (6) in the equation.

Therefore, the system transfer function is,

(7)

Step 4 of 10

The system input is step function with 1.4 V.

The input of the given system is,

Apply z-transform to the equation.

(8)
The closed loop System transfer function is,

Thus,
(9)

Step 5 of 10
Substitute Equations (7) and (8) in the equation (9):

(10)

Step 6 of 10

Hence, the output of the system is,

Step 7 of 10
(b)
The steady state value of

is,

(11)
Substitute Equation (10) in Equation (11).

Thus, the steady state value is,

Step 8 of 10
(c)

From Equation (7), the characteristic equation is,

(12)
The equation resembles the standard equation,
(13)
The roots of this quadratic equation is determined using the following formula:

(14)
Equate equations (12) and (13).

substitute the values of a, b, and c in equation (14) to get the roots.

(15)
The roots of the equation (12) are
The poles are

and
and

Consider the following general polar form:

(16)
Compare Equation (15) and Equation (16).

The formula for the time constant

is,

(17)
Substitute

for T and

for r in Equation (17).

Thus, the time constant is

Step 9 of 10
Consider the formula for the time required to reach steady state.
(18)
Substitute the values

for

in Equation (18).

.
.

Hence, the time required to reach steady state is

Step 10 of 10
(d)
The MATLAB program to plot the step response for the system is given below.
n = [0.2618 0.2458];
d = [1 -1.8056 0.8309];
s = tf(n,d,0.1);
t = d2c(s);
step(t)
The MATLAB output is:
The step response for the given system is shown in Figure 1.

Figure 1
Therefore, the steady state value and time required to reach steady state are verified using MATLAB.

Chapter 6 Problem 8P
Step 1 of 17
Write the general form of the s-plane second-order transfer function.

(3)
Where,
is the damping ratio
is the natural frequency
Compare equation (2) and equation (3).

and
(4)
Substitute

for

in equation (4).

Thus, the natural frequency,

of the control system is

and the damping ratio,

Step 2 of 17
Denominator of the transfer function is the characteristic equation.
Write the characteristic equation from equation (2).

Thus, the poles are

and

Step 3 of 17
Write the formula for time constant

(5)
Substitute 0 for

in equation (5).

Thus, the time constant

The time constant

is

is,

(6)
Substitute 2 for

in equation (6).

Thus, the time constant

is

Step 4 of 17
(b)
The transfer function for servomotor and gear is,

(7)

is

 (8)

Step 5 of 17
The value of

is,
(9)

Substitute equations (7) and (8) in equation (9).

(10)

Step 6 of 17
Consider the forward gain transfer function is
The value of

Substitute 1 for

is,

in the above equation.

(11)
Take Z transform from equation (11).

Substitute 0.1 for T in the above equation.

Substitute 10 for K in the above equation.

 (12)

Step 7 of 17
The closed-loop system transfer function is,

Substitute equation (12) in the above equation.

Substitute 0.07 for

in the above equation.

Therefore, the system transfer function is,

(13)
The characteristic equation from equation (13) is,
(14)
The above equation resembles the standard equation,
(15)
The roots of this quadratic equation are determined using the formula,

(16)
Equate equations (14) and (15).

Substitute the values of a, b, and c in equation (16) to get the roots.

 (17)
The roots of equation (14) are

and

The poles are

and

Step 8 of 17
Consider the general polar form.
(18)

Step 9 of 17
Compare equation (17) and equation (18).

Step 10 of 17
The formula for the time constant

is,

(19)
Substitute the values

for T and

Thus, the time constant,

is

for r in equation (19).

Step 11 of 17
Consider the formula for the natural frequency.

(20)
Substitute the values

for T,

Thus, the natural frequency,

for , and

is

for r in equation (20).

Step 12 of 17
Consider the damping ratio.

(21)
Substitute the values

Thus, the damping ratio,

for

is

and

for r in equation (21).

Step 13 of 17
(c)
The closed-loop transfer function is,

(22)
Substitute equation (2) in equation (22).

(23)
Compare equation (23) and equation (3).

and
(24)
Substitute 1.67 for

in equation (24).

Thus, the natural frequency,

is

and the damping ratio,

Step 14 of 17
The characteristic equation from equation (23) is,
(25)
The above equation resembles the standard equation,
(26)
The roots of this quadratic equation are determined using the formula,

(27)
Equate equations (25) and (26).

Substitute the values of a, b, and c in equation (27) to get the roots.

is

 (28)
The roots of equation (27) are
The poles are

and
and

.
.

Step 15 of 17
Compare equation (28) and equation (18).

Step 16 of 17
Consider the formula for the time constant:
From the real part, the time constant

is,

(29)
Substitute 1 for

in equation (29).

Thus, the time constant

is

(d)
Consider the given formula for the percentage of overshoot.

(30)
From part (b), substitute 0.554 for

in equation (30).

Thus, the percentage of overshoot is

Step 17 of 17
From part (c), substitute 0.5988 for

Thus, the percentage of overshoot is

in equation (30).

Chapter 6 Problem 9P
Step 1 of 11
The general form of the s-plane second order transfer function is,

(3)
here,
is the damping ratio
is the natural frequency.
Compare Equation (2) with Equation (3).

and
(4)
Substitute

for

in Equation (4).

Thus, the natural frequency is

and the damping ratio is

Step 2 of 11
Denominator of the transfer function is the characteristics equation.
From Equation (2), the characteristic equation is,

Thus, the poles are

and

Step 3 of 11
Consider the formula for the time constant.
The time constant

is,

(5)
Substitute 0 for

in Equation (5).

Thus, the time constant

The time constant

(6)

is,

is

Substitute 0 for

in Equation (6).

Thus, the time constant

is

Step 4 of 11
(b)
The system transfer function is,

here,
is the controller transfer function.
is the satellite transfer function
K is the amplifier gain
is the sensor gain

The mathematical model of digital to analog converter is represented as

Therefore, the system transfer function is,

Step 5 of 11
Consider the forward gain transfer function is
The value of

Substitute 1 for

is,

, 1 for T, 100 for K and 0.1 for J.

(7)
Taking Z transform for Equation (7)

 (8)

Step 6 of 11
The closed loop System transfer function is,

(9)
Substitute 0.02 for

and Equation (8) in Equation (9).

Therefore, the system transfer function is,

(10)

Step 7 of 11
From Equation (10), the characteristic equation is,
(11)
The equation resembles the standard equation,
(12)
Determine the roots of this quadratic equation using the formula,

(13)
Equate equations (11) and (12).

Substitute the values of a, b, and c in equation (13) to get the roots,

 (14)
The roots of the equation (11) are
The poles are

and

and

In z-plane, the stable region is the interior of the unit circle.

If the poles leave the unit circle, then the system becomes unstable.
Thus, the given system is unstable.
(c)
Denominator of the transfer function is the characteristics equation.
From Equation (2), the characteristic equation is,

Thus, the poles are

and

Step 8 of 11
Consider the formula for the time constant.
The time constant

Substitute 0 for

is,

in the above equation,

Thus, the time constant

The time constant

Substitute 0 for

is

is,

in the above equation,

Thus, the time constant

is

Step 9 of 11
The closed loop transfer function is,

(19)
Substitute the Equation (2) and 100 for K in Equation (19).

 (20)
Compare Equation (20) with Equation (3).

and
(21)
Substitute 4.47 for

in Equation (21).

Thus, the natural frequency is

and the damping ratio is

Step 10 of 11
From Equation (20), the characteristic equation is,

(22)
The poles are

and

Hence, as there are no sign changes, the system is marginally stable with two poles on the
Thus, the system is marginally stable with two poles on the

-axis.

-axis.

(d)
The closed loop sampled data system pole is

and

In z-plane, the stable region is the interior of the unit circle. If the poles leave the unit circle, then the locus
becomes unstable.
The closed loop sampled data system is shown in Figure 1.

Figure 1
Thus, the closed loop sampled data system is unstable.

Step 11 of 11
The closed loop analog system pole is

and

Hence, as there are no sign changes, the system marginally stable with two poles on the

-axis.

The closed loop analog system is shown in Figure 2.

Figure 2
Thus, the closed loop analog system is marginally stable and two poles on the

-axis.

Chapter 6 Problem 10P

Step 1 of 21
Figure 1: Closed loop system.

Step 2 of 21
Given that
From Figure (1) the equation is written as,

It is given that

and substitute the value in the above equation

Take Z transform for the above equation

Step 3 of 21
The table to convert Laplace transforms into time function and then to z-Transform is given in Table 1.
Laplace transform

Time function

z-transform

Table 1: Conversion table for Laplace transform, time function and z-Transform

Step 4 of 21

From the table the equation

is in form of the of

So from Table (1) the formula to convert time function to Z transforms is:

Rearrange the equation as per the given data

For open loop system,

Substitute 0.5 for T in above equation

(1)
For closed loop system,

(2)
Substitute Equation (1) in Equation (2):

Step 5 of 21
The denominator gives the characteristics equation.
The characteristics equation is:
(3)
From Equation (3), the root is:

Convert the above equation from rectangular to polar form.

and

rad.

Step 6 of 21
The general formula to find the damping ratio

is

(4)
Where,
is the damping ratio
r is magnitude value of z
is angle of z

Step 7 of 21
Substitute 0.8345 for r and 0.4543 rad for

Therefore, the damping ratio

in Equation (4):

is

The general formula to find the natural frequency

.
is

(5)
Where,
r is magnitude value of z
is angle of z
T is time constant

Step 8 of 21
Substitute 0.8345 for r, 0.5 for T sec, and 0.4543 rad for

in Equation (5):

Therefore, the natural frequency

is

The general formula to find time constant

rad/sec.
is:

(6)
Where,
is damping ratio
is natural frequency

Step 9 of 21
Substitute

for 0.9779 and

Therefore, the time constant

for 0.3699 in Equation (6):

is

sec.

Thus the damping ratio, natural frequency and time constant is found to be:
Damping ratio
Natural frequency
Time constant

Step 10 of 21
b)
To find

for the sample period

Hence, open loop system

sec

and closed loop system is

From Figure (1) the equation is written as,

It is given that

and substitute the value in the above equation

Take Z transform for the above equation

Step 11 of 21
The table to convert Laplace transforms into time function and then to z-Transform is given in Table 1.
Laplace transform

Time function

z-transform

Table 1: Conversion table for Laplace transform, time function and z-Transform

Step 12 of 21

From the table the equation

is in form of the of

So the formula to convert time function to Z transforms is:

Rearrange the equation as per the given data

Step 13 of 21
For open loop system,

Substitute 0.1 for T in above equation

(7)
For closed loop system,

(8)
Substitute Equation (8) in Equation (7):

The denominator gives the characteristics equation.

The characteristics equation is:
(9)
From Equation (9), the root is:

Convert the above equation from rectangular to polar form.

and

rad.

Step 14 of 21
The general formula to find the damping ratio

is

(10)
Where,
r is magnitude value of z
is angle of z
T is time constant
Substitute 0.95366 for r and 0.0877 for

Therefore, the damping ratio

in Equation (10):

is

The general formula to find the natural frequency

is

(11)
Where,
r is magnitude value of z
is angle of z
Substitute 0.95366 for r, 0.1sec for T, and 0.0877 for

in Equation (11):

Therefore, the natural frequency

is

rad/sec.

Step 15 of 21
The general formula to find time constant

is

(12)
Where,
is damping ratio
is natural frequency
Substitute

for 0.99699 and

Therefore, the time constant

for 0.4758 in Equation (12):

is

sec.

Thus the damping ratio, natural frequency and time constant is found to be:
Damping ratio
Natural frequency
Time constant
c)
To find

without sampler and hold data

From Figure (1) sampler and data hold removed and shown in Figure (2)

Figure (2): Closed loop system without sampler and hold data

Step 16 of 21
From Figure (2)
In open loop system,

 (13)
In closed loop system,

(14)

Step 17 of 21
Substitute Equation (13) in Equation (14):

(15)

Step 18 of 21
For this continuous time system, the general form of transfer function is:

(16)
Where,
is damping ratio
is natural frequency
is time constant
Compare Equation (15) and Equation (16)
From numerator:

Therefore, the natural frequency

is

Step 19 of 21
From denominator:
Compare coefficient of s and substitute

Step 20 of 21
Therefore, the damping ratio

is

Step 21 of 21
The formula to find time constant

is:

 (17)
Substitute

for 0.5 and

for 1 in Equation (17):

Therefore, the time constant

is

sec.

d)
List the parameters as a function of sampling frequency as shown in Table 2.

The sampling frequency

Table 2:
T sec

rad/sec

sec

0.25

0.92

4.36

0.5

0.37

0.98

2.76

0.1

10

0.48

0.99

2.09

0.5

Analog

Therefore, sampling frequency

becomes more oscillatory.

becomes smaller as the damping ratio decreases and the response

Chapter 6 Problem 11P

Step 1 of 13
Write the closed-loop system transfer function from Figure 1.

(1)
The input function is,

(2)
The plant transfer function is,

(3)
Substitute Equation (2) and Equation (3) in Equation (1).

 (4)

Step 2 of 13
Apply partial fraction expansion to Equation (4).

(5)

From the above equation,

(6)
Substitute 0 for s in Equation (6).

Substitute

Substitute

for s in Equation (6).

for A and

for B in Equation (5).

(7)

Step 3 of 13
Compare Equation (4) with Equation (5).

Apply inverse Laplace on both sides.

(8)

Thus, the output function

is,

The steady-state value of

is,

(9)
Substitute Equation (8) in Equation (9).

Thus, the steady-state value of

is

Step 4 of 13
(b)
Consider the forward gain transfer function is
The value of

is,

(10)
Take Z transform for Equation (10).
The transfer function

is,

here,
indicates z-transform.
Rearrange the terms.

(11)

Step 5 of 13

The z-transfer

formula is,

(12)
Substitute Equation (12) in Equation (11).

 (13)

Step 6 of 13
The function of the output is,

Take Z transform on both sides.

(14)
The digital controller transfer function

is,

(15)
The output function of the given system is,

(16)

Step 7 of 13
Substitute Equation (13), Equation (14), and Equation (15) in Equation (16).

 (17)

Step 8 of 13
From Equation (17), the characteristic equation is,
(18)
The equation resembles the standard equation,
(19)
Determine the roots of this quadratic equation using the formula,

(20)
Equate Equations (18) and (19).

Substitute the values of a, b, and c in Equation (20) to get the roots.

The roots of Equation (18) are 0.9232 and 0.2978.

The poles are 0.9232 and 0.2978.
Hence, there is

Step 9 of 13
The steady-state value of

is,

(21)
Substitute Equation (17) in Equation (21).

Thus, the steady-state value is

(c)
When

part (a) result is similar to part (c).

Hence, the steady-state value of

is

Substitute Equation (12) in Equation (11).

(22)

Step 10 of 13
The function of the output is,

Take Z transform on both sides.

(23)

Step 11 of 13
Substitute Equation (15), Equation (22), and Equation (23) in Equation (16):

 (24)

Step 12 of 13
From Equation (24), the characteristic equation is,
(25)
Equate Equations (25) and (19).

Substitute the values of a, b, and c in Equation (20) to get the roots.

The roots of Equation (25) are 0.9288 and 2.6467.

The poles are 0.9288 and 2.6467.
Hence, there is

Substitute Equation (24) in Equation (21).

Thus, the steady-state value is

Step 13 of 13
(d)
It is evident from part (a) and part (b) that steady-state value is constant; moreover, steady-state value does
not depend on time.
Hence, the sampling period does not have any effect on steady-state output.

Chapter 6 Problem 12P

Step 1 of 62
To find settling time Ts

(6)
Substitute

for 0.95 in Equation (6):

Step 2 of 62
Therefore, the settling time

is

for 2% error and

for 5% error.

Step 3 of 62
iv)
To determine the rise time

, maximum overshoot

Since it is a first-order system, root

, and settling time

Since the root is in negative the transient response will oscillate

(7)

Step 4 of 62
Evaluate

The general formula is given by,

(8)
Substitute 0.9 for x in Equation (7):

Assign

Step 5 of 62
Substitute

in above equation

for the equation

Step 6 of 62
Substitute 0.10536 for

and 0.1 for T in Equation (7):

Assign the real part as

and imaginary part as

From the above equation,

and
The formula to find the natural frequency

is:

(9)
Where,
is natural frequency.
is damping frequency.
Substitute 1.0536 for

and

for

in Equation (9):

Step 7 of 62
The formula to find the damping ratio is:

(10)
Where,
is damping ratio.
is natural frequency.
Substitute 1.0536 for

and 31.398 for

Step 8 of 62
The damping ratio is always positive

in Equation (10):

Step 9 of 62
Hence the damping ratio

is

Step 10 of 62
The transient response characteristics are given by:

(11)
Where,
is time constant.
is damping ratio.
is natural frequency.
Substitute

for 31.398 and

Hence the time constant

for

in Equation (11):

is 0.949 sec.

Step 11 of 62
To find settling time

(12)
Substitute 0.949 for

in Equation (12):

Step 12 of 62
Therefore, the settling time

is

for 2% error and

Step 13 of 62
The maximum overshoot

is:

(13)
Where,
is damping ratio.
is maximum overshoot.
Substitute

for

in Equation (13):

for 5% error.

Step 14 of 62
So the maximum overshoot

is

Step 15 of 62
To find the rise time
The general formula to find

is:

(14)
Where,
is damping ratio.
is natural frequency.
To find the rise time, calculate the value of

using the formula

(15)
Substitute

for

in Equation (14):

Substitute 31.398 for

for

, and 1.5372 for

in Equation (14)

Step 16 of 62
Therefore, rise time

is

Step 17 of 62
v)
To determine the settling time

for the equation

Find roots using the formula

For given equation root value is

and

It is a second-order system.
Since there is no complex poles and both are poles positive, so the system does not oscillate.
Since it is a second-order system, the maximum overshoot, natural frequency is zero and the rise time is

Step 18 of 62

Using

... (16)

Since two roots are present two time constants is calculated

Substitute 0.1 for T and 0.884 for

Hence the time constant

in Equation (16):

is 0.81621 sec.

Step 19 of 62
Substitute T for 0.1 and r2 for 0.9653 in Equation (16):

Step 20 of 62
Hence the time constant

is 2.8324 sec.

Step 21 of 62
Consider larger time constant and find the settling time
To find settling time Ts

(17)
Substitute

for 2.8324 in Equation (17):

Therefore, the settling time

is

for 2% error and

for 5% error.

Step 22 of 62
vi)
To determine the settling time
The poles are at

for the equation

This system is an unstable system.

For input

, the pole of the input equals the pole of the system at

Therefore,
vii)
To determine the settling time
The roots are

and

for the equation

.

The pole is outside unit circle. It is an unstable system.

Therefore,

Step 23 of 62
viii)
To determine the rise time

, maximum overshoot

, and settling time

Find roots using the formula

The roots are

and

Converting the roots from polar to rectangular form

and

Step 24 of 62
The general formula to find the damping ratio is:

(18)
Where,
r is magnitude value of z.
is angle of z.
Substitute 0.8366 for r and

Therefore, the damping ratio

for 0.7711 rad in Equation (18):

is

The general formula to find the natural frequency is:

(19)
Where,
r is magnitude value of z.
is angle of z.
T is time constant.
Substitute r for 0.8366, T for 0.1 sec, and

for 0.7711 rad in Equation (19):

for the equation

Therefore, the natural frequency

is

The general formula to find the time constant is:

(20)
Where,
is damping ratio.
is natural frequency.
Substitute 7.9139 for

and 0.2253 for

Therefore, the time constant

in Equation (20):

is

sec.

Step 25 of 62
To find settling time Ts

(21)
Substitute

for 0.5608 in Equation (21):

Therefore, the settling time

is

for 2% error and

Step 26 of 62
The formula to find maximum overshoot

is:

(22)
Where,
is damping ratio.
is maximum overshoot.
Substitute 0.2253 for

in Equation (22):

Step 27 of 62
Hence the maximum overshoot

Step 28 of 62

is

for 5% error.

The formula to find the rise time

is:

(24)
Where,
is damping ratio.
is natural frequency.
Find

using the formula,

(23)

Substitute

for 0.2253 in Equation (23):

Substitute 7.9139 for

, 0.2253 for

, and 1.3434 for

in Equation (24):

Step 29 of 62
Therefore, rise time

is

Step 30 of 62
b)
To determine the system natural response characteristic for each system for
For second-order system, we can determine the transient response.

Step 31 of 62
To determine the rise time

, maximum overshoot

Step 32 of 62
i)
To determine the settling time

for the equation

From the given first-order system, determine root r

.
Where z is the root of the system

The time constant

is

(25)

Where,
T is time.
r is root value.
Substitute 1 sec for T and 0.999 for r in Equation (25):

, and settling time

sec

Hence time constant

is 1,000 sec.

To find settling time Ts

(26)
Substitute

for 1,000 sec in Equation (26):

Therefore, the settling time

is

for 2% error and

for 5% error.

ii)
To determine the settling time

for the equation

From the given first-order system, determine root

The time constant

is

(27)

Where,
T is time.
r is root value.
Substitute T for 1 sec and r for 0.99 in Equation (27):

The time constant

is 100 sec.

To find settling time Ts

(28)
Substitute

for 100 in Equation (28):

Therefore, the settling time

is

for 2% error and

Step 33 of 62
iii)
To determine the settling time

for the equation

From the given first-order system, determine root

The time constant

Where,
T is time.

is

(29)

.for 5% error

r is root value.
Substitute T for 1 sec and r for 0.9 in Equation (29):

The time constant

is 9.5 sec.

To find settling time

(30)
Substitute

for 9.5 in Equation (30):

Step 34 of 62
Therefore, the settling time

is

for 2% error and

for 5% error

Step 35 of 62
iv)
To determine the rise time

, maximum overshoot

From the given first-order system, root

, and settling time

Since the root is in negative the transient response will oscillate

(31)
Evaluate ln(0.9),
The general formula is given by,
(32)
Substitute x for 0.9 in Equation (32):
Assign

Step 36 of 62
Substitute

in above equation

for the equation

Step 37 of 62
Substitute 0.10536 for

and 0.1 for T in Equation (31):

Assign the real part as

and imaginary part as

From the above equation,

and

The formula to find the natural frequency

is:

(32)
Where,
is natural frequency.
is damped frequency.
Substitute 1.0536 for

and

for

in Equation (32):

Step 38 of 62
The formula to find the damping ratio is:

(33)
Where,
is damping ratio.
is natural frequency.
Substitute 1.0536 for

and 3.1398 for

Step 39 of 62
So the damping ratio

Step 40 of 62

is

in Equation (33):

The transient response characteristics

(34)
Where,
is time constant.
is damping ratio
is natural frequency
Substitute

for 3.1398 and

So the time constant

for

in Equation (34):

is 9.49 sec.

To find settling time

(35)
Substitute

for 0.949 in Equation (35):

Step 41 of 62
Therefore, the settling time

is

for 2% error and

Step 42 of 62
The maximum overshoot

(36)
Where,
is damping ratio.
is maximum overshoot.
Substitute

for

in Equation (36):

Step 43 of 62
The maximum overshoot

Step 44 of 62

is

.for 5%error

Rise time

is

(38)

Where,
is damping ratio.
is natural frequency.
Determine the value of

using the formula

(37)

Step 45 of 62
Substitute

for

in Equation (37):

Step 46 of 62
Substitute

for 3.1398,

Therefore, rise time

for

is

, and

for 1.5372 in Equation (39):

Step 47 of 62
v)
To determine the settling time
For given equation, root value is

for the equation

and

Since there are no complex poles and both poles are positive, the system does not oscillate.
Since it is a second-order system, the maximum overshoot, natural frequency is zero and the rise time is

Using

(40)

Since there are two roots two time constants are calculated
Substitute T for 1 sec and

The time constant

for 0.884 in Equation (40):

is 8.16 sec.

Step 48 of 62
Substitute T for 1 sec and r2 for 0.9653 in Equation (40):

The time constant

is 28.324 sec.

Consider larger time constant and find the settling time Ts

(41)
Substitute

for 28.324 in Equation (41):

Step 49 of 62
Therefore, the settling time

is

for 2% error and

for 5% error.

Step 50 of 62
vi)
To determine the settling time
The poles are at

for the equation

This system is an unstable system. For input

, the pole of the input equals the pole of the system at

Step 51 of 62
Therefore,

Step 52 of 62
vii)
To determine the settling time
The roots are

for the equation

and

The pole is outside unit circle. It is an unstable system.

Step 53 of 62
Therefore,

Step 54 of 62
viii)
To determine the rise time

, maximum overshoot

The roots are

and

Convert the roots from polar to rectangular form

and

, and settling time

for the equation

The general formula to find the damping ratio is:

(42)
Where,
r is magnitude value of z.
is angle of z.

Step 55 of 62
Substitute 0.8366 for r and

for 0.7711 rad in Equation (42):

Therefore, the damping ratio

is

The general formula to find natural frequency is:

(43)
Where,
r is magnitude value of z.
is angle of z.
T is time constant.

Step 56 of 62
Substitute 0.8366 for r, 1 sec for T, and 0.7711rad for

Therefore, the natural frequency

is

The general formula to find time constant is:

(44)
Where,
is damping ratio.
is natural frequency.
Substitute

for 0.79 and

for 0.23 in Equation (44):

in Equation (43):

Therefore, the time constant

is

sec.

Step 57 of 62
To find settling time Ts

(45)
Substitute

for 5.6 in Equation (45):

Therefore, the settling time

is

for 2% error and

for 5% error.

Step 58 of 62

The maximum overshoot

is

(46)

Where,
is damping ratio.
is maximum overshoot.
Substitute

for 0.23 in Equation (46):

Step 59 of 62
The maximum overshoot

is

Step 60 of 62
The formula to find rise time

is

(48)
Where,
is damping ratio.
is natural frequency.
Determine

using the formula

(47)

Substitute

for 0.23 in Equation (47):

Step 61 of 62
Substitute 0.79 for

, 0.23 for

Therefore, rise time

is

, and 1.3434 for

in Equation (48):

c)
To compare the parameters of the transient response with the sample period T
The transient response with respect to time is shown in Table (1)
S. No

System

T = 0.1sec

T = 1 sec

Ts

Tr

Mp

Ts

Tr

Mp

z0.999=0

400

---

---

4000

---

---

z0.99=0

40

---

---

400

---

---

z0.9=0

3.8

---

---

38

---

---

z+0.9=0

3.79

0.05

89.9%

37.97

0.5

89.9%

z 2 1.85z+0.854=0

11.33

---

---

113.3

---

---

z 2 1=0

---

---

---

---

---

---

z 2 2z+0.99=0

---

---

---

---

---

---

z 2 1.2z+0.7=0

2.24

0.234

48.3%

22.4

2.34

48.3%

Table (1): The transient response varies with respect to time

Step 62 of 62
From the values from Table (1)
The rise time and settling time vary with T.
The maximum overshoot is independent of T

Therefore,

Chapter 6 Problem 13P

Step 1 of 10
Consider the transfer function of the plant without delay.

(1)

Refer to P6-1 in the text book, the transfer function

Where,
indicates z-transform
Re-arrange the above equation:

(2)

Step 2 of 10

The z-transfer

formula:

(3)
Substitute Equation (3) in Equation (2):

(4)

Step 3 of 10
The closed loop transfer function:

(5)
Substitute Equation (4) in Equation (5):

 (6)
From Equation (6),
The pole is
(7)
Convert Equation (7) into polar form:
(8)
The formula for the pole in polar form;
(9)
Compare Equation (8) and Equation (9):

The formula for the time constant

(10)
Substitute the given values 1 s for T and 0.2642 for r in Equation (10):

(11)
Thus, the time constant,

is

(b)
Consider the transfer function of the plant with 0.2 s delay.

(12)
Figure 1 is redrawn and represented by adding 0.2 s delay as Figure 1:

Figure 1

Step 4 of 10
From Figure 1, the transfer function

where,
indicates z-transform
Re-arrange the above equation:

 (13)

Step 5 of 10
Substitute Equation (3) in Equation (13):

Substitute the given value 1 s for T in the above equation:

Step 6 of 10
Apply modified z-transform to the above equation:

(14)
The characteristics equation is

Step 7 of 10
Substitute Equation (14) in the above equation:

The roots are,

(15)
Compare Equation (9) and Equation (15):

Substitute the given values 1 s for T and 0.2853 for r in Equation (10):

 (16)
Thus, the time constant is

(c)
Consider the transfer function of the plant with 1 s delay,

(17)
Figure 1 is redrawn and represented by adding 1 s delay as Figure 2:

Figure 2

Step 8 of 10
The transfer function

Where,
indicates z-transform
Re-arrange the above equation:

(18)

Step 9 of 10
Substitute Equation (3) in Equation (18):

Apply modified z-transform to the above equation:

Step 10 of 10
Re-arrange the above equation:

(19)
The characteristics equation is,

Substitute Equation (19) in the above equation:

The roots are,

(20)
Compare Equation (9) and Equation (20):

Substitute the given values 1 s for T and 0.795 for r in Equation (10):

(21)
Thus, the time constant is

(d)
From Equation (11),(16) and (21):
The time constant values increases with increasing the values of delay time.
So, the speed of response of the closed loop system is slows by adding the delay time.
Thus, the

Chapter 6 Problem 14P

Step 1 of 5
(ii)
Refer to Figure P6-4 in textbook.
The transfer function of the system

is,

 (2)
The system type is equal to the number of poles at origin. Denominator of the transfer function is the
characteristic equation.
From equation (2), the characteristic equation is,

The pole is

and there is no pole at origin. So, the system is type zero.

Thus, the system is

Step 2 of 5
(iii)
Refer to Figure P6-7 in textbook.
The transfer function of the system

is,

(3)
The system type is equal to the number of poles at origin. Denominator of the transfer function is the
characteristic equation.
From equation (3), the characteristic equation is,

The poles are

and

Thus, the system is

. There is one pole at origin. So, the system is type one.

.

Step 3 of 5
(iv)
Refer to Figure P6-9 in textbook.
The transfer function of the system

is,

(4)
The system type is equal to the number of poles at origin. Denominator of the transfer function is the
characteristic equation.
From equation (4), the characteristic equation is,

The poles are

Thus, the system is

and

. There are two poles at origin. So, the system is type two.
.

(v)
Refer to Figure P6-11 in textbook.
The transfer function of the system

is,

 (5)
The system type is equal to the number of poles at origin. Denominator of the transfer function is the
characteristic equation.
From equation (5), the characteristic equation is,

The pole is

and there is no pole at origin. So, the system is type zero.

Thus, the system is

. The system type is equal to the number of poles at origin. So, it is not
necessary to find the pulse transfer functions.

Step 4 of 5
(b)
Condition for zero steady-state error for a constant input:
Figure P6-1, Figure P6-4, and Figure P6-11 are type zero systems, and it is necessary to have a pole at
with the system being stable, which is the necessary condition.
Figure P6-7 is type one system and Figure P6-9 is type two systems. Both figures have one or more poles
at origin; the system being stable is enough to have zero steady-state error.

Step 5 of 5
(c)
Condition for zero steady-state error for a ramp input:

The ramp input is

Figure P6-1, Figure P6-4, and Figure P6-11 are type zero systems. So, two poles at
being stable is the necessary condition.
Figure P6-7 is a type one system. So, one pole at
condition.

with the system being stable is the necessary

Figure P6-9 is a type two system. So, the system is only stable.

Chapter 6 Problem 15P

Step 1 of 15
Write the transfer function

(2)
Apply z-transfer to Equation (1).

Step 2 of 15
Re-arrange the above equation.

with the system

 (3)

Step 3 of 15
Compare Equations (2) and (3).

(4)
Denominator of the transfer function is the characteristics equation.
From Equation (4), write the following:

The pole is

. So, the system is type one.

Thus, the system is

Step 4 of 15
(b)
The given system is type one. Steady-state error is zero.
So, the value for the steady-state response

Thus, the value for the steady-state response

Step 5 of 15
(c)
Write the transfer function

where,
indicates z-transform.
Re-arrange the above equation:

is 1.

 (5)

Step 6 of 15

Evaluate the z-transfer for

(6)
Substitute Equation (6) in Equation (5).

(7)

Step 7 of 15
From Equations (4) and (7), write the open-loop transfer function.

(8)

Step 8 of 15
Write the closed-loop transfer function.

(9)
Substitute Equation (8) in Equation (9).

 (10)

Step 9 of 15
Denominator of the above equation is the characteristics equation.

From the above equation, the poles are:

and
The formula for the pole is,

No imaginary part in the poles. So, the values for r are 0.9479 and
Consider that the value for r is 0.9479 and neglect the negative value.

Step 10 of 15
Write the formula for the time constant

(11)
Substitute the given values 1s for T and 0.9479 for r in Equation (11).

The time for the system to reach steady state is

Calculate the steady-state time for the system.

Thus, the time for the system to reach steady state is

Step 11 of 15
(d)
Write the transfer function

Substitute Equation (10) in the above equation.

Re-arrange the above equation.

(12)

Step 12 of 15

Apply partial fraction expansion to Equation (12).

(13)

(14)
From Equation (14), write the numerator.

(15)
Substitute 1 for z in Equation (15):

Step 13 of 15
Substitute 0.9479 for z in Equation (15).

Substitute

for z in Equation (15).

Step 14 of 15
Substitute 1 for A and

for B and

for C in Equation (13).

Re-arrange the above equation:

(16)

Compare Equations (12) and (16).

Apply inverse z-transform to the above equation:

(17)

Step 15 of 15
The steady-state time for the system is
Substitute 1 for

and the value for the steady-state response

and 74.8 for k in Equation (17):

Hence, the steady-state time and the steady-state response are satisfied.
Thus, the value for the unit-step response is

Chapter 6 Problem 16P

Step 1 of 15
Apply z-transfer to the Equation (1):

Re-arrange the above equation:

(3)

Step 2 of 15
Compare Equation (2) and (3):

(4)
Denominator of the transfer function is the characteristics equation.
From Equation (4):

is 1.

The pole is

. So, the system is type one.

Thus, the system is

Step 3 of 15
(b)
Write the transfer function

from Figure 1.

Where,
indicates z-transform
Re-arrange the above equation:

(5)

Step 4 of 15

The z-transfer

formula:

(6)
Substitute Equation (6) in Equation (5):

(7)
The formula for the velocity constant

Substitute the values 1 for T, Equation (4) and Equation (7) in the above equation:

Step 5 of 15
The formula for the

Substitute 0.1 for

in the above equation:

At steady state, the steady state response:

Substitute the values k T for

in the above equation:

(8)
Substitute the values 10 for

in Equation (8):

Re-arrange the above equation:

Thus, the steady-state response for a unit-ramp input

Step 6 of 15
(c)
From Equation (4) and (7), consider the transfer functions:

The open loop transfer function:

 (9)

Step 7 of 15
The closed loop transfer function:

Substitute Equation (9) in the above equation:

(10)

Step 8 of 15
Denominator of the above equation is the characteristics equation.

From the above equation,

The poles are
and
The formula for the pole is,

No imaginary part in the poles. So, the value for r are 0.9479 and
Consider the value for r is 0.9479 and neglect the negative value.
The formula for the time constant

is,

(11)
Substitute the given values 1 for T and 0.9479 for r in Equation (11):

The time for the system to reach steady state is

Calculate the steady state time for the system.

Thus, the time for the system to reach steady state is

Step 9 of 15
(d)

For the given unit ramp input.

The transfer function

(12)
Where,
Z indicates z-transform
The z-transform formula:

(13)
Substitute Equation (13) in Equation (12):

(14)

Step 10 of 15
Substitute the given value 1 for T in Equation (14):

(15)
The closed loop transfer function

is,

Re-arrange the above equation:

Step 11 of 15
Substitute Equation (10) and (15) in the above equation:

Re-arrange the above equation:

(16)
Apply partial fraction expansion to Equation (16):

(17)

From the above equation,

(18)
Substitute 1 for z in Equation (18):

Step 12 of 15
Substitute 0.9479 for z in Equation (18):

Step 13 of 15
Substitute

for z in Equation (18):

Substitute 0 for z in Equation (18):

Step 14 of 15
Substitute 1 for B , 9.62 for C and 0.412 for D in the above equation:

Step 15 of 15
Substitute

for A and 1 for B , 9.62 for C and 0.412 for D in Equation (17):

(19)
Compare Equation (16) and (19):

Apply inverse z-transform to the above equation:

(20)
The steady state time for the system is

and the value for the steady-state response

Substitute 74.8 for k in Equation (20):

Modify the above equation by neglect the small values,

Re-arrange the above equation:

(21)
Substitute Equation (21) in Equation (8):

Hence, the steady state time and the steady state response are satisfied.
Thus, the value for the steady-state unit-ramp response is

Chapter 6 Problem 17P

is 1.

Step 1 of 13
From Figure 1, write the transfer function

where,
Indicates z-transform
Re-arrange the above equation.

(2)

Step 2 of 13

Write the z-transfer for

(3)
Substitute Equation (3) in Equation (2).

Substitute the value 0.3679 for

in the above equation.

(4)

Step 3 of 13
Write the transfer function

(5)
Apply z-transfer to Equation (1).

Re-arrange the above equation.

Simplify the above equation further,

(6)
Compare Equations (5) and (6).

(7)
From Equations (4) and (7), write the open-loop transfer function.

(8)

Step 4 of 13
Re-arrange Equation (8).

(9)
The denominator co-efficient is 1 and there is no z co-efficient in the denominator of the above equation.
The denominator of Equation (8) is as follows:

From the above equation,

So, no poles at

. Hence, the system is type zero.

Thus, the system type is

Step 5 of 13
(b)
For the unit-step input,

Substitute 1 for z in Equation (8).

Write the closed-loop transfer function.

(10)

Substitute Equation (8) in Equation (10).

(11)

Step 6 of 13
For the unit-step input, substitute 1 for z in Equation (11).

is equal to the steady-state response for a unit-step input

So, the value for the steady-state response

is 0.1366.

Thus, the value for the steady-state response is

Step 7 of 13
(c)
For the system steady state, the denominator of Equation (10) is zero.

From the above equation,

.
Write the formula for the pole.

No imaginary part in the poles. So, the value for r is 0.634.

Step 8 of 13
Write the formula for the time constant

Substitute the given values 1s for T and 0.634 for r in the above equation.

The time for the system to reach steady state is

Calculate the steady-state time for the system.

Thus, the time for the system to reach steady state is

Step 9 of 13
(d)
Write the transfer function

Substitute Equation (11) in the above equation.

Re-arrange the above equation:

(12)

Step 10 of 13
Apply partial fraction expansion to Equation (12):

(13)

(14)
From Equation (14),
(15)

Step 11 of 13
Substitute 1 for z in Equation (15):

Substitute 0.634 for z in Equation (15):

Step 12 of 13

Substitute 0.1366 for A and 0.3634 for B in Equation (13):

(16)
Compare Equations (12) and (16):

Step 13 of 13
Apply inverse z-transform to the above equation:

From the above equation,

For the steady-state condition,

This value is equal to the value for the steady-state response

Thus, the value for

is

Chapter 6 Problem 18P

Step 1 of 12
From Figure 1, the plant transfer function is,

(1)
The closed loop System transfer function is,

(2)
Substitute Equation (1) in Equation (2).

Rearrange the terms.

(3)

Step 2 of 12
Take Inverse Laplace transform for Equation (3).
(4)

For unit step response is

Substitute 1 for

in Equation (4).

for

The system differential equation is

Hence, the system differential equation is,

Step 3 of 12
(b)
The system differential equation is,
(5)
Consider the formula for the rectangular rule for numerical integration.
(6)
Substitute Equation (5) in Equation (6).

(7)
Substitute 0.25 for H in Equation (7)

(8)
The table for

with the variable k H varies from 0 to 1.5 as shown in Table 1.

kH
0

0.25

0.25

0.198

0.5

0.375

0.316

0.75

0.4375

0.38

0.468

0.432

1.25

0.484

0.459

1.5

0.492

0.475

Table 1
Hence, the value of

is obtained by using Equation (8).

(c)
From Figure P6-15, the closed loop System transfer function is,

Rearrange terms.

(9)
Take Inverse Laplace transform for Equation (9).

and

Hence, the system differential equation is,

Step 4 of 12
The system differential equation is,
(10)
Consider the formula for the rectangular rule,
(11)
Substitute Equation (10) in Equation (11).

(12)
Substitute 0.25 for H in Equation (12)

(13)

Step 5 of 12
The table for

with the variable k H varies from 0 to 1.5 as shown in Table 2.

kH
0

0.25

0.25

0.5

0.4375

0.5625

0.75

0.467

0.5625

0.4922

0.5078

1.25

0.496

0.5078

1.5

0.49

0.5078

Table 2
Hence, the value of

is obtained by using Equation (13).

Step 6 of 12
(d)
For part (b) the closed loop System transfer function is,

(14)

The input function,

(15)

Substitute Equation (15) in Equation (14).

(16)
Apply partial fraction expansion to Equation (16).

(17)

Thus,
(18)
Substitute 0 for s in Equation (18).

Substitute

Substitute

for s in Equation (18).

for A and

for B in Equation (17).

(19)

Step 7 of 12
Compare Equation (16) with Equation (19).

Apply inverse Laplace on both sides.

Thus, the output function

is,

Step 8 of 12
For part (c), consider the forward gain transfer function is
The value of

is,

(20)
Take Z transform for Equation (20).
The transfer function

is,

here,
indicates z-transform
Re-arrange the terms of the equation.

(21)

The z-transfer

formula is,

(22)
Substitute Equation (22) in Equation (21).

(23)

Step 9 of 12
The closed loop System transfer function is,

(24)

(25)
Substitute Equation (23) in Equation (25).

(26)

Step 10 of 12
The input of the given system is,

Apply z-transform to the above equation.

(27)
Substitute Equation (26) and (27) in Equation (24).

Re-arrange the above equation.

(28)

Step 11 of 12
Apply partial fraction expansion to Equation (28).

(29)

From the equation,

(30)

Substitute 1 for z in Equation (30).

Substitute

Substitute

for z in Equation (30).

for A and

for B in Equation (29).

(31)

Step 12 of 12
Compare Equation (28) and Equation (31).

Apply inverse z-transfer on both sides.

Thus, the output equation

for the system is,

Chapter 6 Problem 19P

Step 1 of 5
Re-arrange the above equation.

Apply inverse z-transform to the above equation.

(2)
where,

H is the numerical integration increment.

Thus, the equation with the functions of

and H is

Step 2 of 5
(b)
Show the equation

with the given values of

and

The given H value is 0.1. It requires 10 iterations to calculate

Substitute the given values 1 for

, 0.1 for

Thus, the given equation

. So, the value of k is 10.

, and 10 for k in Equation (2).

is proved.

Step 3 of 5
(c)
The given H value is 0.01. It requires 100 iterations to calculate
Substitute the given values 1 for

Thus, the value for

, 0.01 for

is

. So, the value of k is 100.

, and 100 for k in Equation (2).

Step 4 of 5
(d)
Calculate the errors for

with the exact given values.

Consider that the exact value for

is 0.3678.

The percentage error formula for

is,

(3)

Step 5 of 5
To find the error for the given values of

and

Substitute 0.3678 for the exact value and 0.3487 for the actual value in Equation (3).

To find the error for the given values of

and

Substitute 0.3678 for the exact value and 0.3660 for the actual value in Equation (3).

Thus, the error for

with the given values of

with the given values of

and

and

is

Chapter 6 Problem 20P

Step 1 of 15
Consider the systems state equation.
(5)
Where,
is the first derivative of

Re-write Equation (1).

Re-arrange above equation

(6)

Step 2 of 15
Compare Equations (5) and (6).

Substitute

for

and 1 for

in Equation (4).

(7)
Substitute Equation (7) in Equation (3).

(8)

is
.

and the error for

Thus, the differential equation is

Step 3 of 15
(b)
Solve the differential equation

by using z-transform

with the given values for finding

Apply z-transform to Equation (8).

(9)

Step 4 of 15
Consider the given value,

Apply z-transform to the above equation.

(10)
Substitute Equation (10) in Equation (9).

Step 5 of 15
Re-arrange the above equation.

(11)
Apply partial fraction expansion to Equation (11).

(12)

From the above equation, write the following:

Substitute the given value 0.1 for H in the above equation.

 (13)

Step 6 of 15
Substitute 1 for z in Equation (13).

Substitute 0.9 for z in Equation (13).

Step 7 of 15
Substitute 1 for A and

for B in Equation (12).

(14)
Compare Equations (11) and (14).

(15)

Step 8 of 15
Apply inverse z-transform to Equation (15).
(16)
The given H value is 0.1. It requires 10 iterations to calculate
Substitute the given values 0.1 for

Thus, the value for

is

. So, the value of k is 10.

and 10 for k in Equation (16).

Step 9 of 15
(c)
Determine

with the given value of

The given H value is 0.01. It requires 100 iterations to calculate

Substitute the given values 0.01 for

. So, the value of k is 100.

and 100 for k in Equation (16).

Thus, the value for

is

Step 10 of 15
(d)
To find the exact value of

from the given differential equation by Laplace transforms:

Apply Laplace transform to Equation (1).

Re-arrange the above equation.

(17)
Apply partial fraction expansion to Equation (11).

(18)

From the above equation, write the numerator.

(19)
Substitute 0 for s in Equation (19).

Substitute

for s in Equation (19).

Step 11 of 15
Substitute 1 for

and

for

(20)
Compare Equations (17) and (20).

in Equation (18).

Step 12 of 15
Apply inverse Laplace transform to the above equation.

Substitute 1 for t in the above equation.

Thus, the exact value for

is

Step 13 of 15
(e)
Calculate and compare the errors for

with the exact values.

Consider that the exact value for

is 0.6321.

The percentage error formula for

is,

(21)

Step 14 of 15
To find the error for the given

value of 0.6513:

Substitute 0.6321 for the exact value and 0.6513 for the actual value in Equation (21).

Step 15 of 15
To find the error for the given

value of 0.6340:

Substitute 0.6321 for the exact value and 0.6340 for the actual value in Equation (21).

Thus, the error for the given value

is

is

Chapter 6 Problem 21P

and the error for the given value

Step 1 of 14
Consider the corrector algorithm equations,
(4)

(5)
Consider the systems state equation,
(6)

Step 2 of 14
Re-write Equation (1):
(7)
where,
is the first derivative of

Re-arrange Equation (7):

(8)
Compare Equations (6) and (8):

Step 3 of 14
Substitute

for

and 0 for

in Equation (2):

(9)
Substitute Equation (9) in Equation (3):

(10)

Step 4 of 14
Substitute

for

and 0 for

in Equation (4):

(11)
Substitute Equation (10) in Equation (11):
(12)

Step 5 of 14
Substitute Equation (9) and Equation (12) in Equation (5):

 (13)

Step 6 of 14
From the numerical integration algorithm, consider the value
Substitute

for k in Equation (13):

(14)
Re-arrange Equation (14):
(15)
Where,

Thus, the differential equation is

where,

Step 7 of 14
(b)
Solve the differential equation
finding

Apply z-transform to Equation (15):

Re-arrange the above equation:

Step 8 of 14

by using z-transform with the given values for

Apply inverse z-transform to the above equation.

Substitute

for a in the above equation.

(16)

Step 9 of 14
The given H value is 0.1. It requires 10 iterations to calculate
Substitute the given values 1 for

Thus, the value for

is

. So, the value of k is 10.

and 0.1 for H and 10 for k in Equation (16):

Step 10 of 14
(c)
Determine

with the given value of

The given H value is 0.33333. It requires 3 iterations to calculate

. So, the value of k is 3.

Substitute the given values 0.33333 for

in Equation (16).

Thus, the value for

is

and 3 for k and 1 for

Step 11 of 14
(d)
To find the exact value of

from the given differential equation by Laplace transforms:

Apply Laplace transform to Equation (1).

Re-arrange the above equation.

Apply inverse Laplace transform to the above equation:

Substitute 1 for t and 1 for

in the above equation:

Thus, the exact value for

is

Step 12 of 14
(e)
Calculate the errors for

with the exact values.

Consider the exact value for

is 0.3679.

The percentage error formula for the

is:

(17)

Step 13 of 14
To find the error for the given

value of 0.3685:

Substitute 0.3679 for exact value and 0.3685 for actual value in Equation (17):

Step 14 of 14
To find the error for the given

value of 0.3767:

Substitute 0.3679 for exact value and 0.3767 for actual value in Equation (17):

Thus, the error for the given value

is

is

Chapter 6 Problem 22P

Step 1 of 24
Consider the systems state equation.
(6)

and the error for the given value

Re-write Equation (1).

(7)
where,
is the first derivative of

Step 2 of 24
Re-arrange equation (7).
(8)
Compare Equations (6) and (8).

Substitute

for

and 1 for

in Equation (2):

(9)

Step 3 of 24
Substitute Equation (9) in Equation (3):

(10)
Substitute Equation (10),

for

and 1 for

in Equation (4):

(11)

Step 4 of 24
Substitute Equation (9) and Equation (11) in Equation (5):

Step 5 of 24
Re-arrange the above equation:
(12)
where,

(13)

(14)

(15)

Thus, the differential equation is

(b)
Solve the differential equation
with the given values for finding

by using z-transform
.

Apply z-transform to Equation (12):

Re-arrange the above equation:

(16)

Step 6 of 24
Substitute the given value 0.1 for H in Equation (13).

Substitute the given value 0.1 for H in Equation (14):

Step 7 of 24
Substitute the given value 0.1 for H in Equation (15):

Substitute 0.905 for a, 0.05 for b, and 0.0405 for c in Equation (16):

(17)

Step 8 of 24
Consider the given value,

Apply z-transform to the above equation:

(18)
Substitute Equation (18) in Equation (17):

Step 9 of 24
Re-arrange the above equation:

(19)
Apply partial fraction expansion to Equation (19):

(20)

Step 10 of 24
From the above equation,
(21)
Substitute 1 for z in Equation (21).

Substitute 0.905 for z in Equation (21):

Substitute 1 for A and

for B in Equation (20):

(22)
Compare Equations (19) and (22):

(23)

Step 11 of 24
Apply inverse z-transform to Equation (23):
(24)
The given H value is 0.1. It requires 10 iterations to calculate
Substitute the given values 0.1 for

Thus, the value for

is

. So, the value of k is 10.

and 10 for k in Equation (24):

Step 12 of 24
(c)
Determine

with the given value of

Substitute the given value 0.33333 for H in Equation (13):

Substitute the given value 0.33333 for H in Equation (14):

Step 13 of 24
Substitute the given value 0.33333 for H in Equation (15):

Substitute 0.7222 for a, 0.16667 for b, and 0.1111 for c in Equation (16):

Step 14 of 24
Substitute Equation (18) in the above equation:

Re-arrange the above equation:

(25)

Step 15 of 24
Apply partial fraction expansion to Equation (25):

(26)

From the above equation,

(27)

Step 16 of 24
Substitute 1 for z in Equation (27):

Substitute 0.7222 for z in Equation (27):

Substitute 1 for A and

for B in Equation (26):

(28)
Compare Equations (25) and (28):

(29)

Step 17 of 24
Apply inverse z-transform to Equation (29):
(30)
The given H value is 0.33333. It requires 3 iterations to calculate

. So, the value of k is 3.

Substitute the given values 0.33333 for

Thus, the value for

is

and 3 for k and 1 for

in Equation (30):

Step 18 of 24
(d)
To find the exact value of

from the given differential equation by Laplace transforms:

Apply Laplace transform to Equation (1):

Re-arrange the above equation:

(31)

Step 19 of 24
Apply partial fraction expansion to Equation (31):

(32)

From the above equation,

(33)

Step 20 of 24
Substitute 0 for s in Equation (33):

Substitute

for s in Equation (33):

Step 21 of 24
Substitute 1 for

and

for

in Equation (32):

 (34)
Compare Equations (31) and (34):

Step 22 of 24
Apply inverse Laplace transform to the above equation:

Substitute 1 for t in the above equation:

Thus, the exact value for

is

(e)
Calculate and compare the errors for
Consider the exact value for

with the exact values.

is 0.6321.

The percentage error formula for

is,

(35)

Step 23 of 24
To find the error for the given

value of 0.650:

Substitute 0.6321 for exact value and 0.650 for actual value in Equation (35):

Step 24 of 24
To find the error for the given

value of 0.6862:

Substitute 0.6321 for exact value and 0.6862 for actual value in Equation (35):

Thus, the error for the given value

is

is

and the error for the given value