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AutomaticControlSystems,9thEdition
A

Chapter2Solution
ns
Golnarraghi,Kuo
C
Chapter
2
2
21(a)
Poless:s=0,0,1,
10;
(b) Poles:s=2,,2;
Zeross:s=2,f,f,f.
Zeros:s=0.
Thepoleandzeroats=1ccanceleachotther.
( Poles:s=0,1+j,1j;
(c)
(d)Poles:s =0,1,2,f.
Zeross:s=2.

2
2-2)
a)
b)
c)
2
2-3)
M
MATLABcode
e:
21

Chapter2Solutions
clear all;
s = tf('s')
'Generated transfer function:'

Ga=10*(s+2)/(s^2*(s+1)*(s+10))
'Poles:'
pole(Ga)
'Zeros:'
zero(Ga)

Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
'Poles:';
pole(Gb)
'Zeros:'
zero(Gb)

Gc=10*(s+2)/(s*(s^2+2*s+2))
'Poles:';
pole(Gc)
'Zeros:'
zero(Gc)

Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
'Poles:';
pole(Gd)
'Zeros:'
zero(Gd)
22
Golnaraghi,Kuo

Chapter2Solutions
Polesandzerosoftheabovefunctions:
(a)
Poles:00101
Zeros:2
(b)
Poles:2.00002.00001.0000
Zeros:01
(c)
Poles:
0
1.0000+1.0000i
1.00001.0000i
Zeros:2
Generatedtransferfunction:
(d)usingfirstorderPadeapproximationforexponentialterm
Poles:
0
2.0000
1.0000+0.0000i
1.00000.0000i

Zeros:
1
23
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
2-4) Mathematical representation:

In all cases substitute and simplify. The use MATLAB to verify.
R
10( jZ 2)
2
I1
Z ( jZ 1)( jZ 10)
10( jZ 2)
( jZ 1)( jZ 10)
u
2
Z ( jZ 1)( jZ 10) ( jZ 1)( jZ 10)
10( jZ 2)( jZ 1)( jZ 10)
a)
I2
Z 2 (Z 2 1)(Z 2 100)
jZ 2 jZ 1 jZ 10
R
22 Z 2 1 Z 2 102 Z 2
R(e jI1 e jI2 e jI3 )
I3
10 22 Z 2 1 Z 2 102 Z 2
;
Z 2 (Z 2 1)(Z 2 100)
Z
2
tan 1 2 Z
2
2
2 Z2
2
Z
2
tan 1 1 Z
Z
1 Z2
2
2
tan 1 10 Z
I I1 I2 I3
10
102 Z 2
10
I1
( jZ 1) 2 ( jZ 3)
10
( jZ 1)( jZ 1)( jZ 3)
u
( jZ 1)( jZ 1)( jZ 3) ( jZ 1)( jZ 1)( jZ 3)
10( jZ 1)( jZ 1)( jZ 3)
b)
I2
(Z 2 1) 2 (Z 2 9)
jZ 1 jZ 1 jZ 3
R
1 Z2 1 Z2 9 Z2
R (e jI1 e jI2 e jI3 )
I3
10 1 Z 2 9 Z 2
;
(Z 2 1) 2 (Z 2 9)
Z
2
tan 1 1 Z
Z
2
tan 1 1 Z
Z
2
tan 1 9 Z
I I1 I2 I3
24
1
1 Z2
1
1 Z2
3
9 Z2

Chapter2Solutions
10
jZ ( j 2Z 2 Z 2 )
10 j
(2 Z 2 j 2Z )
u
Z ( j 2Z 2 Z 2 ) (2 Z 2 j 2Z )
10(2Z (2 Z 2 ) j )
Z (4Z 2 (2 Z 2 ) 2 )
c)
R
2Z (2 Z 2 ) j
4Z 2 (2 Z 2 ) 2
R (e jI )
10 4Z 2 (2 Z 2 ) 2
Z (4Z 2 (2 Z 2 ) 2 )
10
Z 4Z (2 Z 2 ) 2
2
2 Z 2
tan 1
4Z (2 Z )
2
2 2
2Z
4Z 2 (2 Z 2 ) 2
R
e 2 jZ
10 jZ ( jZ 1)( jZ 2)
j ( jZ 1)( jZ 2) 2 jZ I1
e
10Z (Z 2 1)(Z 2 2)
d)
jZ 2 jZ 1 2 jZ jS / 2
R
e
22 Z 2 1 Z 2
I2
R (e jI1 e jI2 e jI3 )
1
10Z 2 Z 2 1 Z 2
Z
2
2
2
tan 1 2 Z
2
2 Z2
2
Z
2
tan 1 1 Z
I I1 I2 I3
1
1 Z2
MATLABcode:
clear all;
s = tf('s')

Ga=10*(s+2)/(s^2*(s+1)*(s+10))
figure(1)
25
Golnaraghi,Kuo

Chapter2Solutions
Nyquist(Ga)

Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
figure(2)
Nyquist(Gb)

Gc=10*(s+2)/(s*(s^2+2*s+2))
figure(3)
Nyquist(Gc)

Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
figure(4)
Nyquist(Gd)
Nyquistplots(polarplots):
Part(a)
26
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-300
-250
-200
-150
-100
-50
Real Axis

Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.5
0.5
1.5
2.5
Real Axis

Part(c)
27

Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
80
60
40
Imaginary Axis
20
-20
-40
-60
-80
-7
-6
-5
-4
-3
-2
-1
Real Axis

Part(d)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
28

2-5)
Chapter2Solutions
In all cases find the real and imaginary axis intersections.
10( jZ 2)
(Z 2 4)
10
( jZ 2)
G ( jZ )
Re ^G ( jZ )` cos I
a)
(Z 2 4)
Z
Im ^G ( jZ )` sin I
(Z 2 4)
10
(Z 4)
2
,
,
(Z 2 4)
tan 1
Z
(Z 2 4)
10
(Z 2 4)
lim Z o0 G ( jZ ) 5; I
90$
0
lim Z of G ( jZ ) 0; I tan 1 0
180$
1
Real axis intersection @ jZ 0
tan 1 1
Imaginary axis int er sec tion does not exist.

b&c) = 1 0o
= 0 -180o

Therefore:

Re{ G(j) } =
Im {G(j)} =
29
Golnaraghi,Kuo
2 jZ
(Z 2 4)

Chapter2Solutions
If Re{G(j )} = 0

If Im{ G(j )} = 0

If = n

If = n and = 1

If = n and
If = n and
d)
e)
G(j) =

=
- 90o

=
-180o
G(j) =

+ = tan-1 ( T) L
210
Golnaraghi,Kuo

26
Chapter2Solutions
MATLABcode:
clear all;
s = tf('s')
%Part(a)
Ga=10/(s-2)
figure(1)
nyquist(Ga)
%Part(b)
zeta=0.5;
%asuuming a value for zeta <1
wn=2*pi*10 %asuuming a value for wn

Gb=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(2)
nyquist(Gb)
%Part(c)
zeta=1.5;
%asuuming a value for zeta >1
wn=2*pi*10
Gc=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(3)
nyquist(Gc)
%Part(d)
T=3.5 %assuming value for parameter T
Gd=1/(s*(s*T+1))
figure(4)
nyquist(Gd)
211
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
%Part(e)
T=3.5
L=0.5
Ge=pade(exp(-1*s*L),2)/(s*T+1)
figure(5)
hold on;
nyquist(Ge)

notes:InordertouseMatlabNyquistcommand,parametersneedstobeassignedwithvalues,andPade
approximationneedstobeusedforexponentialterminpart(e).
Nyquistdiagramsareasfollows:
212

Chapter2Solutions
Golnaraghi,Kuo
Part(a)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-5
-4
-3
-2
-1
Real Axis

Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
213

Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis

Part(d)
214

Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
60
40
Imaginary Axis
20
-20
-40
-60
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis

Part(e)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.6
0.8
Real Axis
215

2-7)
a)
Chapter2Solutions
G(j) =
Steps for plotting |G|:

(1) For < 0.1, asymptote is
Break point: = 0.5
Slope = -1 or -20 dB/decade
(2) For 0.5 < < 10
Break point: = 10
Slope = -1+1 = 0 dB/decade
(3) For 10 < < 50:
Break point: = 50
(4) For > 50
Steps for plotting G
(1)
(2)
(3)
(4)
b)
= -90o

Lets convert the transfer function to the following form:

G(j) =
G(s) =
Steps for plotting |G|:

(1) Asymptote: < 1
|G(j)|
2.5 /
Slope: -1 or -20 dB/decade

216
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
(2) n =2 and = 0.1 for second-order pole

break point: = 2
slope: -3 or -60 dB/decade

Steps for plotting G(j):

(1) for term 1/s the phase starts at -90o and at = 2 the phase will be -180o
(2) for higher frequencies the phase approaches -270o
c)
Convert the transfer function to the following form:
for term
, slope is -2 (-40 dB/decade) and passes through
(1) the breakpoint: = 1 and slope is zero

(2) the breakpoint: = 2 and slope is -2 or -40 dB/decade
|G(j)| = 1 = 2 = 0.01 below the asymptote
|G(j)| = 1 =
= 50 above the asymptote
Steps for plotting G:
d)
(1)
phase starts from -180o due to
(2)
(3)
G(j)| =1 = 0
G(j)| = 2 = -180o
G(j) =

Steps for plotting the |G|:

(1) Asymptote for
(2) Breakpoint:
<1 is zero
= 1, slope = -1 or -10 dB/decade
(3) As is a damping ratio, then the magnitude must be obtained for various when
01
217

Chapter2Solutions
Golnaraghi,Kuo
The high frequency slope is twice that of the asymptote for the single-pole case
Steps for plotting G:
(1) The phase starts at 0o and falls -1 or -20 dB/decade at
at
= 5. For
= 0.2 and approaches -180o
> 5, the phase remains at -180o.
(2) As is a damping ratio, the phase angles must be obtained for various when
01
28)Usethisparttoconfirmtheresultsfromthepreviouspart.
MATLABcode:
s = tf('s')

Ga=2000*(s+0.5)/(s*(s+10)*(s+50))
figure(1)
bode(Ga)
grid on;

Gb=25/(s*(s+2.5*s^2+10))
figure(2)
bode(Gb)
grid on;

Gc=(s+100*s^2+100)/(s^2*(s+25*s^2+100))
figure(3)
bode(Gc)
grid on;
218

Chapter2Solutions

zeta = 0.2
wn=8
Gd=1/(1+2*zeta*s/wn+(s/wn)^2)
figure(4)
bode(Gd)
grid on;

t=0.3
'from pade approzimation:'
exp_term=pade(exp(-s*t),1)
Ge=0.03*(exp_term+1)^2/((exp_term-1)*(3*exp_term+1)*(exp_term+0.5))
figure(5)
bode(Ge)
grid on;

Part(a)
219
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
-60
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)

Part(b)
Bode Diagram
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
Frequency (rad/sec)
220
10

Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
Frequency (rad/sec)

Part(d)
221
10

Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
10
Magnitude (dB)
0
-10
-20
-30
-40
-50
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
Part(e)
Bode Diagram
0
Magnitude (dB)
-20
-40
-60
-80
-100
Phase (deg)
-120
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
222
10
10

2-9)
Chapter2Solutions
a)
1 2 0
0 2 3
A
1 3 1
0 0
1 0
B
0 1
u (t )
u1 (t )
u (t )
2
b)

2-10) We know that:

Partial integration of equation (1) gives:

Differentiation of both sides of equation (1) with respect to s gives:

Comparing with equation (1), we conclude that:

223
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo

2-11) Let g(t) = then
Using Laplace transform and differentiation property, we have X(s) = sG(s)

Therefore G(s) =
, which means:

2-12) By Laplace transform definition:

Now, consider = t - T, then:

Which means:
2-13) Consider:
f(t) = g1(t)
g2(t) =
By Laplace transform definition:
By using time shifting theorem, we have:

224

Chapter2Solutions

Lets consider g(t) = g1(t) g2(t)
By inverse Laplace Transform definition, we have
Then

Where

therefore:
2-14) a)
We know that
= sG(s) + g(0)
When s , it can be written as:
225
Golnaraghi,Kuo

Chapter2Solutions
As

Therefore:
b)
By Laplace transform differentiation property:
As

Therefore
which means:
215)
MATLABcode:
clear all;
syms t
s=tf('s')
f1 = (sin(2*t))^2
L1=laplace(f1)
226
Golnaraghi,Kuo

Chapter2Solutions
% f2 = (cos(2*t))^2 = 1-(sin(2*t))^2
Golnaraghi,Kuo
===> L(f2)=1/s-L(f1) ===>
L2= 1/s - 8/s/(s^2+16)
f3 = (cos(2*t))^2
L3=laplace(f3)
'verified as L2 equals L3'

2
MATLABsolutionfor L sin 2t is:
8/s/(s^2+16)

2
2
Calculating L cos 2t basedon L sin 2t
L cos 2 2t =(s^^3+8s)/(s^4+16s^2)
2
verifying L cos 2t :
(8+s^2)/s/(s^2+16)
216)(a)
G ( s )
(d)
G ( s )
s 5

1
2
s 4
(b)
G ( s )
(e)
4s
2
4

(c)
G ( s)
1
s2
1 e
k 0
227
G ( s )
kT ( s 5 )
T ( s 5 )
4
2
s 4s 8
Chapter2Solutions
Golnaraghi,Kuo

217)Note:%section (e) requires assignment of T and a numerical loop calculation

MATLABcode:
clear all;
syms t u
f1 = 5*t*exp(-5*t)
L1=laplace(f1)
f2 = t*sin(2*t)+exp(-2*t)
L2=laplace(f2)
f3 = 2*exp(-2*t)*sin(2*t)
L3=laplace(f3)
f4 = sin(2*t)*cos(2*t)
L4=laplace(f4)
%section (e) requires assignment of T and a numerical loop calculation
(a) g (t )
5te 5t u s (t )
Answer:5/(s+5)^2
(b) g ( t ) ( t sin 2t e 2t )us ( t )
Answer:4*s/(s^2+4)^2+1/(s+2)
(c) g ( t ) 2e 2t sin 2t u s (t )
Answer:4/(s^2+4*s+8)

228

(d) g ( t ) sin 2t cos 2t u s (t )
Chapter2Solutions
Golnaraghi,Kuo
Answer:2/(s^2+16)
f
(e) g ( t )
5 kT
G ( t kT )
whereG(t)=unitimpulsefunction
k 0
%section (e) requires assignment of T and a numerical loop calculation
218(a)
u s (t ) 2u s (t 1) 2u s ( t 2) 2u s (t 3)
g (t )
G(s)

gT (t )
GT ( s )
1 e
1 2e s 2e 2 s 2e 3s
s 1 e
u s (t ) 2u s (t 1) u s (t 2)
1
s
1 2e s e 2 s
1
s
g ( t )
1 e s
gT ( t 2 k )u s ( t 2 k )
s
0dtd2
s
G( s)
k 0
(1 e
s 2 2 ks
) e
1 e
s
s(1 e
k 0
s

)
(b)
g (t )
G ( s )
2tu s (t ) 4(t 0.5)u s (t 0.5) 4(t 1)u s (t 1) 4(t 1.5)u s (t 1.5)
2
s
1 2e
0.5 s
2e
s
2e
1.5 s
0.5 s

0.5 s
2
s 1 e

2 1 e
gT ( t ) 2tu s ( t ) 4( t 0.5)u s ( t 0.5) 2( t 1)u s ( t 1)
GT ( s )
2
s
1 2e0.5 s e s
2
s
1 e0.5 s
g (t )
g T (t k )u s (t k )
k 0
G ( s)
0 d t d 1
s2
2
1 e
k 0
0.5 s 2
ks
0.5s
2
0.5 s
s 1 e

2 1 e
219)
g ( t )
( t 1)u s ( t ) ( t 1)u s ( t 1) 2u s ( t 1) ( t 2 )u s ( t 2) ( t 3)u s ( t 3) u s ( t 3)
229

Chapter2Solutions
Golnaraghi,Kuo

1
G ( s )
1 e s e 2 s e 3s s 1 2e s e 3s
1
2-20)

2-21)

2-22)

230

Chapter2Solutions

223
MATLABcode:
clear all;
syms t u s x1 x2 Fs
f1 = exp(-2*t)
L1=laplace(f1)/(s^2+5*s+4);
Eq2=solve('s*x1=1+x2','s*x2=-2*x1-3*x2+1','x1','x2')
f2_x1=Eq2.x1
f2_x2=Eq2.x2
f3=solve('(s^3-s+2*s^2+s+2)*Fs=-1+2-(1/(1+s))','Fs')

HereisthesolutionprovidedbyMATLAB:

Part(a):F(s)=1/(s+2)/(s^2+5*s+4)

Part(b):X1(s)=(4+s)/(2+3*s+s^2)
X2(s)=(s2)/(2+3*s+s^2)

Part(c):F(s)=s/(1+s)/(s^3+2*s^2+2)
231
Golnaraghi,Kuo

224)
Chapter2Solutions
MATLABcode:

clear all;
syms s Fs
f3=solve('s^2*Fs-Fs=1/(s-1)','Fs')
Answer from MATLAB: Y(s)=1/(s-1)/(s^2-1)
225)
MATLABcode:
clear all;
syms s CA1 CA2 CA3
v1=1000;
v2=1500;
v3=100;
k1=0.1
k2=0.2
k3=0.4
f1='s*CA1=1/v1*(1000+100*CA2-1100*CA1-k1*v1*CA1)'
f2='s*CA2=1/v2*(1100*CA1-1100*CA2-k2*v2*CA2)'
f3='s*CA3=1/v3*(1000*CA2-1000*CA3-k3*v3*CA3)'
Sol=solve(f1,f2,f3,'CA1','CA2','CA3')
CA1=Sol.CA1
CA3=Sol.CA2
CA4=Sol.CA3

232
Golnaraghi,Kuo

SolutionfromMATLAB:
Chapter2Solutions
Golnaraghi,Kuo
CA1(s)=
1000*(s*v2+1100+k2*v2)/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+
1100*k1*v1+k1*v1*k2*v2)
CA3(s)=
1100000/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+1100*k1*v1+k1*
v1*k2*v2)
CA4(s)=
1100000000/(1100000000+1100000*s*v3+1000*s*v1*k2*v2+1100000*s*v1+1000*k1*v1*s*v2+1000*k1*v1*k
2*v2+1100*s*v1*k3*v3+1100*s*v2*k3*v3+1100*k2*v2*s*v3+1100*k2*v2*k3*v3+1100*k1*v1*s*v3+1100*k1
*v1*k3*v3+1100000*k1*v1+1000*s^2*v1*v2+1100000*s*v2+1100000*k2*v2+1100000*k3*v3+s^3*v1*v2*v3+
1100*s^2*v1*v3+1100*s^2*v2*v3+s^2*v1*v2*k3*v3+s^2*v1*k2*v2*v3+s*v1*k2*v2*k3*v3+k1*v1*s^2*v2*v3
+k1*v1*s*v2*k3*v3+k1*v1*k2*v2*s*v3+k1*v1*k2*v2*k3*v3)
2-26) (a)
G( s)
3s
(b)
G( s)
2( s 2)
1 2t 1 3t
e e
3 2
3
g (t )
3( s 3)
t t 0
2.5
s 1 ( s 1)
2.5
g (t )
s3
2.5e
t
5te
t
2.5e
3t
t t 0
(c)
G(s)
50
s
20
s 1
30 s 20
2
s 4
s
>50 20e (t 1) 30 cos 2(t 1) 5 sin 2(t 1) @ us (t 1)
g (t )
(d)
G( s)
1
s
s 1
s s2
g (t )
1 1.069e
(e)
g (t )
0.5t
1
2
s s2
s
2
s s2
TakingtheinverseLaplacetransform,
>sin 1.323t sin 1.323t 69.3o @

2 t
0.5t e
1 e
t t 0
(f)Try using MATLAB

>> b=num*2
233
0.5t
1.447 sin 1.323t cos1.323t t t 0

Chapter2Solutions
b=
2
>>num =
1
>> denom1=[1 1]
denom1 =
1
>> denom2=[1 5 5]
denom2 =
1
>> num*2
ans =
2
>> denom=conv([1 0],conv(denom1,denom2))

denom =
1
10
>> b=num*2
b=
2
>> a=denom
a=
1
10
>> [r, p, k] = residue(b,a)

r=
-0.9889
234
Golnaraghi,Kuo

Chapter2Solutions
2.5889
-2.0000
0.4000
p=
-3.6180
-1.3820
-1.0000
0
k=[]
If there are no multiple roots, then
The number of poles n is

r
r1
r
2 ... n k
s p1 s p2
s pn
b
a
In this case, p1 and k are zero. Hence,

0.4
0.9889
2.5889
2

s s 3.6180 s 1.3820 s 1
G ( s)
0.4 0.9889e 3.618t 1.3820e 2.5889t 2e t
g (t )
(g)

(h)

235
Golnaraghi,Kuo

(i)
Chapter2Solutions
Golnaraghi,Kuo

227
MATLABcode:

clear all;
syms s
f1=1/(s*(s+2)*(s+3))
F1=ilaplace(f1)
f2=10/((s+1)^2*(s+3))
F2=ilaplace(f2)
f3=10*(s+2)/(s*(s^2+4)*(s+1))*exp(-s)
F3=ilaplace(f3)
f4=2*(s+1)/(s*(s^2+s+2))
F4=ilaplace(f4)
f5=1/(s+1)^3
F5=ilaplace(f5)
f6=2*(s^2+s+1)/(s*(s+1.5)*(s^2+5*s+5))
F6=ilaplace(f6)
s=tf('s')
f7=(2+2*s*pade(exp(-1*s),1)+4*pade(exp(-2*s),1))/(s^2+3*s+2) %using Pade command
for exponential term
236

Chapter2Solutions
Golnaraghi,Kuo
[num,den]=tfdata(f7,'v') %extracting the polynomial values

syms s
f7n=(-2*s^3+6*s+12)/(s^4+6*s^3+13*s^2+12*s+4) %generating sumbolic function for
ilaplace
F7=ilaplace(f7n)
f8=(2*s+1)/(s^3+6*s^2+11*s+6)
F8=ilaplace(f8)
f9=(3*s^3+10^s^2+8*s+5)/(s^4+5*s^3+7*s^2+5*s+6)
F9=ilaplace(f9)
SolutionfromMATLABfortheInverseLaplacetransforms:

Part(a):
G ( s)
1
s( s 2)( s 3)
G(t)=1/2*exp(2*t)+1/3*exp(3*t)+1/6
Tosimplify:
symst
digits(3)
vpa(1/2*exp(2*t)+1/3*exp(3*t)+1/6)
ans=.500*exp(2.*t)+.333*exp(3.*t)+.167
Part(b):
G ( s)
10
( s 1) 2 ( s 3)
G(t)=5/2*exp(3*t)+5/2*exp(t)*(1+2*t)
237

Part(c):
G( s)
100( s 2)
s( s 2 4 )( s 1)
Chapter2Solutions
Golnaraghi,Kuo
e s
G(t)=Step(t1)*(4*cos(t1)^2+2*sin(t1)*cos(t1)+4*exp(1/2*t+1/2)*cosh(1/2*t1/2)4*exp(t+1)cos(2*t2)
2*sin(2*t2)+5)
Part(d):
G ( s)
2( s 1)
s( s 2 s 2 )
G(t)=1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t))
Tosimplify:
symst
digits(3)
vpa(1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t)))
ans=1.+.143*exp(.500*t)*(7.*cos(1.32*t)+7.95*sin(1.32*t))
Part(e):
G ( s)
1
( s 1) 3
G(t)=1/2*t^2*exp(t)
Part(f):
G( s)
2( s 2 s 1)
s( s 15
. )( s 2 5s 5)
G(t)=4/15+28/3*exp(3/2*t)16/5*exp(5/2*t)*(3*cosh(1/2*t*5^(1/2))+5^(1/2)*sinh(1/2*t*5^(1/2)))
Part(g):G ( s )
2 2 se s 4e 2 s
s 2 3s 2
238

G(t)=2*exp(2*t)*(7+8*t)+8*exp(t)*(2+t)
Part(h):
G ( s)
Chapter2Solutions
Golnaraghi,Kuo
2s 1
s 6 s 2 11s 6
3
G(t)=1/2*exp(t)+3*exp(2*t)5/2*exp(3*t)

Part(i):
G ( s)
3s 3 10 s 2 8s 5
s 4 5 s 3 7 s 2 5s 6
G(t)= 7*exp(2*t)+10*exp(3*t)
1/10*ilaplace(10^(2*s)/(s^2+1)*s,s,t)+1/10*ilaplace(10^(2*s)/(s^2+1),s,t)+1/10*sin(t)*(10+dirac(t)*(exp(
3*t)+2*exp(2*t)))
239

2-28)
Chapter2Solutions
Golnaraghi,Kuo

a)

b)

2-29) (a)

3s 1
Y (s)
3
s 2 s 5s 6
R( s)
(c)
e)
(b)
R( s)
Y (s)
s ( s 2)
R( s)
s 10 s 2 s s 2
Y (s)
5
4
s 10 s s 5
(d)
Y (s)
R( s)
1 2e
2
s
2s s 5

By using Laplace transform, we have:

As , then
240

Chapter2Solutions
Golnaraghi,Kuo
Then:
f)
By using Laplace transform we have:

As a result:
230)
AftertakingtheLaplacetransform,theequationwassolvedintermsofY(s),andconsecutivelywasdividedby
inputR(s)toobtainY(s)/R(s):
MATLABcode:
clear all;
syms Ys Rs s
sol1=solve('s^3*Ys+2*s^2*Ys+5*s*Ys+6*Ys=3*s*Rs+Rs','Ys')
Ys_Rs1=sol1/Rs
sol2=solve('s^4*Ys+10*s^2*Ys+s*Ys+5*Ys=5*Rs','Ys')
Ys_Rs2=sol2/Rs
sol3=solve('s^3*Ys+10*s^2*Ys+2*s*Ys+2*Ys/s=s*Rs+2*Rs','Ys')
Ys_Rs3=sol3/Rs
sol4=solve('2*s^2*Ys+s*Ys+5*Ys=2*Rs*exp(-1*s)','Ys')
Ys_Rs4=sol4/Rs
241

Chapter2Solutions
Golnaraghi,Kuo
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
MATLABAnswers:
Part(a):
Y(s)/R(s)=(3*s+1)/(5*s+6+s^3+2*s^2);
Part(b):
Y(s)/R(s)=5/(10*s^2+s+5+s^4)
Part(c):
Y(s)/R(s)=(s+2)*s/(2*s^2+2+s^4+10*s^3)
Part(d):
Y(s)/R(s)=2*exp(s)/(2*s^2+s+5)
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
231
MATLABcode:
clear all;
s=tf('s')
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
242

Chapter2Solutions
Golnaraghi,Kuo
%Part d
Eq=5*(pade(exp(-2*s),1))/(s^2+s+1); %Pade approximation oreder 1 used
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
Thesolutionsarepresentedintheformoftwovectors,randp,whereforeachcase,thepartialfraction
expansionisequalto:
243

b( s )
a( s)
Chapter2Solutions
r
r1
r
2 ... n
s p1 s p 2
s pn
Followingarerandpvectorsforeachpart:

Part(a):

r=0.6944
0.9375
0.2431
0.4167

p=6.0000
4.0000
0
0

Part(b):

r=0.2500
0.25000.0000i
0.2500+0.0000i
0.2500

p=2.0000
1.0000+1.0000i
244
Golnaraghi,Kuo

1.00001.0000i
Chapter2Solutions
0

Part(c):

r=0.1500
1.2500
1.4000
2.0000

p=5
1
0
0

Part(d):

r=10.0000
5.00000.0000i
5.0000+0.0000i

p=1.0000
0.5000+0.8660i
0.50000.8660i

245
Golnaraghi,Kuo

Chapter2Solutions
Part(e):

r=110.9400
110.9400
100.0000

p=4.3028
0.6972
0

Part(f):

r=0.2400+0.3200i
0.24000.3200i
4.4800
1.6000
4.0000

p=0.0000+1.0000i
0.00001.0000i
0.5000
0.5000
0

246
Golnaraghi,Kuo

Part(g):
Chapter2Solutions

r=0.1000+0.0500i
0.10000.0500i
1.1000+0.3000i
1.10000.3000i

p=0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i

Part(h):

r=5.0000
1.0000
9.0000
2.0000
1.0000
p=2.0000
1.0000
1.0000
0
0
247
Golnaraghi,Kuo

232)
Chapter2Solutions
MATLABcode:
clear all;
syms s
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
ilaplace(Eq)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
ilaplace(Eq)
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
ilaplace(Eq)
%Part d
exp_term=(-s+1)/(s+1) %pade approcimation
Eq=5*exp_term/((s+1)*(s^2+s+1));
ilaplace(Eq)
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
ilaplace(Eq)
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
ilaplace(Eq)
248
Golnaraghi,Kuo

Chapter2Solutions
%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
ilaplace(Eq)
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
ilaplace(Eq)

MATLABAnswers:

Part(a):

G(t)=15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t
Tosimplify:
symst
digits(3)
vpa(15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t)
ans=.938*exp(4.*t)+.694*exp(6.*t)+.243+.417*tPart(b):

G(t)=1/4*exp(2*t)+1/41/2*exp(t)*cos(t)

Part(c):
G(t)=5/4*exp(t)7/5+3/20*exp(5*t)+2*t
249
Golnaraghi,Kuo

Chapter2Solutions
Part(d):

G(t)=5*exp(1/2*t)*(cos(1/2*3^(1/2)*t)+3^(1/2)*sin(1/2*3^(1/2)*t))+5*(1+2*t)*exp(t)

Part(e):

G(t)=100800/13*exp(5/2*t)*13^(1/2)*sinh(1/2*t*13^(1/2))

Part(f):

G(t)=4+12/25*cos(t)16/25*sin(t)8/25*exp(1/2*t)*(5*t+14)

Part(g):

G(t)=1/5*cos(2*t)1/10*sin(2*t)+1/5*(11*cos(t)3*sin(t))*exp(t)

Part(h):

G(t)=2+t+5*exp(2*t)+(1+9*t)*exp(t)
250
Golnaraghi,Kuo

Chapter2Solutions
2-33)(a)Polesareat s 0, 15
. j16583
.
, 15
. j16583
.

Onepolesats=0.Marginallystable.
Twopoleson jZ axis.Marginallystable.
(b)Polesareat s
5, j 2 , j 2
(c)Polesareat s
0.8688, 0.4344 j 2.3593, 0.4344 j 2.3593TwopolesinRHP.Unstable.
(d)Polesareat s
5, 1 j , 1 j
(e)Polesareat
(f)Polesareat s
22.8487 r j 22.6376, 213487

.
r j 22.6023
AllpolesintheLHP.Stable.
13387
.
, 16634
.
j 2.164, 16634
.
j 2.164 TwopolesinRHP.Unstable.
TwopolesinRHP.Unstable.
2-34) Find the Characteristic equations and then use the roots command.
(a)
p= [ 1 3 5 0]
sr = roots(p)
p=
sr =
0
-1.5000 + 1.6583i
-1.5000 - 1.6583i
p=conv([1 5],[1 0 2])
(b)
sr = roots(p)
p=
1
10
251
Golnaraghi,Kuo

Chapter2Solutions
sr =
-5.0000
0.0000 + 1.4142i
0.0000 - 1.4142i
(c)
>> roots([1 5 5])
ans =
-3.6180
-1.3820
(d) roots(conv([1 5],[1 2 2]))

ans =
-5.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
(e) roots([1 -2 3 10])
ans =
1.6694 + 2.1640i
1.6694 - 2.1640i
-1.3387
252
Golnaraghi,Kuo

Chapter2Solutions
(f) roots([1 3 50 1 10^6])

-22.8487 +22.6376i
-22.8487 -22.6376i
21.3487 +22.6023i
21.3487 -22.6023i
Alternatively
Problem234
MATLABcode:
% Question 2-34,
clear all;
s=tf('s')
%Part a
Eq=10*(s+2)/(s^3+3*s^2+5*s);
roots(den)
%Part b
Eq=(s-1)/((s+5)*(s^2+2));
roots(den)
%Part c
Eq=1/(s^3+5*s+5);
roots(den)
253
Golnaraghi,Kuo

Chapter2Solutions
%Part d
Eq=100*(s-1)/((s+5)*(s^2+2*s+2));
roots(den)
%Part e
Eq=100/(s^3-2*s^2+3*s+10);
roots(den)
%Part f
Eq=10*(s+12.5)/(s^4+3*s^3+50*s^2+s+10^6);
roots(den)

MATLABanswer:

Part(a)

0
1.5000+1.6583i
1.50001.6583i

Part(b)

5.0000
254
Golnaraghi,Kuo

0.0000+1.4142i
Chapter2Solutions
0.00001.4142i
Part(c)

0.4344+2.3593i
0.43442.3593i
0.8688

Part(d)

5.0000
1.0000+1.0000i
1.00001.0000i

Part(e)

1.6694+2.1640i
1.66942.1640i
1.3387

Part(f)

255
Golnaraghi,Kuo

22.8487+22.6376i
Chapter2Solutions
Golnaraghi,Kuo
22.848722.6376i
21.3487+22.6023i
21.348722.6023i
2-35)
(a) s 3 25 s 2 10 s 450 0
Roots: 25.31, 0.1537 j 4.214, 0.1537 4.214

RouthTabulation:
s
10
25
450
250 450
25
8
Twosignchangesinthefirstcolumn.TworootsinRHP.
450

3
(b) s 25 s 10 s 50
Roots: 24.6769, 0.1616 j1.4142, 0.1616 j1.4142
0

RouthTabulation:
s
10
25
50
250 50

8
Nosignchangesinthefirstcolumn.NorootsinRHP.
25
50

(c) s 3 25 s 2 250 s 10 0
RouthTabulation:
Roots: 0.0402, 12.48 j 9.6566, j 9.6566
256

250
25
10
6250 10
249.6
Chapter2Solutions
Golnaraghi,Kuo
Nosignchangesinthefirstcolumn.NorootsinRHP.
25
10

4
(d) 2 s 10 s 5.5 s 5.5 s 10

RouthTabulation:
5.5
s
10
5.5
55 11
4.4
0 Roots: 4.466, 1116

. , 0.2888 j 0.9611, 0.2888 j 0.9611
10
10
10
s
4.4

s
24.2 100
75.8
10
Twosignchangesinthefirstcolumn.TworootsinRHP.
(e) s 6 2 s 5 8 s 4 15 s 3 20 s 2 16 s 16 0 Roots: 1.222 r j 0.8169, 0.0447 r j1153

. , 0.1776 r j 2.352
RouthTabulation:
20
15
16
16 15
0.5
40 16
33
48
16

12
257

s
396 24
11.27
33
5411
. 528
.
116
11.27
s
Chapter2Solutions
Golnaraghi,Kuo
16
0
Foursignchangesinthefirstcolumn.FourrootsinRHP.

4
(f) s 2 s 10 s 20 s 5
RouthTabulation:
10
20
20 20
0
Roots: 0.29, 1788

. , 0.039 j 3105
. , 0.039 j 3105
.

0
2
s
Replace 0 in last row by H
20H 10
#
10
H
Twosignchangesinfirstcolumn.TworootsinRHP.
(g)
s8
20
16
s7
12
16
s6
12
16
s5
258

Chapter2Solutions
s5
12
60
64
s4
s3
28
64
s2
0.759
s1
28
s0
2-36) Use MATLAB roots command

a) roots([1 25 10 450])
ans =
-25.3075
0.1537 + 4.2140i
0.1537 - 4.2140i
b) roots([1 25 10 50])
ans =
-24.6769
-0.1616 + 1.4142i
-0.1616 - 1.4142i
c) roots([1 25 250 10])
ans =
-12.4799 + 9.6566i
-12.4799 - 9.6566i
259
Golnaraghi,Kuo

Chapter2Solutions
-0.0402
d) roots([2 10 5.5 5.5 10])
ans =
-4.4660
-1.1116
0.2888 + 0.9611i
0.2888 - 0.9611i
e) roots([1 2 8 15 20 16 16])
ans =
0.1776 + 2.3520i
0.1776 - 2.3520i
-1.2224 + 0.8169i
-1.2224 - 0.8169i
0.0447 + 1.1526i
0.0447 - 1.1526i
f) roots([1 2 10 20 5])
ans =
0.0390 + 3.1052i
0.0390 - 3.1052i
-1.7881
-0.2900
g) roots([1 2 8 12 20 16 16])
260
Golnaraghi,Kuo

Chapter2Solutions
ans =
0.0000 + 2.0000i
0.0000 - 2.0000i
-1.0000 + 1.0000i
-1.0000 - 1.0000i
0.0000 + 1.4142i
0.0000 - 1.4142i
AlternativelyusetheapproachinthisChaptersSection214:

1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys

4. ThenpressthetransferfunctionSymbolicbutton
261
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo

5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH =
[ 1, 10]
[ 25, 450]
[ -8, 0]
[ 450, 0]
Two sign changes in the first column. Two roots in RHP=> UNSTABLE
2-37) Use the MATLAB roots command same as in the previous problem.
262

Chapter2Solutions
Golnaraghi,Kuo
2-38) To solve using MATLAB, set the value of K in an iterative process and find the roots such that at
least one root changes sign from negative to positive. Then increase resolution if desired.
Example: in this case 0<K<12 ( increase resolution by changing the loop to: for K=11:.1:12)
forK=0:12
K
roots([1251520K])
end
K=
ans =
0
-24.4193
-0.2904 + 0.8572i
-0.2904 - 0.8572i
K=
ans =
263

Chapter2Solutions
-24.4192
-0.2645 + 0.8485i
-0.2645 - 0.8485i
-0.0518
K=
ans =
-24.4191
-0.2369 + 0.8419i
-0.2369 - 0.8419i
-0.1071
K=
264
Golnaraghi,Kuo

Chapter2Solutions
ans =
-24.4191
-0.2081 + 0.8379i
-0.2081 - 0.8379i
-0.1648
K=
ans =
-24.4190
-0.1787 + 0.8369i
-0.1787 - 0.8369i
-0.2237
K=
265
Golnaraghi,Kuo

Chapter2Solutions
ans =
-24.4189
-0.1496 + 0.8390i
-0.1496 - 0.8390i
-0.2819
K=
ans =
-24.4188
-0.1215 + 0.8438i
-0.1215 - 0.8438i
-0.3381
K=
7
266
Golnaraghi,Kuo

Chapter2Solutions
ans =
-24.4188
-0.0951 + 0.8508i
-0.0951 - 0.8508i
-0.3911
K=
ans =
-24.4187
-0.0704 + 0.8595i
-0.0704 - 0.8595i
-0.4406
K=
267
Golnaraghi,Kuo

Chapter2Solutions
ans =
-24.4186
-0.0475 + 0.8692i
-0.0475 - 0.8692i
-0.4864
K=
10
ans =
-24.4186
-0.0263 + 0.8796i
-0.0263 - 0.8796i
-0.5288
K=
268
Golnaraghi,Kuo

Chapter2Solutions
11
ans =
-24.4185
-0.0067 + 0.8905i
-0.0067 - 0.8905i
-0.5681
K=
12
ans =
-24.4184
0.0115 + 0.9015i
0.0115 - 0.9015i
-0.6046
AlternativelyusetheapproachinthisChaptersSection214:

269
Golnaraghi,Kuo

Chapter2Solutions
1. ActivateMATLAB
3. Typein
Acsys

4. ThenpressthetransferfunctionSymbolicbutton
270
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo

button.
RH=

[1,15,k]
[25,20,0]
[71/5,k,0]
[125/71*k+20,0,0]
[k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.
271

AlternativeProblem236
Chapter2Solutions
Golnaraghi,Kuo
UsingACSYStoolbarunderTransferFunctionSymbolic,theRouthHurwitzoptioncanbeusedtogenerateRH
matrixbasedondenominatorpolynhomial.Thesystemisstableifandonlyifthefirstcolumnofthismatrix
containsNOnegativevalues.

MATLABcode:tocalculatethenumberofrighthandsidepoles
%Part a
den_a=[1 25 10 450]
roots(den_a)
%Part b
den_b=[1 25 10 50]
roots(den_b)
%Part c
den_c=[1 25 250 10]
roots(den_c)
%Part d
den_d=[2 10 5.5 5.5 10]
roots(den_d)
%Part e
den_e=[1 2 8 15 20 16 16]
roots(den_e)
%Part f
den_f=[1 2 10 20 5]
roots(den_f)
272

Chapter2Solutions
Golnaraghi,Kuo
%Part g
den_g=[1 2 8 12 20 16 16 0 0]
roots(den_g)

usingACSYS,thedenominatorpolynomialcanbeinserted,andbyclickingontheRouthHurwitzbutton,theR
HchartcanbeobservedinthemainMATLABcommandwindow:

Part(a):forthetransferfunctioninpart(a),thischartis:

RHchart=
[1,10]
[25,450]
[8,0]
[450,0]

Unstablesystemdueto8onthe3rdrow.
2complexconjugatepolesonrighthandside.Allthepolesare:
25.3075
0.1537+4.2140iand0.15374.2140i
273

Chapter2Solutions
Golnaraghi,Kuo

Part(b):

RHchart:
[1,10]
[25,50]
[8,0]
[50,0]

Stablesystem>>Norighthandsidepole

Part(c):

274

RHchart:
Chapter2Solutions
[1,250]
[25,10]
[1248/5,0]
[10,0]


Part(d):

RHchart:
[2,11/2,10]
[10,11/2,0]
[22/5,10,0]
[379/22,0,0]
[10,0,0]

Unstablesystemdueto379/22onthe4throw.
4.4660
1.1116
0.2888+0.9611i
0.28880.9611i
275
Golnaraghi,Kuo

Chapter2Solutions

Part(e):

RHchart:
[1,8,20,16]
[2,15,16,0]
[1/2,12,16,0]
[33,48,0,0]
[124/11,16,0,0]
[36/31,0,0,0]
[16,0,0,0]

Unstablesystemdueto33and36/31onthe4thand6throw.
0.1776+2.3520i
0.17762.3520i
1.2224+0.8169i
1.22240.8169i
0.0447+1.1526i
0.04471.1526i

Part(f):

RHchart:
[1,10,5]
[2,20,0]
276
Golnaraghi,Kuo

[eps,5,0]
Chapter2Solutions
[(10+20*eps)/eps,0,0]
[5,0,0]

Unstablesystemdueto((10+20*eps)/eps)onthe4th.
2complexconjugatepolesslightlyonrighthandside.Allthepolesare:
0.0390+3.1052i
0.03903.1052i
1.7881
0.2900

Part(g):

RHchart:
[1,8,20,16,0]
[2,12,16,0,0]
[2,12,16,0,0]
[12,48,32,0,0]
[4,32/3,0,0,0]
[16,32,0,0,0]
[8/3,0,0,0,0]
[32,0,0,0,0]
[0,0,0,0,0]

277
Golnaraghi,Kuo

6poleswtzerorealpart:
Chapter2Solutions
0
0
0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
0.0000+1.4142i
0.00001.4142i
278
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
(a) s 4 25 s 3 15 s 2 20 s K 0

RouthTabulation:
s
s
15
25
20
375 20
14.2
25
s
284 25 K
14.2

s
. K
20 176
. K ! 0 or K 1136
.
20 176

K!0

Thus,thesystemisstablefor0<K<11.36.WhenK=11.36,thesystemismarginallystable.The
auxiliaryequationis A( s ) 14.2 s 11.36
frequencyofoscillationis0.894rad/sec.
0. ThesolutionofA(s)=0is s
0.8. The

4
(b) s Ks 2 s ( K 1) s 10
0

RouthTabulation:
s
s
K 1
K!0
10
K !1
2K K 1
K 1
10
9K 1 ! 0
K 1

s
9 K 1
10
Theconditionsforstabilityare:K>0,K>1,and 9 K 1 ! 0 .Since K isalwayspositive,the
lastconditioncannotbemetbyanyrealvalueofK.Thus,thesystemisunstableforallvaluesofK.
279

Chapter2Solutions
Golnaraghi,Kuo

3
(c) s ( K 2 ) s 2 Ks 10
0

RouthTabulation:
s
2K
K2
10
K ! 2
2 K 4 K 10
K 2K 5 ! 0
K2
10

Theconditionsforstabilityare:K>2and K 2 K 5 ! 0 or(K+3.4495)(K1.4495)>0,
orK>1.4495.Thus,theconditionforstabilityisK>1.4495.WhenK=1.4495thesystemis
marginallystable.Theauxiliaryequationis A( s )
Thefrequencyofoscillationis1.7026rad/sec.
(d) s 20 s 5 s 10 K
3.4495 s 10
0. Thesolutionis s
2.899 .
0

RouthTabulation:
s
20
10 K
100 10 K
20
5 0.5K
5 0.5K ! 0 or K 10
K!0
10 K

Theconditionsforstabilityare:K>0andK<10.Thus,0<K<10.WhenK=10,thesystemis
marginallystable.Theauxiliaryequationis A( s )
equationis s
20 s 100
5. Thefrequencyofoscillationis2.236rad/sec.
280
0. Thesolutionoftheauxiliary

Chapter2Solutions
Golnaraghi,Kuo

4
(e) s Ks 5 s 10 s 10 K
0

RouthTabulation:
s
s
10
K!0
10 K
5K 10 ! 0 or K ! 2
5 K 10
10 K

50 K 100
s
10 K
K
5K 10
50 K 100 10 K
3
3
5 K 10 K ! 0
5 K 10
K
s
K!0
10 K

3
Theconditionsforstabilityare:K>0,K>2,and 5 K 10 K ! 0.
UseMatlabtosolveforkfromlastcondition
>>symsk
>>kval=solve(5*k10+k^3,k);
>>eval(kval)
kval=
1.4233
0.7117+2.5533i
0.71172.5533i

SoK>1.4233.
Thus,theconditionsforstabilityis:K>2
281

4
(f) s 12.5 s s 5 s K
Chapter2Solutions
Golnaraghi,Kuo
0

RouthTabulation:
s
s
12.5
12.5 5
0.6
12.5

s
3 12.5 K
0.6

s
5 20.83 K
5 20.83 K ! 0 or K 0.24

K!0
Theconditionforstabilityis0<K<0.24.WhenK=0.24thesystemismarginallystable.Theauxiliary
2
0.6 s 0.24
equationis A( s )
oscillationis0.632rad/sec.
0. Thesolutionoftheauxiliaryequationis s
0.4. Thefrequencyof
2-39)
3
Thecharacteristicequationis Ts ( 2T 1) s ( 2 K ) s 5 K
0

RouthTabulation:
s
K2
T
2T 1
T !0
T ! 1 / 2
5K

( 2T 1)( K 2 ) 5 KT
K (1 3T ) 4T 2 ! 0
2T 1
K!0
5K
Theconditionsforstabilityare:
T>0,K>0,and K
282
4T 2
3T 1
.Theregionsofstabilityinthe

Chapter2Solutions
Golnaraghi,Kuo
TversusKparameterplaneisshownbelow.

240UsetheapproachinthisChaptersSection214:

1. ActivateMATLAB
3. Typein
Acsys
283

Chapter2Solutions

4. ThenpressthetransferfunctionSymbolicbutton.
284
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
button.
RH=

[1,50000,24*k]
[600,k,80*k]
[1/600*k+50000,358/15*k,0]
[(35680*k1/600*k^2)/(1/600*k+50000),80*k,0]
[24*k*(k^221622400*k+5000000000000)/(k30000000)/(35680*k1/600*k^2)*(1/600*k+50000),
0,0]
[80*k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.

(a)Characteristicequation: s 5 600 s 4 50000 s 3 Ks 2 24 Ks 80 K 0

RouthTabulation:
s
600
3 u 10 K
14320 K
600
600
21408000 K K
80 K
80 K
11
7.2 u 10 3113256
u 10 K 14400 K
.
12
K 2.162 u 10 K 5 u 10
K!0
80 K
285
K 21408000
600(21408000 K )
0
s

K 3 u 10
3 u 10 K
16
24 K
50000
0

Conditionsforstability:
Fromthe s row:
Fromthe s row:
Chapter2Solutions
K 3 u 10
K 2.1408 u 10
Fromthe s row:
K 2.162 u 10 K 5 u 10
Thus,
2.34 u 10 K 2.1386 u 10
Fromthe s row:
K>0
Golnaraghi,Kuo
12
0 or ( K 2.34 u 10 )( K 2.1386 u 10 ) 0
2.34 u 10 K 2.1386 u 10
Thus,thefinalconditionforstabilityis:

5
When K
2.34 u 10
10.6 rad/sec.
When K
2.1386 u 10
188.59 rad/sec.
(b)Characteristicequation: s 3 ( K 2 ) s 2 30 Ks 200 K 0
Routhtabulation:
30 K
K2
200 K
K ! 2
30 K 140 K
K ! 4.6667
K2
K!0
200 K

StabilityCondition:K>4.6667
WhenK=4.6667,theauxiliaryequationis A( s )
6.6667 s 933.333

3
(c)Characteristicequation: s 30 s 200 s K
0
286
0 .Thesolutionis s
140.

Chapter2Solutions
Golnaraghi,Kuo
Routhtabulation:
s
200
30
6000 K
K 6000
30
s
K!0

0 K 6000
StabililtyCondition:
WhenK=6000,theauxiliaryequationis A( s )
30 s 6000
0. Thesolutionis s
200.

3
(d)Characteristicequation: s 2 s ( K 3) s K 1 0

Routhtabulation:
s
K3
K +1
K 5
K ! 5
30
K ! 1
K +1

K>1.WhenK=1thezeroelementoccursinthefirstelementofthe
Stabilitycondition:
s row.Thus,thereisnoauxiliaryequation.WhenK=1,thesystemismarginallystable,andone
ofthethreecharacteristicequationrootsisats=0.Thereisnooscillation.Thesystemresponse
wouldincreasemonotonically.
287

Chapter2Solutions
242Stateequation:
Openloopsystem:
Closedloopsystem:
A BK
x ( t )
1 2
10 0
x ( t )
2
k 2
Ax ( t ) Bu ( t )
0
1

1
10 k
Golnaraghi,Kuo
( A BK )x ( t )
Characteristicequationoftheclosedloopsystem:
sI A BK
s 1
10 k1
s k2
s k 2 1 s 20 2k1 k 2
2
0
Stabilityrequirements:
k 2 1 ! 0 or k 2 ! 1
20 2k1 k 2 ! 0 or k 2 20 2k1
Parameterplane:

243)Characteristicequationofclosedloopsystem:
sI A BK
1
1
k1
k2 4
s k3 3
s k 3 3 s k 2 4 s k1
3
288
0

Chapter2Solutions
Golnaraghi,Kuo
RouthTabulation:
k2 4
1
k3 3
k 3 +3>0 or k 3 ! 3
k1
3 k 2 4 k1
k3 3
0
3 k 4 k ! 0
2
k !0
1

StabilityRequirements:
k3 ! 3,
k1 ! 0,
3 k 2 4 k1 ! 0
244(a)SinceAisadiagonalmatrixwithdistincteigenvalues,thestatesaredecoupledfromeachother.The
secondrowofBiszero;thus,thesecondstatevariable, x 2 isuncontrollable.Sincetheuncontrollable
statehastheeigenvalueat3whichisstable,andtheunstablestate x3 withtheeigenvalueat2is
controllable,thesystemisstabilizable.

(b)Sincetheuncontrollablestate x1hasanunstableeigenvalueat1,thesystemisnostabilizable.
2-45) a)

If
, then or
If
, then . As a result:
289

Chapter2Solutions
Golnaraghi,Kuo

As a result:
Y ( s)
X (s)
G ( s) H (s)
(1 G ( s ) H ( s ))
( K p K d s)
((W s 1)( s 2 g / l ) K p K d s )
( K p K d s)
(W s (W ( g / l ) 1) s 2 K d s g / l K p )
3
c) lets choose
.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys
290

Chapter2Solutions

291
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo

button.
RH =
1/10,
kd]
eps,
kp-10]
[ (-1/10*kp+1+kd*eps)/eps,
[
kp-10,
0]
0]
For the choice of g/l or W the system will be unstable. The quantity W g/l must be >1.
Increase W g/l to 1.1 and repeat the process.
292

Chapter2Solutions
Golnaraghi,Kuo
d) Use the ACSYS toolbox as in section 2-14 to find the inverse Laplace transform. Then plot
the time response by selecting the parameter values. Or use toolbox 2-6-1.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
3. Typein
Acsys

293

Chapter2Solutions
Golnaraghi,Kuo

5. EnterthecharacteristicequationinthedenominatorandpresstheInverseLaplaceTransform
pushbutton.
---------------------------------------------------------------Inverse Laplace Transform
----------------------------------------------------------------
294

Chapter2Solutions
Golnaraghi,Kuo
G(s) =
kd
kp
[-----------------------[
------------------------------]
[1/10 s + s kd + kp - 10
1/10 s + s kd + kp - 10]
G(s) factored:
kd
[10 -------------------------[
kp
10 --------------------------]
[ s + 10 s kd + 10 kp - 100
s + 10 s kd + 10 kp - 100]
Inverse Laplace Transform:

g(t) =
matrix([[10*kd*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd
+10*kp100)),10*kp*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd+1
0*kp-100))]])
While MATLAB is having a hard time with this problem, it is easy to see the solution will be unstable
for all values of Kp and Kd. Stability of a linear system is independent of its initial conditions. For
different values of g/l and , you may solve the problem similarly assign all values (including Kp and
Kd) and then find the inverse Laplace transform of the system. Find the time response and apply the
initial conditions.
Lets chose g/l=1 and keep =0.1, take Kd=1 and Kp=10.
295

Y (s)
X (s)
G (s) H (s)
(1 G ( s ) H ( s ))
Chapter2Solutions
( K p K d s)
((W s 1)( s 2 g / l ) K p K d s )
(10 s )
(0.1s (0.1(1) 1) s 2 s 1 10)
3
(10 s )
(0.1s 0.9 s 2 s 9)
3
Using ACSYS:
RH =
[ 1/10,
1]
[ 9/10,
9]
[ 9/5,
0]
0]
9,
Hence the system is stable

---------------------------------------------------------------Inverse Laplace Transform
---------------------------------------------------------------G(s) =
s + 10
------------------------3
1/10 s + 9/10 s + s + 9
296
Golnaraghi,Kuo

Chapter2Solutions
Golnaraghi,Kuo
G factored:
Zero/pole/gain:
10 (s+10)
----------------(s+9) (s^2 + 10)
Inverse Laplace Transform:

g(t) = -10989/100000*exp(2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/25000
0000*exp(2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*ex
p(-9*t)
Use this MATLAB code to plot the time response:

fori=1:1000
t=0.1*i;
tf(i)=10989/100000*exp(
2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/250
000000*exp(
2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*e
xp(9*t);
end
figure(3)
plot(1:1000,tf)
297

Chapter2Solutions
Golnaraghi,Kuo

252)USEMATLAB
symst
f=5+2*exp(2*t)*sin(2*t+pi/4)4*exp(2*t)*cos(2*tpi/2)+3*exp(4*t)
F=laplace(f)
cltF=F/(1+F)
f=
5+2*exp(2*t)*sin(2*t+1/4*pi)4*exp(2*t)*sin(2*t)+3*exp(4*t)

F=
(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)
cltF=
298

Chapter2Solutions
Golnaraghi,Kuo
(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)/(1+(8*s^3
+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4))
symss
cltFsimp=simplify(cltF)

NexttypethedenominatorintoACSYSRouthHurwitzprogram.
char=collect(s^4+16*s^3+68*s^2+144*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)
char=
160+s^4+(16+2^(1/2))*s^3+(8*2^(1/2)+68)*s^2+(16*2^(1/2)+144)*s
>>eval(char)
ans=
160+s^4+4901665356903357/281474976710656*s^3+2790603031573437/35184372088832*s^2+293
1340519928765/17592186044416*s
>>sym2poly(ans)
ans=
1.000017.414279.3137166.6274160.0000
HencetheCharacteristicequationis:
'
s 4 17.4142 s 3 79.3137 s 2 166.6274 s 160
USEACSYSRouthHurwitztoolasdescribedinpreviousproblemsandthisChapterssection214.
RH=

[1,5581205465083989*2^(46),160]
[87071/5000,5862680441794645*2^(45),0]
[427334336632381556219/6127076924293382144,160,0]
299

Chapter2Solutions
Golnaraghi,Kuo
[238083438912827127943602680401244833403/1879436288300987963959490983755776000,
0,0]
[160,0,0]

Thefirstcolumnisallpositive,andthesystemisSTABLE.

Fortheothersection
symss
G=(s+1)/(s*(s+2)*(s^2+2*s+2))
g=ilaplace(G)
G=
(s+1)/s/(s+2)/(s^2+2*s+2)
g=
1/41/2*exp(t)*cos(t)+1/4*exp(2*t)

cltG=G/(1+G)
cltG=
(s+1)/s/(s+2)/(s^2+2*s+2)/(1+(s+1)/s/(s+2)/(s^2+2*s+2))

cltGsimp=simplify(cltG)
cltGsimp=
(s+1)/(s^4+4*s^3+6*s^2+5*s+1)

NexttypethedenominatorintoACSYSRouthHurwitzprogram.
2100

Chapter2Solutions
RH=

[1,6,1]
[4,5,0]
[19/4,1,0]
[79/19,0,0]
[1,0,0]

STABLE
2101
Golnaraghi,Kuo

Chapter3Solutions
Golnaraghi,Kuo
Chapter 3__________________________________________________________________________
3-1)
a)
b)
c)
d)
e)
Feedback ratio =
3-2)
Characteristic equation:

31

Chapter3Solutions
Golnaraghi,Kuo
3-3)
1 G1 H 1
H2
G2
G1
1 G1 H 1
G1G2
1 G1 H 1
G3
H2
G2
32

Chapter3Solutions
Golnaraghi,Kuo
3-4)
G2
1 G 2 G3 H 3
G1
-
G2
1 G2G3 H 3 G2 H 2
H1
33
G3
A

+
-
Chapter3Solution
ns
G1G2 G3
1 G 2 G3 H 3 G 2 H 2
H1
G3

3
3-5)
34
Golnarraghi,Kuo

Chapter3Solutions
3-6) MATLAB
symss
G=[2/(s*(s+2)),10;5/s,1/(s+1)]
H=[1,0;0,1]
A=eye(2)+G*H
B=inv(A)
Clp=simplify(B*G)
G=
[ 2/s/(s+2),
10]
[
5/s, 1/(s+1)]
H=
1
0
0
1
A=
[ 1+2/s/(s+2),
10]
[
5/s, 1+1/(s+1)]
B=
[
[
s*(s+2)/(s^2-48*s-48),
-10/(s^2-48*s-48)*(s+1)*s]
-5/(s^2-48*s-48)*(s+1), (s^2+2*s+2)*(s+1)/(s+2)/(s^2-48*s-48)]
Clp =
[
[
-2*(24+25*s)/(s^2-48*s-48),
10/(s^2-48*s-48)*(s+1)*s]
5/(s^2-48*s-48)*(s+1), -(49*s^2+148*s+98)/(s+2)/(s^2-48*s-48)]
35
Golnaraghi,Kuo
A

Chapter3Solution
ns
3-7)
3-8)
36
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-9)
3
3-10)
3
3-11)
37
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-12)
3-13)
symst
f=100*(10.3
3*exp(6*t)0
0.7*exp(10*t))
F=laplace(f)
symss
F=eval(F)

Gc=F*s
M=30000
symsK
Olp=simplify(K
K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*K
Kt))
s=0
Ess=eval(Clp)

f=
10030*exp(6
6*t)70*exp(10*t)

F=
80*(11*s+75)/s/(s+6)/(s+1
10)

ans=
38
Golnarraghi,Kuo
A
Chapter3Solution
ns

(880*s+6000)/s/(s+6)/(s+1
10)

Gc=
(880*s+6000)/(s+6)/(s+10
0)

M=
30000

Olp=
1/375*K*(11**s+75)/s/(s+6
6)/(s+10)

Kt=
0.1500

Clp=
2
20/3*K*(11*s
s+75)/(2500*s^3+40000*ss^2+150000*ss+11*K*s+75*K)

s
s=
0

E
Ess=
2
20/3
3
3-14)
39
Golnarraghi,Kuo

Chapter3Solutions
3-15)
Note: If
1
G(s)=g(t),then
1
{easG(s)}=u(ta)g(ta)
symsts
f=100*(10.3*exp(6*(t0.5)))
F=laplace(f)*exp(0.5*s)
F=eval(F)

Gc=F*s
M=30000
symsK
Olp=simplify(K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*Kt))
s=0
Ess=eval(Clp)
digits(2)
Fsimp=simplify(expand(vpa(F)))
Gcsimp=simplify(expand(vpa(Gc)))
Olpsimp=simplify(expand(vpa(Olp)))
Clpsimp=simplify(expand(vpa(Clp)))

f=
10030*exp(6*t+3)

F=
(100/s30*exp(3)/(s+6))*exp(1/2*s)

F=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)

Gc=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)*s

M=
30000

Olp=
1/131941395333120000*K*(2210309116549883*s2638827906662400)/s/(s+6)*exp(1/2*s)

Kt=
0.1500

Clp=
310
Golnaraghi,Kuo
A
Chapter3Solution
ns
Golnarraghi,Kuo

2
20/3*K*(2210
03091165498
883*s263882
27906662400
0)*exp(1/2*s)/(87960930
02220800000
0*s^2
5
52776558133
324800000*s+
+2210309116
6549883*K*eexp(1/2*s)*s2638827906
6662400*K*exxp(1/2*s))

s=
0

Ess=
2
20/3

Fsimp=
50*s)*(5.*s6
6.)/s/(s+6.)
.10e3*exp(.5

Gcsimp=
.10e3*exp(.5
50*s)*(5.*s6
6.)/(s+6.)

Olpsimp=
.10e2*K*exp
p(.50*s)*(17
7.*s20.)/s/(s++6.)

Clpsimp=
5
5.*K*exp(.50
0*s)*(15.*s1
17.)/(.44e4*ss^2.26e5*s+1
11.*K*exp(.5
50*s)*s13.*K
K*exp(.50*s)))
3-16)
311

Chapter3Solutions
Golnaraghi,Kuo
3-17)
3-18)

0.5
u1
0.5
z1
3
0.5
1/s
0.5
0.5
u2
0.5
-1
1/s
-6
x2
1
x3
x1
0.5
0.5
-5
1.5
0.5
-0.5
312
1/s
z2

Chapter3Solutions
Golnaraghi,Kuo
3-19)

B1
u
B0
1/s
1
x
313
y
-A1
-A0
3-20)
1/s
A

Chapter3Solution
ns
3
3-21)
3
3-22)
314
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-23)
315
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-24)
3
3-25)
3
3-26)
3
3-27)
316
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-28)
317
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-29)
318
Golnarraghi,Kuo
A

Chapter3Solution
ns
3-30) Use Masonss formula:
3-31) MATLAB
symssK
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=sim
mplify(G/(1+G*H))
Yn=ilap
place(YN/s)

G=
100/(ss+1)/(s+5)

g=
p(5*t)+20
25*exxp(t)+5*exp

H=
K/s
319
Golnarraghi,Kuo

Chapter3Solutions
YN=

100*s/(s^3+6*s^2+5*s+100*K)

ApplyRouthHurwitzwithinSymbolictoolofACSYS(seechapter3)

RH=

[1,5]
[6,100*k]
[50/3*k+5,0]
[100*k,0]
Stabilityrequires:0<k<3/10.

320
Golnaraghi,Kuo
A

Chapter3Solution
ns
Golnarraghi,Kuo
332)
321
A

Chapter3Solution
ns
Golnarraghi,Kuo
333)M
MATLABsolu
utionsarein
n334.

334)M
MATLAB
clear all
p = [1
1 5 6 10] % Define polynomial
p
s^3+5*s^2
2+6*s+10=0
roots(p)
G=tf(1
1,p)
step(G
G)
322

Chapter3Solutions
p=
15610

ans=
4.1337
0.4331+1.4938i
0.43311.4938i
Transferfunction:
1

s^3+5s^2+6s+10
323
Golnaraghi,Kuo

Chapter3Solutions
Golnaraghi,Kuo
Alternatively:
clear all
syms s
G=1/( s^3 + 5*s^2 + 6*s + 10)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^3+5*s^2+6*s+10)
y =
1/10+1/5660*sum((39*_alpha^2-91+160*_alpha)*exp(_alpha*t),_alpha =
RootOf(_Z^3+5*_Z^2+6*_Z+10))
s =
0
yfv =
0.1000

ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 5 6 10 0] % Define polynomial s*(s^3+5*s^2+6*s+10)=0
[r,p,k]=residue(B,A)
B =
1
A =
1
r =
-0.0152
-0.0424
-0.0424
0.1000
p =
-4.1337
-0.4331
-0.4331
0
k =
[]
10
+ 0.0333i
- 0.0333i
+ 1.4938i
- 1.4938i
SopartialfractionofYis:
1 0.0152
0.0424 0.0333i
0.0424 - 0.0333i

s s 4.1337 s 0.4331 + 1.4938i s 0.4331 - 1.4938i
324
A

Chapter3Solution
ns
Golnarraghi,Kuo
335)M
MATLABsolu
utionsarein
n336.

325

Chapter3Solutions
336)
clear all
p = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
roots(p)
G=tf(1,p)
step(G)
p =
1
ans =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
Transfer function:
1
----------------------------s^4 + 4 s^3 + 3 s^2 + 5 s + 1
326
Golnaraghi,Kuo

Chapter3Solutions
Golnaraghi,Kuo
Alternatively:
clear all
syms s t
G=1/(s^4+4*s^3+3*s^2+5*s+1)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^4+4*s^3+3*s^2+5*s+1)
y =
11/14863*sum((3955*_alpha^3+16873+14656*_alpha^2+7281*_alpha)*exp(_alpha*t),_alp
ha = RootOf(_Z^4+4*_Z^3+3*_Z^2+5*_Z+1))
s =
0
yfv =
1
ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
B =
1
A =
1
r =
-0.0235
-0.1068 + 0.0255i
-0.1068 - 0.0255i
0.2372
p =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
k =
[]
327
A

Chapter3Solution
ns
Golnarraghi,Kuo
3-37)
3-38) MATLAB
M
Use TF
Fcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windo
ow).
TFcal
328

Chapter3Solutions
Alternatively use toolboxes 3-3-1 and 3-3-2

clear all
syms s
G1=100
G2=(s+1)/(s+2)
G3=10/s/(s+20)
G4=(101*s^3+2122*s^2+2040*s)/10/(s+1)
H1=1
H2=1
simplify(G1*G2*G3/(1+G1*G2*H1+G1*G2*H2+G1*G2*G3))
G1 =
100
G2 =
(s+1)/(s+2)
G3 =
10/s/(s+20)
G4 =
(101/10*s^3+1061/5*s^2+204*s)/(s+1)
H1 =
1
H2 =
1
ans =
1000*(s+1)/(201*s^3+4222*s^2+5040*s+1000)
clear all
TF=tf([1000 1000],[201 4222 5040 1000])
step(TF)
329
Golnaraghi,Kuo

Chapter3Solutions
3-39)
clear all
syms s
P1 = 2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6 % Define polynomial
P2 = s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16 % Define polynomial
solve(P1, s)
solve(P2, s)
collect(P2-P1)
collect(P2+P1)
collect((P1-P2)*P1)
P1 =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
P2 =
s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16
ans =
330
Golnaraghi,Kuo

Chapter3Solutions
Golnaraghi,Kuo
-1
-3
i*2^(1/2)
-i*2^(1/2)
-1/4+1/4*i*7^(1/2)
-1/4-1/4*i*7^(1/2)
ans =
-2
-4
i
-i
-1+i
-1-i
ans =
-s^6-s^5+8*s^4+11*s^3+13*s^2+14*s+10
ans =
3*s^6+17*s^5+38*s^4+61*s^3+63*s^2+42*s+22
ans =
-60+2*s^12+11*s^11+8*s^10-54*s^9-195*s^8-471*s^7-796*s^6-1006*s^5-1027*s^4848*s^3-524*s^2-224*s
Alternative:
clear all
P1 = [2 9 15 25 25 14 6] % Define polynomial
roots(P1)
P2 = [1 8 23 36 38 28 16] % Define polynomial
roots(P2)
P1 =
2
ans =
-3.0000
-0.0000
-0.0000
-1.0000
-0.2500
-0.2500
15
25
25
14
+ 1.4142i
- 1.4142i
+ 0.6614i
- 0.6614i
331

Chapter3Solutions
P2 =
1
23
36
38
28
16
ans =
-4.0000
-2.0000
-1.0000
-1.0000
0.0000
0.0000
+
+
-
1.0000i
1.0000i
1.0000i
1.0000i
3-40)
clear all
syms s
P6 = (s+1)*(s^2+2)*(s+3)*(2*s^2+s+1) % Define polynomial
P7 = (s^2+1)*(s+2)*(s+4)*(s^2+s+1) % Define polynomial
digits(2)
vpa(solve(P6, s))
vpa(solve(P7, s))
collect(P6)
collect(P7)
P6 =
(s+3)*(s+1)*(2*s^2+s+1)*(s^2+2)
P7 =
(s^2+1)*(s+2)*(s+4)*(s^2+s+1)
ans =
-1.
-3.
1.4*i
-1.4*i
-.25+.65*i
-.25-.65*i
ans =
-2.
-4.
i
-1.*i
-.50+.85*i
-.50-.85*i
ans =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
ans =
8+s^6+7*s^5+16*s^4+21*s^3+23*s^2+14*s
332
Golnaraghi,Kuo

Chapter3Solutions
341)
UseToolbox251tofindthepartialfractions
clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
B =
1
15
56
70
108
80
26
45
46
40
A =
r =
-1.0600
-1.0600
0.9600
-0.1700
-0.1700
2.0000
p =
-1.0000
-1.0000
-2.0000
-0.2500
-0.2500
0
- 1.7467i
+ 1.7467i
+ 0.7262i
- 0.7262i
+ 2.0000i
- 2.0000i
+ 1.3919i
- 1.3919i
k =
[]
333
Golnaraghi,Kuo

Chapter3Solutions
342)Usetoolbox332

clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
G1=tf(B,A)
YR1=G1/(1+G1)
pole(YR1)
B=
115567010880
A=
29264546400
Transferfunction:
s^5+15s^4+56s^3+70s^2+108s+80

2s^6+9s^5+26s^4+45s^3+46s^2+40s
Transferfunction:
2s^11+39s^10+273s^9+1079s^8+3023s^7+6202s^6+9854s^5+12400s^4
+11368s^3+8000s^2+3200s

4s^12+38s^11+224s^10+921s^9+2749s^8+6351s^7+11339s^6+16074s^5
+18116s^4+15048s^3+9600s^2+3200s
ans=
0
0.7852+3.2346i
0.78523.2346i
2.5822
1.0000+2.0000i
1.00002.0000i
2.0000
0.0340+1.3390i
0.03401.3390i
0.2500+1.3919i
0.25001.3919i
0.7794
C= [1 12 47 60]
D= [4 28 83 135 126 62 12]
G2=tf(D,C)
YR2=G2/(1+G2)
pole(YR2)
C =
1
12
47
60
334
Golnaraghi,Kuo

Chapter3Solutions
Golnaraghi,Kuo
D =
4
28
83
135
126
62
12
Transfer function:
4 s^6 + 28 s^5 + 83 s^4 + 135 s^3 + 126 s^2 + 62 s + 12
------------------------------------------------------s^3 + 12 s^2 + 47 s + 60
Transfer function:
4 s^9+76 s^8+607 s^7+2687 s^6+7327 s^5+12899 s^4+14778 s^3+10618 s^2
+ 4284 s + 720
------------------------------------------------------------------------------4 s^9+76 s^8+607 s^7+2688 s^6+7351 s^5+13137 s^4+16026 s^3+14267 s^2+9924
s+4320
ans =
-5.0000
-4.0000
0.0716
0.0716
-1.4265
-1.4265
-3.0000
-2.1451
-2.1451
+
+
-
0.9974i
0.9974i
1.3355i
1.3355i
+ 0.3366i
- 0.3366i
3-43) Use Toolbox 3-3-1

G3=G1+G2
G4=G1-G2
G5=G4/G3
G6=G4/(G1*G2)
G3=G1+G2
G4=G1-G2
G5=G4/G3
G6=G4/(G1*G2)
Transfer function:
8 s^12 + 92 s^11 + 522 s^10 + 1925 s^9 + 5070 s^8 + 9978 s^7 + 15154 s^6 +
18427 s^5
+ 18778 s^4 + 16458 s^3 + 13268 s^2 + 10720 s +
4800
335

Chapter3Solutions
Golnaraghi,Kuo
------------------------------------------------------------------------------2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-8 s^12 - 92 s^11 - 522 s^10 - 1925 s^9 - 5068 s^8 - 9924 s^7 - 14588 s^6
- 15413 s^5 - 9818 s^4 - 406 s^3 + 7204 s^2 + 9760 s +
4800
------------------------------------------------------------------------------2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +
4.57e007 s^2
+
1.152e007 s
------------------------------------------------------------------------------16 s^21 + 448 s^20 + 5904 s^19 + 49252 s^18 + 294265 s^17 + 1.346e006 s^16
+ 4.909e006 s^15 + 1.465e007 s^14 + 3.643e007 s^13 + 7.648e007 s^12
+ 1.369e008 s^11 + 2.105e008 s^10 + 2.803e008 s^9 + 3.26e008 s^8 +
3.343e008 s^7
+ 3.054e008 s^6 + 2.493e008 s^5 + 1.788e008 s^4 + 1.072e008 s^3 +
4.8e007 s^2
336

Chapter3Solutions
Golnaraghi,Kuo
+
1.152e007 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +
4.57e007 s^2
+
1.152e007 s
------------------------------------------------------------------------------8 s^20 + 308 s^19 + 5270 s^18 + 54111 s^17 + 379254 s^16 + 1.955e006 s^15
+ 7.778e006 s^14 + 2.471e007 s^13 + 6.416e007 s^12 + 1.383e008 s^11
+ 2.504e008 s^10 + 3.822e008 s^9 + 4.919e008 s^8 + 5.305e008 s^7 +
4.73e008 s^6
+ 3.404e008 s^5 + 1.899e008 s^4 + 7.643e007 s^3 + 1.947e007 s^2 +
2.304e006 s
337
Chapter4Solutions
Golnaraghi,Kuo
Chapter 4__________________________________________________________________________
4-1)
When the mass is added to spring, then the spring will stretch from position O to position L.
The total potential energy is:
where y is a displacement from equilibrium position L.

The gravitational energy is:

The kinetic energy of the mass-spring system is calculated by:
As we know that , then

By differentiating from above equation, we have:

since KL = mg, therefore:

As cannot be zero because of vibration, then
41
Chapter4Solutions
4-2)
KU
KL
4-3)
a)
Rotational kinetic energy:
Translational kinetic energy:
Relation between translational displacement and rotational displacement:

Potential energy:
As we know , then:
42
Golnaraghi,Kuo
Chapter4Solutions

By differentiating, we have:
Since cannot be zero, then
b)

c)

where at the maximum energy.

Then:
Or:
43
Golnaraghi,Kuo
Chapter4Solutions
d)
G (s)
J

(ms K )
2
% select values of m, J and K

%Step input
K=10;
J=10;
M=1;
G=tf([10],[1 0 10])
step(G,10)
xlabel( 'Time(sec)');
ylabel('Amplitude');
Transferfunction:
10

s^2+10
44
Golnaraghi,Kuo
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
4-44)
(a)Forceequaations:
2
f (t )
M1
d y1
dt
B1
Rearraangetheequattionsasfollows:
dt
dt
dy1 dy2 K y y
1 2
dt dt
B3
2
dy
d y2
d
dy dy
B3 1 2 K y1 y2 M 2
B2 2
2
dt
dt
dt ddt
d y1
dy1

2
d y2
dt
B3 dy1
M1
B3 dy1
M 2 dt
dt

B3 dyy 2
M 1 dt
d
B3 dy2
M2
dtt
K
M1
K
M2
y2
f
M1
y2

(i)Staatediagram:SSince y1 y 2 appearsasone
a
unit,theminimumnumberofintegratorsisthree.

45
dx1
dt
x2 x3
dx2
dt
M2
Stateequations:
dx1
dt
dx3
dt
x2
x4
B3
x2
M2
(ii)Statevariables: x1 y 2 , x 2
x1
dx 2
dt
dy 2
M2
dx3
x3
dt
, x3
y1 , x 4
B2 B3
dt
B3
M2
dx 4
dt
M1
x1
x1
B3
M1
Golnaraghi,Kuo
dy 2
y1 y 2 , x 2
Stateequations:Definethestatevariablesas x1
Chapter4Solutions
K
M1
dy1
x1
B3
M1
x2
.
dt
B3
M1
x3
f
.
dt
x2
M2
x2
dt
dy1
, x3
K
M1
K
M2
x3
x3
B3
M2
B1 B3
M1
x4
x4
f
M1

Statediagram:

Transferfunctions:
Y1 ( s )
F (s)
Y2 ( s )
F (s)
M 2 s B2 B3 s K
2
s M 1 M 2 s > B1 B3 M 2 B2 B3 M 1 @ s > K M 1 M 2 B1 B2 B2 B3 B1 B3 @ s B1 B2 K
B3 s K
s M 1 M 2 s > B1 B3 M 2 B2 B3 M 1 @ s > K M 1 M 2 B1 B2 B2 B3 B1 B3 @ s B1 B2 K
3
(b)Forceequations:
46
`
`
d y1
dt
B2 dy1
dt
Chapter4Solutions
B2 dy 2
M dt
Golnaraghi,Kuo
dy2
dy1
dt
dt
K
B2
y2
(i)Statediagram:

Definetheoutputs
oftheintegrators
asstatevariables,
dy1
x1 y 2 , x 2
dt
.

Stateequations:
dx1
dt
K
B2
dx1
K
B2
x1 x3
Transferfunctions:
Y1 ( s)
F (s)
dx 2
K
M
x1
B1
M
y2 , x2
dx3
x3
dt
dt
K
M
B2 s K
x1
f
B1
M
dy1
.
dt
x3
f
Y2 ( s )
B2
F (s)
MB2 s ( B1 B2 KM ) s ( B1 B2 ) K
s MB2 s B1 B2 KM s B1 B2 K
(c)Forceequations:
dy1
dy2
dt
1
B1
d y2
dt
B2 dy2
M
dt
(i)Statediagram:
47
x2
y1 , x3
dt
dt
(ii)Stateequations:Statevariables: x1
dt
dx 2
x1 x 2
B1 dy2
M dt
B1 dy1
M dt
K
M
y2
Chapteer4Solutionss
Golnarraghi,Kuo
Stateequatio
ons:Definetheeoutputsofintegratorsassttatevariables.
dx1
x2
dt
d
dt
K
M
(ii)Stateequations:statevariaables: x1
dx1
dt
dxx 2
x3
dx 2
x3
dt
B1
x1
B2
M
x2
y1 , x 2
dxx3
M
y 2 , x3
d
dt
x2
B2
M
dy 2
.
dt
x3
Statediagram
m:

Transferfuncctions:
Y1 ( s )
Ms B1 B2 s K
F (s)
B1 s Ms B2 s K
Y2 ( s )
F (s)
Ms B2 s K

4-55)
48
Chapteer4Solutionss
Golnarraghi,Kuo
(a)Forceequaations:
y1
1
K2
d y2
( f Mg ) y 2
dt
B dy 2
M dt
K1 K 2
M
y2
K2
y1
Staatediagram:

Staateequations:
Deffinethestate
varriablesas:
dy 2
x1 y 2 , x 2
d
dt
.

dx1
dtt
d 2
dx
x2
dt
K1
M
x1
B
M
Transferfunction
ns:
dy1
dt
1
B1
> f (t ) Mg @
( f Mg )
Y2 ( s )
K 2 ( Ms Bs K1 )
F ( s)
(b)Forcceequations:
s Bs K1 K 2
Y1 ( s )
x2
dy 2
dt
K1
B1
y2
1
F ( s)
d y2
dt
1
2
Mss Bs K1
dy1 dy2 K1 y y B2 y y B2 dy2

1 2
1 2
M
M dt
dt M
M dt
B1
Stattediagram:(W
Withminimumnumberofinttegrators)

49
Chapteer4Solutionss
Golnarraghi,Kuo
ToobtainthetranssferfunctionsY1 ( s ) / F ( s ) andY2 ( s ) / F ( s ), weneedtoredefinethesttatevariablesaas:
x1
Stattediagram:
y2 , x2
dy 2 / dtt , and x3
y1 .

Transferfuncctions:
F (s)
4-66)
Ms B1 B2 s K1
2
Y1 ( s )
s
M s B B
> MB
1
MK1 @
Bs K1
Y2 ( s )
F (s)
M s B B
> MB
1
MK1 @
a)
y1
y2
K ( y1 y 2 )
K ( y1 y 2 )
Pmgy 2
b)
PMgy1
From Newttons Law:

If y1 and y2 are considerred as a posiition and v1 and

a v2 as vellocity variabbles

Then:

The output equation cann be the veloocity of the engine,
e
whicch means
410
Chapter4Solutions
Golnaraghi,Kuo
c)

Obtaining
requires solving above equation with respect to Y2(s)
From the first equation:

Substituting into the second equation:

By solving above equation:

d)

4-7)(a)Forceequations:
f (t )
dy1 dy2
dt dt
2
dy1 dy2 M d y2 B dy2
t
2
dt
dt
dt dt
K h y1 y2 Bh
(b)Statevariables: x1
y1 y 2 , x 2
K h y1 y 2 Bh
dy 2
dt
411
Stateequations:
dx1
dt
Kh
Bh
x1
Chapter4Solutions
dx 2
f (t )
dt
Bh
Bt
M
x2
Golnaraghi,Kuo
f (t )
4-8)
D2
D1
For the left pendulum:

For the right pendulum, we can write the same equation:

since the angles are small:

4-9)
a)
412

Chapter4Solutions
Golnaraghi,Kuo
Fy
x(t)
Fx
mg
M
b)
If we consider the coordinate of centre of gravity of mass m as (xg, yg),

Then and
From force balance, we have:

From the torque balance, we have:

Where:

Substituting these equation:

4-10) a)
413
Chapter4Solutions
Fy1
Golnaraghi,Kuo
Fy 2
Fx 2
Fx1
m1 g
m2 g
T1
b)
T2
Kinetic energy
(i) For lower pendulum:

For upper pendulum:

For the cart:
(ii) Potential energy:

For lower pendulum:
For upper pendulum:
For the cart:
(iii) Total kinetic energy:
Total potential energy:

414
Chapter4Solutions
Golnaraghi,Kuo
The Lagrangian equation of motion is:

Substituting T and U into the Lagrangian equation of motion gives:

4-11) a)
From the Lagrangian equation of motion:
b)
As:
Then
If we linearize the equation about beam angle = 0, then sin

and sin

Then:

415
c)
Chapter4Solutions
Considering
Then the state-space equation is described as:
d)
G ( s)
mgd

( s L( J / r 2 m))
2
clear all
% select values of m, d, r, and J
%Step input
g=10;
J=10;
M=1;
D=0.5;
R=1;
L=5;
G=tf([M*g*D],[L*(J/R^2+M) 0 0])
step(G,10)
Transfer function:
5
-----55 s^2
416
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
4-12) If the aircraft is at a constant altitude and velocity, and also the change in pitch angle does not
change the speed, then from longitudinal equation, the motion in vertical plane can be written as:
Where u is axial velocity, is vertical velocity, q is pitch rate, and is pitch angle.
Converting the Cartesian components with polar inertial components and replace x, y, z by T, D,
and L. Then we have:
Where = is an attack angle, V is velocity, and is flight path angle.

417
Chapter4Solutions
It should be mentioned that T, D, L and M are function of variables and V.

Refer to the aircraft dynamics textbooks, the state equations can be written as:

b)
The Laplace transform of the system is:

By using Laplace transform, we have:

From equation (1):

Substituting in equation (2) and solving for q(s):

Substituting above expression in equation (3) gives:

If we consider , then

By using Laplace transform:

Which gives:

418
Golnaraghi,Kuo
Chapteer4Solutionss
Golnarraghi,Kuo
For plotting
g state flow diagram, equation
u
(4) muust be rewritten as:

or

S the state flow diagram

So,
m will plotteed as:
ml
1/Ms
1
x
1/s
-B/M
-K
Also look at seection 4-11

4-113)(a)Torqueequation:
2
d T
dt
B dT
J dt
Stateequations:
dt
Stated
diagram:
T (t )
dx 2
x2
dx1
dt
Transsferfunction:
4( s )
T ( s)
s( Js B )
B
J
x2
T
(b)Torqueequations:
d T1
2
dt
K
J
T2
1
J
K T 1 T 2
dT 2
dt
Statediagram:(minimumnumbeerofintegratorrs)
419
Chapteer4Solutionss
Golnarraghi,Kuo

Stateequations:
dx1
dt
K
B
dx 2
x1 x 2
dt
Stateequations:Let x1
dx1
dt
K
B
x1
K
B
x2
Statediagram:
Tran
nsferfunctionss:
41 ( s )
T 2 , x2
dx 2
dt
Bs
B K
s BJs JKs BK
T (s)
(c)Torqqueequationss:
T (t )
d T1
2
J1
dt
K T 1 T 2
K
J
x1
T
J
dT 1
T 1, and x3
x3
dx3
dt
42 ( s)
x1
K
J
x2
T
s BJs JK
Ks BK
T (s)
K T 1 T 2
d T2
2
J2
Stattediagram:
420
.
dt
dt
Chapteer4Solutionss
Golnarraghi,Kuo

State
eequations:sttatevariables:: x1
dx1
dt
dx 2
x2
dt
K
J2
x1
K
J2
x3
dt
d 3
dx
dt
41 ( s )
J2s K
T (s)
s J 1 J 2 s K J 1 J 2
(d)Torqueequationss:
T (t )
d Tm
2
x4
dT 1
T 1, x 4
d 4
dx
dt
J1
.
d
dt
x1
K
J1
x3
T
J1
Jm
dt
K1 T m T 1 K 2 T m T 2
42 ( s)
T (s)
s J 1 J 2 s K J 1 J 2
2
K1 T m T 1

421
, x3
nsferfunctionss:
Tran
dT 2
T 2 , x2
d T1
2
J1
dt
K 2 T m T 2
d T2
2
J2
dt
Chapteer4Solutionss
Golnarraghi,Kuo
Statediiagram:

Stateequatio
ons: x1
dx1
x 2 x3
dt
dx 2
K1
dt
J1
dx3
x1
dt
dT 1
dtt

K1
Jm
x1
dt
K2
, x4
x4
Jm
dT 2
T m T 2 , x5
Jm
dx 4
dt
.
dt
x3 x5
dx5
K2
dtt
J2
41 ( s )
K1 ( J 2 s K 2 )
x4
T (s)
s s K1 J 2 J m K 2 J 1 J m K1 J 1 J 2 K 2 J 1 J 2 s K1 K 2 J m J 1 J 2
42 (s)
K 2 ( J 1 s K1 )
T (s)
s s K1 J 2 J m K 2 J 1 J m K1 J 1 J 2 K 2 J 1 J 2 s K1 K 2 J m J 1 J 2
d 2T m
dt
K1
Jm
(e)Torqqueequationss:
T m T1
K2
Jm
T m T 2
1
Jm
d T1
2
d
dt
K1
J1
Statediagram
m:
422
dT m
, x3
Transferfuncctions:
T m T 1, x2
T1
B1 dT 1
J 1 dt
d T2
2
dt
K2
J2
T1
B2 dT 2
J 2 dt
Chapteer4Solutionss
Golnarraghi,Kuo

dx1
dt
dT 1
T m T 1, x2
SStatevariabless: x1
Stateequatio
ons:
dx 2 K1
B
x 2 x3
x1 1 x 2
J1
dt
J1
dt
dx3
dt
K1
Jm
dT m
, x3
x1
dt
K2
Jm
x4
T m T 2 , x5
, x4
dx4
Jm
dt
x3 x 5
dT 2
.
dt
dx5
K2
dt
J2
x4
B2
J2
x5
Transferfuncctions:
K1 J 2 s B2 s K 2
T (s)
'(s)
42 (s)
K 2 J 1 s B1 s K1
T (s)
'(s)
s { J 1 J 2 J m s J m B1 B2 s > K1 J 2 K 2 J 1 J m K1 K 2 J 1 J 2 B1 B2 J m @ s
'( s)
41 ( s )
> B1 K 2 B2 K1 J m B1 K 2 J 2 B2 K1 J 1 @ s K1 K 2 J m J 1 J 2 }
4-114)
d T1
2
Tm (t )
(a))
Jm
dt
T1
N1
T1
T3
N2 N4
T1
T2
N3
N4
T3
N3
d T3
N2

N1 N 3
T2
T4
N4
N3
N4
dt
d T1
2
Tm
Jm

423
JL
T4
JL
d T3
2
T4
dt
dt
T2
N1 N 3
N2 N4
T4
T3
T2
N1
N2
T1
N1 N 3 d 2T 1
Jm
JL 2
N 2 N 4 dt
Chapter4Solutions
Golnaraghi,Kuo
(b)
d T1
d T2
Tm
Jm
T2
N1
dt

N2
T1
T1
T2
Tm (t ) J m
d T1
dt
dt
T1
N2 N4
T2
N1
d T2
N2
dt
J2
T4
d T2
N3
T3
2
N1 N 3
T3
J2
N3
N4
J2
dt
J4
d T3
2
JL
dt
d T2
2
T4
N4
J2
dt
N1
T1
N3
N4
N2
T2
N3
T3
JL
N4
T4
d T3
2
dt
2
2
d 2T1
N1
N1 N 3
J
J
J
J

m 2
3 L dt 2
2
dt
N2
N2 N4
d T3
2
4-15)(a)
2
Tm
Jm
Tm
Jm
d Tm
dt
T1
d Tm
T2
d TL

Set
dt
wD L
JL
dt
dt
nTL
TL
N1
T1
N2
T2
nTm n TL
2
Thus, D L
2 nTL J m n J L 2 nJ L nTm n J L
T m N1 T L N 2
nT2
J m nJ D nT
L
L
L
n
nJ L
0.
wn
d TL
Jm n JL
2
0 Or, n
J mTL
J LTm
n
Jm
0
JL

Optimalgearratio:
J mTL
2 J LTm
J mTL 4 J m J LTm
wherethe+signhasbeenchosen.
2 J LTm
(b)When TL
0 ,theoptimalgearratiois
Jm / J L
4-16)(a)Torqueequationaboutthemotorshaft:
2
Tm
Jm
d Tm
dt
Mr
d Tm
dt
Bm
dT m

Relationbetweenlinearandrotationaldisplacements:
dt
rT m
(b)TakingtheLaplacetransformoftheequationsinpart(a),withzeroinitialconditions,wehave
Tm ( s )
Mr
s 4
2
( s ) Bm s4 m ( s )
424
Y (s)
r4m (s)
Chapteer4Solutionss
Golnarraghi,Kuo
Transfferfunction:
Y ( s)
s J m Mr
Tm ( s )
s B
4-117)(a)
d Tm
2
Tm
Jm
dt
r T1 T2
T1 T2
d y
dt
K 2 rT m rT p
T1
d Tm
2
Thu
us, Tm
Jm
dtt
K 2 rT m y
r K1 K 2 rT m y
T2
2
d y
dt
K1 y rT m
K 2 rT m y

(c)Stateequations:
dx1
rx3 x2
dt
dx2
K1 K 2
dt
x1
dx3
r K1 K 2
dt
Jm
(d)Transferfunction:
r K1 K 2
Y ( s)
Tm ( s )
s J m Ms K1 K 2 J m rM
2
(e)Charaacteristicequaation:
s
J m Ms 2 K1 K 2 J m rM 0
4-118) (a)Systeemequations:
425
x1
1
Jm
Tm
Tm
K i ia
TD
JL
(sec)
dZ m
dt
r b
Chapteer4Solutionss
BmZ m
Ra ia La
ea
Ks y
Ea ( s )
dia
dt
Golnarraghi,Kuo
K bZ m
nT m
y t TD
KGc ( s ) E ( s )
Blockkdiagram:

(b)Forw
wardpathtransferfunction
n:
Y (s)
E (s)
KK i nGc ( s )e
TD s
s ^ Ra La s > J m J L s Bm @ K b K i `
Clossedlooptranssferfunction:
Y ( s)
R(s)
KK
K i nGc ( s )e
TD s
s Ra La s > J m J L s Bm @ K b K i s KGc ( s ) K i ne
TD s
4-119) (a)Torquueequations:
d Tm
2
Tm (t )
Jm
dt
Bm
dT m
dt
K T m T L
K T m T L

Statediagram:
426
d TL
2
JL
dt
BL
dT L
dt
Chapteer4Solutionss
Golnarraghi,Kuo
(b)Transsferfunctions:
4 L ( s)
4m (s)
J L s BL s K
Tm ( s )
'(s)
Tm ( s )
'( s)
(c)Charaacteristicequaation: '( s )
'(s)
s J m J L s Bm J L BL J m s KJ m KJ L Bm BL s Bm K
3
0
dystateperforrmance: Tm ( t )
(d)Stead
Tm
constant.
t
Tm ( s )
Tm
.
J L s BL s K
J m J L s Bm J L BL J m s KJ
K m KJ L Bm BL s Bm K
Bm
lim Z m (t )
lim s: m ( s )
t of
s o0
lim
s o0
Thuss,inthesteadyystate,Z m
Z L .
(e)TheesteadystatevvaluesofZ m and
a Z L donotdependon J m and J L .
4-220)(a)Torqqueequation:(AbouttheceenterofgravityyC)
2
J
d T
dt
Ts d 2 sin G Fd d1
JD D 1
Fa d1
Thuss,
d T
dt
(b) Js 4 ( s ) K F d14 ( s )
K F d1T
sin G # G
Ts d 2G K F d1T
d T
dt
K F d1T
Ts d 2G
Ts d 2 ' ( s )
(c)With
hCandPintercchanged,thetorqueequationaboutCis:
Ts d1 d 2 G FD d 2
dT
2
dt
Ts d1 d 2 G K F d 2T
427
dT
2
dt
Chapter4Solutions
Ts d1 d 2 ' ( s )
Js 4 ( s ) K F d 2 4 ( s )
2
Golnaraghi,Kuo
4( s )
Ts d1 d 2
'(s)
Js K F d 2
2
4-21)(a)Nonlineardifferentialequations:
dx ( t )
dv ( t )
v(t )
dt
With Ra
0 ,I ( t )
dt
e( t )
K f i f (t )
Kb v ( t )
k ( v ) g ( x ) f (t )
Bv ( t ) f ( t )
K f i f (t )
Then, ia ( t )
KiI ( t )ia ( t )
f ( t )
Ki e ( t )
2
Kb K f
dv ( t )
Thus,
K f ia ( t )
v (t )
dt
Bv ( t )
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
dv ( t )
v (t )
dt
dt
Bv ( t ) Ki K f ia ( t )
(c)Stateequations:I ( t ) asinput.
f (t )
K i K f ia ( t )
ia ( t )

dx ( t )
dt
v (t )
dv ( t )
dt
Bv ( t )
428
i f (t )
I (t )
Kf
Ki
Kf

2
I (t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
Chapter4Solutions
Golnaraghi,Kuo
4-22) Define as the angle between mass m and the horizontal axis (positive in c..c.w. direction):
m
=t
ym
Use Newtons second law:

m(
y
ym ) Fm
y Fm By Ky
( M m)

ym
eZ 2 sin Zt
My By Ky
meZ 2 sin Zt
Where M is the Mass of the overall block system. M-m is the mass of the block alone.
Y
meZ 2
R Ms 2 Bs K
Zero i.c. and input r (t ) sin Zt
G ( s)
Note T Zt . So in case of a step response as asked in the question, is a step input and angle increases
with time i.e. it is a ramp function. Hence, ym is a sinusoidal function, where the Laplace transform of a
Z
sine function is sin(Zt )
2
s Z2
Pick values of the parameters and run MATLAB. See toolbox 5-8-2
clear all
m=20.5 %kg
M=60 %kg
K=100000 %N/m
Om=157 %rad/s
B=60 %N-m/s
e=0.15 %m
G=tf([m*e*Om^2],[M B K])
t=0:0.01:1;
u=1*sin(Om*t);
lsim(G,u,t)
429
Chapter4Solutions
m =
20.5000
M =
60
K =
100000
Om =
157
B =
60
e =
0.1500
Transfer function:
7.58e004
---------------------60 s^2 + 60 s + 100000
430
Golnaraghi,Kuo
4-23) a)
Chapter4Solutions
summation of vertical forces gives:

If we consider and , then:

The state-space model is:
b)
By applying Laplace transform for equations (1) and (2), we obtain:

Which gives:

and

Therefore:
4-24) a) Summation of vertical forces gives:
Consider and , then

431
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo

So, the state-space model of the system is:
b) The Laplace transform of the system is defined by:
where

as a result:

Substituting into above equation:

4-25) a) According to the circuit:

432
Chapter4Solutions
Golnaraghi,Kuo

From above equations:

Substituting V1(s) and V2(s) into preceding equations, we obtain:

b)
Measuring Vout requires a load resistor, which means:
i1
Vin
i2
VC1
Then we have:

When

If RL >>R, then
433
RL
VC 2
Chapter4Solutions
Golnaraghi,Kuo

Therefore:

can be obtained by substituting above expressions into the first equation of the state variables
of the system.
4-26) a) The charge q is related to the voltage across the plate:
The force fv produced by electric field is:

Since the electric force is opposes the motion of the plates, then the equation of the motion is written
as:

The equations for the electric circuit are:
As we know,
and , then:
434
Chapter4Solutions
Since
, then :
b) As then
If
Then the transfer function is:
435
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
If
Then the transfer function is:

4-27) a) The free body diagram is:
where F is required force for holding the core in the equilibrium point against magnetic
field
b)
The current of inductor, i, and the force, F, are function of flux, , and displacement, x.
Also, we know that
436
Chapter4Solutions
Golnaraghi,Kuo
The total magnetic field is:
where W is a function of electrical and mechanical power exerted to the inductor, so:

As v = , then:

c)
Changing the flux requires a sinusoidal movement, and then we can conclude that:

if the inductance is changing relatively, then L(x) = Lx, where L is constant.
Also, the current is changing with the rate of changes in displacement. It means:

So:

Substituting these equations into the state-space equations gives:

Therefore:

437
Chapter4Solutions
Golnaraghi,Kuo
4-28) a) The free body diagram is:
where F is the external force required for holding the plate in the equilibrium point against the
electrical field.
b) The voltage of capacitors, , and the force, , are function of charge, , and displacement, .
Also, we know
The total electrical force between plates is:
Where W is a function of electrical and mechanical power exerted to the capacitor, so:
As
, then:
c)
The same as Problem 4.28,

Consider:

Then solve the equations.
438
Chapter4Solutions
4-29) According to the circuit:

or

As an op-amp is modeled with the following equation:

Then:
4-30) a) Positive feedback ratio:

b) Negative feedback ratio:

c) According to the circuit:

Therefore:
439
Golnaraghi,Kuo
Chapter4Solutions
As

then:
which gives:
It is stable when which means:

4-31) a) If the drop voltage of Rin is called v1
Then:

Also:
Then:

Substituting this expression into the above equation gives:
As a result:
440
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
Or

b) If the dropped voltage across resistor Rf is called vf, then

As a result:

Substituting into the second equation gives:
or
As a result:

4-32) The heat flow-in changes with respect to the electric power as:

where R is the resistor of the heater.

The heat flow-out can be defined as:

where Kf is the heat flow coefficient between actuator and air, T1 and T2 are temperature of
actuator and ambient.
441
Chapter4Solutions
Golnaraghi,Kuo
Since the temperature changes with the differences in heat flows:

where C is the thermal capacitor.
The displacement of actuator is changing proportionally with the temperature differences:

If we consider the T2 is a constant for using inside a room, then

Therefore:

By linearizing the right hand side of the equation around point

Or

If we consider the right hand side of the above equation as two inputs to the system as:
and or , then:
4-33) Due to insulation, there is no heat flow through the walls. The heat flow through the sides is:
442
Chapter4Solutions
Golnaraghi,Kuo

Where T1 and T2 are the temperature at the surface of each cylinder.

As , then from equation (1) and (2), we obtain:

The conduction or convection at:

The thermal capacitance dynamics gives:

Where
According to the equation (7) and (8), T1 and Tf are state variables.
Substituting equation (3), (4), (5) and (6) into equation (7) and (8) gives the model of the system.
4-34) As heat transfer from power supply to enclosure by radiation and conduction, then:

443
Chapter4Solutions
Golnaraghi,Kuo
Also the enclosure loses heat to the air through its top. So:

Where

And Ct is the convective heat transfer coefficient and At is the surface area of the enclosure.
The changes if the temperature of heat sink is supposed to be zero, then:
Therefore where , as a result:

According to the equations (1) and (4), Tp and Te are state variables. The state model of the system
is given by substituting equations (2), (3), and (6) into these equations give.
4-35) If the temperature of fluid B and A at the entrance and exit are supposed to be and , and
TAN and TAX, respectively. Then:

The thermal fluid capacitance gives:

From thermal conductivity:

444
Chapteer4Solutionss
Golnarraghi,Kuo
Where Ci and Co arre convectivve heat transffer coefficiennt of the inner and outerr tube; Ai andd Ao are
t
the surfface of innerr and outer tuube; Ri and Ro are the raadius of inneer and outer tube.
Substittuting equations (1), (2), and (5) intoo equations (3) and (4) giives the statee model of thhe
system
m.
4-336)(a)Blockkdiagram:

(b)Transferfunction:
W D s
:( s )
K1 K 4 e
D ( s)
Js JK L B s K 2 B K 3 K 4 e
2
W D s
(c)Characteristicequattion:
Js JK L B s K 2 B K 3 K 4 e
2
W D s
0
(d)Transferfunction:
:( s )
Charaacteristicequaation:
D (s)
K1 K 4 2 W D s
'( s)

' ( s ) # J W D s 2 J JK 2W D BW D s 2 JK 2 2 B W D K 2 B W D K 3 K 4 s 2 K 2 B K 3 K 4
3
4-337) The tottal potential energy is:

The tottal kinetic en

nergy is:
445
Chapter4Solutions
Golnaraghi,Kuo
Therefore:

As a result:

So, the natural frequency of the system is calculated by:
Also, by assuming and substituting into
yields the same result
when calculated for maximum displacement.
4-38) If the height of the reservoir, the surge tank and the storage tank are assumed to be H, h1 and h2,
then potential energy of reservoir and storage tank are:

For the pipeline we have:
The surge tank dynamics can be written as:

At the turbine generator, we have:

where I is a known input and Q2-v is the fluid flow transfer between point 2 and valve. The
behaviour of the valve in this system can be written as:
446
Chapter4Solutions
Golnaraghi,Kuo
Regarding Newtons Law:
According to above equations, it is concluded that Q and h1 are state variables of the system.
The state equations can be rewritten by substituting P2, Pv, Ps and Q2-v from other equations.
4-39)
If the beam rotate around small angle of , then
where A and E are cross sectional area and elasticity of the cable; H is the distance between point
O and the bottom of well, and y is the displacement.
On the other hand, Newtons Law gives:
447
Chapter4Solutions
Golnaraghi,Kuo
Pa AZ
Bv 2
Pb AZ
where B is the viscous friction coefficient, Aw is the cross sectional area of the well; P1 and P2 are
pressures above and below the mass m.
The dynamic for the well can be written as two pipes separating by mass m:
Pb AZ
Ps AZ
Q
Q
y
Ff
P1 AZ
Pa AZ
b)
Where D is the distance between point O and ground, Ps is the pressure at the surface and known.
If the diameter of the well is assumed to be r, the Ff for the laminar flow is

Therefore:
448
Chapter4Solutions
The state variables of the system are , v, y, Q, Q1.

4-40) For the hydraulic amplifier, we have:

As a result
where N is a constant and A is the cross sectional area.

For the walking beam:

For the spring:
The angular velocity of the lever is assumed as:

The moments of inertia of the lever are calculated as:

where L is the length of lever and r is the offset from the center of rotation.
According to the equation of angular motion:
449
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
Also:

Due to force balance, we can write:

Therefore can be calculated form above equations.

On the other hand, , and
and
, the dynamic of the system is:
where B is the viscous friction coefficient, and n1 and n2 are constant.

The state variables of the systems are ,yp, and 2.
450
Chapter4Solutions
Golnaraghi,Kuo
4-41) If the capacitances of the tanks are assumed to be C1 and C2 respectively, then
Therefore:
Asa result:

4-42) The equation of motion is:

Considering gives:

or

4-43)(a)Blockdiagram:
451
Chapteer4Solutionss
Golnarraghi,Kuo

(b)Transfferfunction:
TAO ( s )
Tr ( s )
KM KR
3.51
1 W s 1 W s K
s
KR
20 s 122 s 4.51
2
4-444)
Sysstemequations:
d Tm
2
Tm (t )
Jm
dt
Bm
dT m
ET L
uation: eo
Outputequ
Statediiagram:
Transferr
dt
20S
K T m T L
d TL
2
K T m T L
JL
dt
Bp
dT L
d
dt
fun
nction:

4L (s)
Tm ( s )
Eo ( s )
Tm ( s )
K
s J m J L s Bm J L B p J m s J m K J L K Bm B p s Bm K
3
KE / 20S
s J m J L s Bm J L B p J m s J m K J L K Bm B p s Bm K
3
4-445)(a)Statteequations:
dT L
dt
ZL
dZ L
K2
dtt
JL
Tm
K2
JL
TL
dT t
dt
Zt
452
dZ t
K1
dtt
Jt
Tm
K1
Jt
Tt
dT m
dZ m
Zm
dt
dtt
Bm
Jm
Chapteer4Solutionss
Zm
K2
Jm
Tm
K1
Jm
Tt
K2
Jm
TL
Golnarraghi,Kuo
1
Jm
Tm
(b)Stateddiagram:

(c)Transfferfunctions:
4 L (s)
K 2 J t s K1
Tm ( s )
'(s)
'( s)
4t ( s)
K1 J L s K 2
Tm ( s )
'(s)
4m (s)
J t J L s K1 J L K 2 J t s K1 K 2
Tm ( s )
'(s)
s[ J m J L s Bm J L J t s K1 J L J t K 2 J L J t K1 J m J L K 2 J m J t s
5
Bm J L K1 K 2 s K1 K 2 J L J t J m s Bm K1 K 2 ]
2
(d)Charaacteristicequattion:
' s)
'(
0 .
4-446)
(a)Transfferfunction:
G(s)
Ec ( s )
1 R2 Cs
E (s)
1 R1 R2 Cs
(b)Blockdiagram:
453
Chapter4Solutions
Golnaraghi,Kuo
(c)Forwardpathtransferfunction:
K 1 R2 Cs
:m (s)
>1 R
E (s)
R2 Cs @ K b K i Ra J L s
(d)Closedlooptransferfunction:
:m (s)
Fr ( s )
(e)
Gc ( s )
K I K 1 R2 Cs
>1 R
R2 Cs @ K b K i Ra J L s K I KK e N 1 R2 Cs
Ec ( s )
1 R Cs
E (s)
R1Cs

Forwardpathtransferfunction:
:m (s)
E (s)
Closedlooptransferfunction:
Fr ( s )
R1Cs K b K i Ra J L s K I KK e N 1 R2 Cs
(f) f r
120 pulses / sec
K I K 1 R2 Cs
36 pulses / rev
NK eZ m
R1Cs K b K i Ra J L s
:m (s)
Ke
fZ
K 1 R2 Cs
36 / 2S pulses / rad
Zm
120 pulses / sec
5.73 pulses / rad.
200 RPM
200(2S / 60 ) rad / sec
N ( 36 / 2S ) 200(2S / 60 ) 120 N pulses / sec
Thus,N=1.ForZ m 1800 RPM, 120 N ( 36 / 2S )1800(2S / 60) 1080 N . Thus, N 9.
4-47) If the incremental encoder provides a pulse at every edge transition in the two signals of channels
A and B, then the output frequency is increased to four times of input frequency.
4-48)(a)
1
:m (s)
TL ( s )
K H (s)
K1
H i (s)
1 K1 H e ( s ) 1 i
H e (s)
B Js
Ra La s B Js
Ra La s
#
0
Zr 0
'( s)
'(s)
Thus,
454
H e (s)
Chapter4Solutions
H i (s)
H i (s)
Ra La s
H e (s)
Golnaraghi,Kuo
Ra La s
K1 K i
(b)
'(s)
:r (s)
1 K1 H e ( s )
K1 K b
La s B Js
:m (s)
dt
TL 0
d Tm
Ra
La
dt
d To
2
dt
ia
1
La
Bm dT m
J m dt
KL
JL
Te
Stateequations:
dt
1
J
dt
nK L
Jm
Tm
nK L
Jm
nT
La s ( B Js
Kb H e (s)
K sT e
ea
Ke
Tm
T2
nT m
K i ia
To
T2
KL
JL
x1
n KL
Jm
x3
x1
Bm
Jm
Z o , x3
nK L
JL
x4
T m , x4
Z m , x5
dx3
x3
ia
x4
dt
Ki
Jm
x5
dx5
dt
(b)Statediagram:
455
La s B Js
T r To
Tm
T o , x2
dx 2
x2
dx 4
Ra La s
K1 K i K b H e ( s )
To
eb
Statevariables: x1
dt
La s B Js K i K b K1 K i K b H e ( s )
dx1
K1 H i ( s )
K1 K i
:r ( s)
dia
K1 K i
La s B Js
4-49)(a)Causeandeffectequations:
'( s)
K1 K b
La s B Js
TL 0

1
:m ( s)
KK s
La
x1
Kb
La
x4
Ra
La
x5
KK s
La
Tr
Chapteer4Solutionss
Golnarraghi,Kuo

(c)Forw
wardpathtran
nsferfunction:
4o ( s)
4 e ( s )
KK s K i nK L
n R K J
Ra K L J m Bm K L La s K i K b K L Ra Bm K L
Clossedlooptranssferfunction:
4o ( s)
s J m J L La s J L Ra J m Bm J m Bm La s n K L La J L K L J m La Bm Ra J L s
4
4 r ( s )
KK s K i nK L
4
n R K J
2
(d) K L
J m J L La s J L Ra J m Bm J m Bm La s n K L La J L K L J m La Bm Ra J L s
5
f, T o
T2
Ra K L J m Bm K L La s K i K b K L Ra Bm K L s nKK s K i K L
2
nT m . J L is reflected to motor side so J T
J m n J L .

Staateequations::
dZ m
dtt
Bm
JT
Zm
Ki
JT
ia
dT m
dt
Zm
dia
dt
Statediagram:
456
Ra
La
ia
KK s
La
Tr
KK s
La
nT m
Kb
La
Zm
Chapteer4Solutionss
Golnarraghi,Kuo

Forrwardpathtraansferfunction
n:
Closedlooptranssferfunction:
4o ( s )
KK s K i n
4e ( s)
s J T La s Ra J T Bm La s Ra Bm K i K b
2
4o ( s)
KK s K i n
4r (s)
J T La s Ra J T Bm La s Ra Bm K i K b s KK s K i n
3
f, all the terms withoutt K L in 4 o ( s ) / 4 e ( s ) and 4 o ( s ) / 4 r ( s ) cann be neglectedd.
Frompaart(c),when K L
Thesam
meresultsasab
boveareobtained.
4-550)(a)Systemequations:
f
K i ia
MT
dv
dt
BT v
ea
Ra ia La Las
dia
dt
Las
dis
dt
eb
Rs is Ls Las
dis
dt
Las
dia
dt
othsidesoftheelastthreeequ
uations,withzeroinitialcond
ditions,wehavve
(b)TaketheLaplacetraansformonbo
Ki I a ( s)
0
s BT V ( s )
>R L
Ea ( s )
Ki
M T s BT
Y (s)
I a (s)
1
Ra La Las s
>E
V (s)
Ki
s M T s BT
( s ) Las sI s ( s ) K bV ( s ) @

Blockd
diagram:
457
Las s @ I a ( s ) Las sI s ( s ) K bV ( s )
Rearrrangingtheseequations,weeget
I a (s)
Las sI a ( s ) > Rs s Ls Las @ I s ( s )
V (s)
I a (s)
I s (s)

Las s
Ra La Las s
I a (s)
Chapteer4Solutionss
Golnarraghi,Kuo

(c)Trannsferfunction::
K i > Rs Ls Las s @
Y (s)
s > Ra La Las s @ > Rs Ls Las s @ M T s BT K i K b > Rs La Las s @ Las s

2
Ea ( s )
s BT
4-551) (a)Causeeandeffecteqquations:
Te
Tr TL
Tm
K i ia
dZ m
dt
d
Kb
Statteequations:
dT L
dt
ZL
K sT e
1
Jm
Ks
Tm
Bm
Jm
15.5 V / KRPM
dZ L
KL
dt
JL
Tm
KL
JL
TL
Z
ea
1 V/rrad
KL
Jm
TL
15.5
dZ m
Zm
dt
ea eb
ia
dZ L
KL
dt
JL
Ra
m
TL
eb
K bZ m
0.148 V / rad / sec
1000 u 2S / 60
dT m
Ke
dt
Bm
Jm
Zm
KL
Jm
TL
1 Ki
J m Ra
KK T
s
K bZ m
(b)Stattediagram:
(c)Forw
wardpathtran
nsferfunction:
G(ss )
K i KK
Ks KL
s J m J L Ra s Bm Ra K i K b J L s Ra K L J L J m s K L Bm Ra K i K b
3
458
Chapter4Solutions
Golnaraghi,Kuo

0.03 u 115
. u 0.05
J m Ra J L
10 u 115
. u 0.05
Bm Ra J L
0.001725
115
. u 50000 u 0.05
Ra K L J L
K L Bm Ra K i K b
(d)Closedlooptransferfunction:
115
. u 50000 u 0.03 1725
Ra K L J m
2875
50000(10 u 1.15 21 u 0.148)
21 u 0.148 u 0.05
Ki Kb J L
0.575
0.1554
21 u 1 u 50000 K
Ki KK s K L
1050000 K
730400
608.7 u 10 K
6
G(s)
M ( s )
s s 423.42 s 2.6667 u 10 s 4.2342 u 10

3
4L (s)
G(s)
K i KK s K L
4r ( s)
1 G(s)
J m J L Ra s Bm Ra K i K b J L s Ra K L J L J m s K L Bm Ra K i K b s K i KK s K L
4
M ( s)
6.087 u 10 K
Characteristicequationroots:
6 2
s 423.42 s 2.6667 u 10 s 4.2342 u 10 s 6.087 u 10 K
1.45
r j1000
405 r j1223.4
159.88
2117
. r j1273.5
617.22 r j1275
13105
. r j1614.6
2738
5476
4-52)(a)Nonlineardifferentialequations:
dx ( t )
dv ( t )
v(t )
dt
With Ra
0 ,I ( t )
dt
e( t )
K f i f (t )
Kb v ( t )
k ( v ) g ( x ) f (t )
Bv ( t ) f ( t )
K f i f (t )
Then, ia ( t )
KiI ( t )ia ( t )
f ( t )
Ki e ( t )
2
Kb K f
K f ia ( t )
dv ( t )
Thus,
v (t )
dt
Bv ( t )
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
v (t )
dt
dv ( t )
dt
(c)Stateequations:I ( t ) asinput.
459
Bv ( t ) Ki K f ia ( t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
f (t )
Chapteer4Solutionss
K i K f ia ( t )
ia ( t )
dx ( t )
dv ( t )
v (t )
dt
dt
I (t )
i f (t )

Bv ( t )
Golnarraghi,Kuo
Kf
Ki
Kf

2
I (t )
4-553)(a)Diffeerentialequations:
d Tm
2
K i ia
Jm
dt
Bm
dT m
dt
dT m dT L
d
dt
dt
K T m T L B
2
dT m dT L J d T L B dT L
L 2
L
dt
dt
dt
dt
K T m T L B
TL
(b)TaketheLaplacetraansformoftheedifferentialeq
quationswithzeroinitialcon
nditions,wegeet
Ki I a ( s)
Bs K 4

4 L (s)
s Bm s Bs K 4 m ( s ) Bs K 4 L ( s )
2
( s ) Bs K 4 L ( s )
J s
L
s
BL s4 L ( s ) TL ( s)
a 4 L ( s ) fromthelasttwo
oequations,weehave
Solvingfor 4 m ( s ) and
4m (s)
Ki
J m s Bm B s K
2
Bss K
J L s BL B s K
2
I a (s)
4m (s)
Bs K
J m s Bm B s K
2
4 L (s)
TL ( s )
J L s BL B s K
2
Signaalflowgraph:

460
Chapter4Solutions
Golnaraghi,Kuo

(c)Transfermatrix:
K i J L s 2 BL B s K
'o (s)
K i Bs K
4m (s)
4 (s)
L
' o ( s )
I a (s)

J m s Bm B s K TL ( s )
Bs K
J L J m s > J L Bm B J m BL B @ s > BL Bm BL BM B J m J L K @ s K BL B s
3
4-54) As can be estimated by:
Therefore:

As a result:
Poles:
zeros:
4-55) By approximating :
a)

Therefore:

461
Chapter4Solutions
b)
4-56) MATLAB
clearall
L=1
T=0.1
G1=tf([1/21],conv([0.11],[1/21]))
figure(1)
step(G1)
G2=tf([1144],conv(conv([12],[12]),conv([11],[11])))
figure(2)
step(G2)

L=
1

T=
0.1000

Transferfunction:
0.5s+1

0.05s^2+0.6s+1

Transferfunction:
s^3s^2+4s+4

s^4+6s^3+13s^2+12s+4
462
Golnaraghi,Kuo
Chapter4Solutions
4-57) 423(a)Differentialequations: L ( y )
e ( t )
Ri ( t )
d L ( y )i ( t )
dt
Ri ( t ) i ( t )
My ( t )
Mg
Ki ( t )
2
y (t )
dL( y ) dy ( t )
dy
At equilibrium,
dt
di ( t )
0,
dt
L di ( t )
y dt
dy ( t )
dt
463
Golnaraghi,Kuo
Ri ( t )
L
y
i(t )
dt
0,
d y(t )
dt
dy ( t )
0
L di ( t )
y dt
Thus, ieq
Eeq
dy eq
dt
Chapter4Solutions
yeq
(b)Definethestatevariablesas x1
Eeq
x1eq
Then,
i, x 2
Mg
dy
y, and x3
x 2eq
Eeq
Eeq
Mg
Golnaraghi,Kuo
.
dt
x3eq
0
Thedifferentialequationsarewritteninstateequationform:
dx1
dt
R
L
x1 x 2
x1 x3
x2
x2
dx 2
f1
x3
dt
dx3
f2
K x1
g
dt
f3
M x2

(c)Linearization:
wf1
wx1
R
L
x 2eq
x3eq
x 2eq
wf1
x 2 eq
K Eeq
wf 2
we
Mg R
wx1
wf 3
wx1
2 K x1eq
M
2
x 2 eq
2 Rg
Eeq
Eeq
wf1
wx 2
Mg
wf 2
wf 3
2 K x1eq
wx 2
3
x 2eq
R
L
wf 2
wx 2
wx 3
x1 x3
x1eq
2
x2
wf 2
Mg
wf 3
Eeq
we
Mg
K
0
0
0
2 Rg
Mg
Eeq
(a)Differentialequations:
2
M1
d y1 ( t )
dt
M1 g B
dy1 ( t )
dt
Ki ( t )
2
y1 ( t )
464
Ki ( t )
x1eq
Mg
wx 3
x 2eq
1
y 2 ( t ) y1 ( t )
A 'x B 'e
Eeq K
RL Mg

0
4-58)
wf1
0
Thelinearizedstateequationsabouttheequilibriumpointarewrittenas: 'x
Eeq K

L Mg
2 Rg
E
eq
0
we
2 Rg
Eeq
Chapter4Solutions
M2
d y2 (t )
dt
Definethestatevariablesas x1
Thestateequationsare:
dx1
x2
dt
dx2
M1
dt
Atequilibrium,
dx1
dx 2
0,
dt
X1
SolvingforI,with X 1
dt
Ki
dx3
0,
KI
y 2 ( t ) y1 ( t )
, x3
dx3
x1
M2g
Y2
X3
M M2
1 1
M2
(b)Nonlinearstateequations:
dx1
dt
dx2
x2
dt
(c)Linearization:
w f1
w x1
w x1
M 1 x1
w f2
2 KI
2 KI
w x1
M 2 X 3 X1
w f4
2
3
w x2
Linearizedstateequations: M1
dx3
X1
x1
0.
0
w f1
M1
w x3
M1 X 3 X1
w f3
w x1
w x2
w f4
2 KI
w x3
M 2 X 3 X1
1, g
w f4
32.2, B
0.1, K
w x4
1.
M 2 x3 x1
w x4
w f3
w x3
Ki
w f2
w f3
M2
x4
wi
2 KI
g
dt
w f2
w f3
2, M 2
dx4
465
x4
dt
w x4
w x2
w f1
w f2
M 1 x3 x1
w x3
1
1
2
2
M1 X1 X 3 X1
2 KI
dt
Ki
1/ 2
Ki
i
w f1
M1 ( X 3 X1 )
w f4
M 2 g Bx4
M1 M 2 g
M 1 x1
w x2
2 KI
x2
M1
w f1
w f2
wi
g
dx4
M2
0 and x 4 eq
KI
.
dt
1,wehave
dy 2
0. Thus, x 2eq
dt
X1
x4
dt
1/ 2
y2 , x4
dx 4
0,
dt
KI
dy1
x1
dt
M1g
Ki
Ki ( t )
dt
y1 , x 2
M 1 g Bx2
dy 2 ( t )
M2 g B
Golnaraghi,Kuo
w x4

w f3
wi
0
w f4
2 KI
M2
wi
M 2 X 3 X1
Chapter4Solutions
1/ 2
32.2(1 2) X
1
1
I
1
X 3
A
1 2 X1
96.6 X 1
2.732 X 1
Y2
1
2 KI 1
3
3
M1 X1 X 3 X1
2 KI
3
M 2 X 3 X1
9.8285 X 1
1
2 KI 1
M 1 X 12 X 3 X 1 2
2 KI
2
M 2 X 3 X1
X1
X 3 X1
2.732
B
2 KI
M1
M1 X 3 X1
0
2 KI
1
9.8285
1.732
Golnaraghi,Kuo
2
3
M 2 X 3 X1
1
B
M 2
1
0
0
0
115.2 0.05 18.59 0

0
0
1
0
0
37.18 0.1
37.18
0
6.552

0
6.552
4-59) a)
F3
F1
b)
F2
The equation of the translational motion is:
466
Chapter4Solutions
Golnaraghi,Kuo

The equation of rotational motion is:
where
Also, the relation between rotational and translational motion defines:

Therefore, substituting above expression into the first equation gives:

The resulted state space equations are:
c) According to generalized elements:

1) Viscous friction can be replaced by a resistor where R = B
2) Spring can be replaced by a capacitor where
3) Mass M and m can be replaced by two inductors where and . Then the
angular velocity is measured as a voltage of the inductor L2
4) The gear will be replaced by a transformer with the ratio of
5) The term Mg is also replaced by an input voltage of
467
Chapter4Solutions
Golnaraghi,Kuo
4-60) As the base is not moving then the model can be reduced to:
Therefore:
1) As
, they can be replaced by a inductor with L = m
2) Friction B can be replaced by a resistor where R = B

3) Spring can be replaced by a capacitor where
4) The force F is replaced by a current source where Is = F
4-61)
V2

468
Chapter4Solutions
4-62) Recall Eq. (4-324)

Z (s)
Y( s )
1
s 2]Z n s Z n 2
2
Z 1,
Set Y( s ) impulse , pick n
for simplicity.
9 1
clear all
G=tf([-1],[1 2 1])
figure(1)
impulse(G)
Transfer function:
-1
------------s^2 + 2 s + 1
469
Golnaraghi,Kuo
Chapter4Solutions
Golnaraghi,Kuo
4-63)
Use Eq. (4-329).
Z (s)
Kmr
Ra
La
2
K m Kb
s
s 1 ( Js Bs K )
Ra
Ra
La
s 1 r
Ra
La
2
K m Kb
s
s 1 ( Js Bs K )
Ra
Ra
For
Va ( s )
mrY( s )
La
=0 (very small) the format of the equation is similar to Eq. (4-324), and we expect the same
Ra
response for the disturbance input. Except, Z ( s )
Kmr
Ra
K K
( Js Bs K ) m b s
Ra
2
effects of disturbance. See Chapter 6.
470
Va ( s ) can be used to reduce the
Chapter5Solutions
Golnaraghi,Kuo
Chapter 5
51(a)] t 0.707 Z n t 2 rad / sec
(b) 0 d ] d 0.707 Z n d 2 rad / sec

(c)] d 0.5 1 d Z n d 5 rad / sec
(d) 0.5 d ] d 0.707 Z n d 0.5 rad / sec

52(a)Type0 (b)Type0(c)Type1(d)Type2(e)Type3(f)Type3
(g)
type 2
53(a) K p
lim G ( s )
lim G ( s )
(h)
type 1
1000
Kv
lim sG ( s )
0
Ka
lim s G ( s )
0
f
Kv
lim sG ( s ) 1
Ka
lim s G ( s )
0

so 0
so 0
so 0

(b) K p
so 0
so 0
51
so 0
Chapter5Solutions
Golnaraghi,Kuo

2
lim G ( s )
f
Kv
lim sG ( s )
K
Ka
lim s G ( s )
lim G ( s )
f
Kv
lim sG ( s )
f
Ka
lim s G ( s ) 1
(e) K p
lim G ( s )
f
Kv
lim sG ( s ) 1
Ka
lim s G ( s )
0
(f) K p
lim G ( s )
f
Kv
lim sG ( s )
Ka
lim s G ( s )
K
ErrorConstants
(c) K p
so 0
so 0
so 0
0

(d) K p
so 0
so 0
so 0

so 0
so 0
so 0
so 0
f
so 0
so 0

54(a)Input
SteadystateError
________________________________________________________________________________
u s ( t )
K p
1000
1 1001
tu s ( t )
K v
0
f
t us (t ) / 2
K a
0
f
Input
ErrorConstants

(b)
SteadystateError
________________________________________________________________________________
u s ( t )
K p
f
tu s ( t )
K v
1
1
t us (t ) / 2
K a
0
SteadystateError
0
f

(c)Input
ErrorConstants
________________________________________________________________________________
u s ( t )
K p
f
52
0
Chapter5Solutions
Golnaraghi,Kuo
tu s ( t )
t us (t ) / 2
TheaboveresultsarevalidifthevalueofKcorrespondstoastableclosedloopsystem.
K v
K
1/ K
K a
0
f

(d)Theclosedloopsystemisunstable.Itismeaninglesstoconductasteadystateerroranalysis.

(e)
Input
ErrorConstants
SteadystateError
________________________________________________________________________________
u s ( t )
Kp
f
0
tu s ( t )
Kv
1
1
t us (t ) / 2
Ka
0
f
Input
SteadystateError

(f)
ErrorConstants
________________________________________________________________________________
u s ( t )
Kp
f
0
tu s ( t )
K v
f
0
t us (t ) / 2
K a
K
1/ K
TheclosedloopsystemisstableforallpositivevaluesofK.Thustheaboveresultsarevalid.
55(a) K H
H ( 0 ) 1
UnitstepInput:
s 1
G( s)
M ( s)
1 G( s) H ( s)
a0
3, a1
ess
b0 K H
1 a
KH
0
1
3, a2
2, b0
53
s 2 s 3s 3
1, b1

1.
Unitrampinput:
Chapter5Solutions
a0 b0 K H
3 1 2 z 0. Thus e ss
a0 b0 K H
2 z 0 and a1 b1 K H
Golnaraghi,Kuo
f.
UnitparabolicInput:
1 z 0. Thus e ss
f.

(b) K H
H ( 0)
5
G( s)
UnitstepInput:
UnitrampInput:
e ss
M ( s)
UnitparabolicInput:
1 G( s) H ( s)
ess
e ss
s 5s 5
a0
5, a1
5, b0
1, b1
0.
b0 K H 1 5
1 a 5 1 5 0
KH
0
1
0: a0 b0 K H
a1 b1 K H
a0 K H
25
1: a1 b1 K H
5 z 0
f

(c) K H
H ( 0 ) 1 / 5
M ( s )
UnitstepInput:
UnitrampInput:
s5
G( s)
1 G( s) H ( s)
a0
ess
1, a1
1, a2
50, a3
Thesystemisstable.
15, b0
b0 K H 5 / 5
1 a 5 1 1 0
KH

0
1
54
s 15s 50 s s 1
5, b1
1
0: a0 b0 K H
e ss
UnitparabolicInput:
e ss
Chapter5Solutions
1: a1 b1 K H
a1 b1 K H
1 1/ 5
a0 K H
1/ 5
Golnaraghi,Kuo
4 / 5 z 0
4
f

(d) K H
H ( 0 ) 10
G( s)
M ( s )
UnitstepInput:
UnitrampInput:
e ss
ess
UnitparabolicInput:
1 G( s) H ( s)
a0
e ss
10, a1
UnitstepInput:
Unitrampinput:
a0
ess
i
4, a1
s 12 s 5 s 10
5, a2
12, b0
0: a0 b0 K H
0 i
Thesystemisstable.
1, b1
a1 b1 K H
a0 K H
100
1: a1 b1 K H
0, b2
0
5 z 0
0.05
f
K H 1
4, a2
Thesystemisstable.
48, a3
16, b0
4, b1
1, b2
b0 K H 4
1 a 1 4 0
KH

0
1
0: a0 b0 K H
1: a1 b1 K H
55
b0 K H 1 10
1 a 10 1 10 0
KH
s 16 s 48 s 4 s 4
s4
56(a) M ( s )
1
3
4 1 3 z 0
0, b3
0
e ss
UnitparabolicInput:
a1 b1 K H
4 1
a0 K H
e ss
Chapter5Solutions
Golnaraghi,Kuo
f
K ( s 3)
(b) M ( s )
s 3s ( K 2) s 3K
a0
UnitstepInput:
UnitrampInput:
i
e ss
3 K , a1
KH
K 2, a2
1
Thesystemisstablefor K ! 0.
3, b0
3 K , b1
K
b0 K H 3K
1 a 1 3K 0
KH

0
1
ess
0: a0 b0 K H
a1 b1 K H
K 2 K
a0 K H
3K
3K
UnitparabolicInput:
TheaboveresultsarevalidforK>0.
e ss
1: a1 b1 K H
K 2 K
f

(c) M ( s )
s5
4
s 15 s 50 s 10 s
UnitstepInput:
UnitrampInput:
a0
ess
0, a1
H ( s)
10, a2
10 s
s5
50, a3
KH
15, b0
so 0
H ( s)
2
5, b1
a2 b1 K H 1 50 1 u 2
a
2 10 2.4
KH
1
1
56
lim
1
2 z 0
UnitparabolicInput:
e ss
f
e ss
f
Chapter5Solutions
Golnaraghi,Kuo

K ( s 5)
(d) M ( s )
1
KH
s 17 s 60 s 5 Ks 5 K
Thesystemisstablefor0<K<204.

a0
5 K , a1
5 K , a2
60, a3
17, b0
5K , b1
K

UnitstepInput:
ess
UnitrampInput:
i
e ss
b0 K H 5 K
1 a 1 5K 0
KH

0
1
0: a0 b0 K H
1: a1 b1 K H
a1 b1 K H
5K K
a0 K H
5K
UnitparabolicInput:
Theresultsarevalidfor0<K<204.
e ss
f
57
5K K
4K z 0
Chapter5Solutions
Golnaraghi,Kuo
5-7)
Type of the system is zero

Pole: s = -2.2013 + 1.8773i, s = -2.2013 - 1.8773i, and s = -0.5974
Zero: s = -1
5-8)
5( s 1)
s ( s 2)( s 3)
5-9)
a)
Position error:

b)
Velocity error:
c)
Acceleration error:
a)
Steady state error for unit step input:
Referring to the result of problem 5-8,

Steady state error for ramp input:

58
b)
Chapter5Solutions
Regarding the result of problem 5-8,

c)
Golnaraghi,Kuo
Steady state error for parabolic input:

Regarding the result of problem 5-8,
5-10)
4( s 1)
s 2 ( s 2)
a) Step error constant:
b) Ramp error constant:
c) Parabolic error constant:
5-11)
where x1 is a unit step input, x2 is a ramp input, and x3 is a unit parabola input. Since the system
is linear, then the effect of X(s) is the summation of effect of each individual input.
That is:
So:
59
Chapter5Solutions
Golnaraghi,Kuo
5-12) The step input response of the system is:

Therefore:

The rise time is the time that unit step response value reaches from 0.1 to 0.9. Then:

It is obvious that tr > 0, then:
As |k| < 1, then
Therefore or
which yields:
513)
G( s)
Y ( s)
KG p ( s ) 20 s
100 K
E ( s)
1 Kt G p ( s )
20 s(1 0.2 s 100 Kt )
Kp
Errorconstants:
f, K v
5K
1 100 Kt
, Ka

(a) r ( t )
u s ( t ):
e ss
(b) r ( t ) tu s ( t ):
e ss
(c) r ( t ) t 2u s ( t ) / 2:e ss
1
Ka
1
1 K p
0
1 100 Kt
Kv
5K
f
510
0
Type1system.
514
G p ( s)
Chapter5Solutions
100
G( s)
(1 0.1s )(1 0.5s )
Y ( s)
KG p ( s )
E ( s)
20 s 1 Kt G p ( s )
100 K
G( s)
Golnaraghi,Kuo
20 s (1 0.1s )(1 0.5 s ) 100 Kt

Kp
Errorconstants:
f, K v
5K
1 100 Kt
, Ka
0

(a) r ( t )
u s ( t ):
e ss
(b) r ( t ) tu s ( t ):
e ss
(c) r ( t ) t 2u s ( t ) / 2:e ss
0
1 K p
1
1 100 Kt
Kv
5K
f
Ka
Sincethesystemisofthethirdorder,thevaluesofKand Kt mustbeconstrainedsothatthesystemis
stable.Thecharacteristicequationis
RouthTabulation:
s 12 s 20 2000 K t s 100 K
3
20 2000 Kt
12
100 K
0
240 24000 Kt 100 K

12

100 K
StabilityConditions:
K>0
12 1 100 K t 5 K ! 0 or
5K
12
Thus,theminimumsteadystateerrorthatcanbeobtainedwithaunitrampinputis1/12.

511
1 100 K t
Chapter5Solutions
Golnaraghi,Kuo
515(a)FromFigure3P29,
1
4o ( s)
4r (s)
1
K1 K 2
Ra La s
K1 K 2
Ra La s
K i K b KK1 K i K t
La s Bt J t s
K i K b KK1 K i K t
La s Bt J t s
KK s K1 K i N
s Ra La s Bt J t s

s > Ra La s Bt J t s K1 K 2 Bt J t s K i K b KK1 K i K t @
4o (s)
4r (s)
La J t s La Bt Ra J t K1 K 2 J t s Ra Bt K i K b KK i K1 K t K1 K 2 Bt s KK s K1 K i N
3

T r ( t )
u s ( t ), 4 r ( s )
lim s4 e ( s )
so 0
0
Providedthatallthepolesof s4 e ( s ) areallinthelefthalfsplane.

2
(b)Foraunitrampinput, 4 r ( s ) 1 / s .
e ss
lim T e ( t )
t of
lim s4 e ( s )
Ra Bt K1 K 2 Bt Ki Kb KK1 Ki Kt
so 0
KK s K1 Ki N
ifthelimitisvalid.
512
Chapter5Solutions
Golnaraghi,Kuo
516(a)Forwardpathtransferfunction:[n(t)=0]:

K (1 0.02 s )
G (s)
Y ( s)
E (s)
s ( s 25)
KK t s
1 2
s ( s 25)
2
K (1 0.02 s )
s s 25s KK t
2
Type1system.

Kp
ErrorConstants:
Foraunitrampinput, r ( t )
f,
Kv
Ka
Kt
1
tu s ( t ), R( s )
, e ss
0
lim e( t )
t of
lim sE ( s )
so 0
Kv
Kt

RouthTabulation:
s
KK t 0.02 K
25
25 K K t 0.02 K
25
K
25 K t 0.02 K ! 0 or K t ! 0.02
K !0

(b)Withr(t)=0, n( t )
u s ( t ), N ( s ) 1 / s.
SystemTransferFunctionwithN(s)asInput:
K
s ( s 25)
K (1 0.02 s )
KK t s
1 2
2
s ( s 25)
s ( s 25)
2
Y (s)
N (s)
SteadyStateOutputdueton(t):
y ss
lim y ( t )
t of
K
s 25 s K K t 0.02 s K
3
lim sY ( s ) 1
so 0
513
ifthelimitisvalid.
Chapter5Solutions
Golnaraghi,Kuo
517YoumayuseMATLABinallRouthHurwitzcalculations.
1. ActivateMATLAB
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
5. ThenpresstheRouthHurwitzbutton
6. ForexamplelookatbelowFigures

514
Chapter5Solutions
Golnaraghi,Kuo
(a) n( t ) 0, r ( t ) tu s ( t ).
ForwardpathTransferfunction:
G(s)
E ( s)
Steadystateerror:
RouthTabulation:
s
Kv
so 0
Kv
Type1system.
3 K D
lim sG ( s )
e ss
Characteristicequation:
s s 1
n 0
Ramperrorconstant:
K ( s D )( s 3)
Y (s)
3Kv
s Ks [ K ( 3 D ) 1] s 3DK
0
3 K DK 1
3DK
K ( 3 K DK 1) 3DK
K
3DK
3 K DK 1 3D ! 0
K!
or
1 3K
3D
DK ! 0

(b)Whenr(t)=0, n( t )
u s ( t ), N ( s ) 1 / s.
K ( s 3)
TransferFunctionbetweenn(t)andy(t):
Y (s)
N (s)
SteadyStateOutputdueton(t):
y ss
lim y ( t )
t of
s 1
K ( s D )( s 3)
r 0
1
lim sY ( s )
so 0
0
515
s Ks [ K ( s D ) 1]s 3D K
3
s s 1
Ks ( s 3)
ifthelimitisvalid.
Chapter5Solutions
Golnaraghi,Kuo
518
S]
Percent maximum overshoot = 0.25
Thus
S] 1 ]
Solvingfor] fromthelastequation,wehave] =0.404.
Peak Time
t max
Z n 1 ]
S ]
ln 0.25 1.386
1]
0.01 sec.Thus,Z n
1.922 1 ]
S
0.01 1 ( 0.404)

TransferFunctionoftheSecondorderPrototypeSystem:
Zn
Y ( s)
R( s )
s
117916
2
2]Z n s Z n
s 277.3s 117916
516
343.4 rad / sec
Chapter5Solutions
Golnaraghi,Kuo
ExtendedMATLABsolutionsofproblemssimilarto519527appearlater
one.g.558
519ClosedLoopTransferFunction:
Characteristicequation:
s 5 500 K t s 25 K

Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
0
Forasecondorderprototypesystem,whenthemaximumovershootis4.3%,]
Zn
2]Z n
25 K ,
5 500 Kt
0.707.
1.414 25 K
RiseTime:
tr
Thus,
1 0.4167] 2.917]
With
2.164
Zn
2
Zn
(10.82)
25
25
Thus
Zn
10.82 rad / sec
4.68 and Kt
0.2 sec
Zn
5 500 Kt
4.68
1.414Z n
15.3 Thus Kt
10.3
0.0206
500
0.0206, the system transfer function is
Y ( s)
R( s )
117
2
s 15.3s 117
UnitstepResponse:

y=0.1att=0.047sec.

tr
0.244 0.047
y=0.9att=0.244sec.
0.197 sec.
y max
0.0432 ( 4.32% max. overshoot)
517
Chapter5Solutions
520ClosedloopTransferFunction:
Golnaraghi,Kuo
CharacteristicEquation:
s 5 500 K t s 25 K

Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
S]
WhenMaximumovershoot=10%,
1]
Solvingfor] ,weget] =0.59.
TheNaturalundampedfrequencyisZ n
RiseTime:
tr
1 0.4167] 2.917]
0.1
Zn
2
Zn
Thus Kt
12.58
25
ln 0.1
25K
17696
.
Zn
15.88
S ]
2
2.3
Thus, 5+ 500 Kt
sec.
Thus Z n
0.0318, thesystemtransferfunctionis
Y ( s)
R( s )
2]Z n
118
. Z n
17.7 rad / sec
0.0318
WithK=12.58and Kt
5.3 1 ]
500
0
313
2
s 20.88 s 314.5

UnitstepResponse:

y=0.1whent=0.028sec.
t r
y max
0.131 0.028
0.103 sec.

518
11
. (10% max. overshoot )
521 ClosedLoopTransferFunction:
Y ( s)
R( s )
25 K
2
s ( 5 500 Kt ) s 25 K
Chapter5Solutions

s 5 500 K t s 25 K
WhenMaximumovershoot=20%,
Solvingfor] ,weget]
TheNaturalundampedfrequencyZ n
RiseTime:
tr
Golnaraghi,Kuo
S]
1]
ln 0.2
S ]
2
1.61
0
2.59 1 ]
0.456.
1 0.4167] 2.917]
0.05
Zn
1.4165
Zn
2]Z n
5 500 Kt
25 K
sec. Thus, Z n
0.912Z n
1.4165
28.33
0.05
Zn
5 500 Kt
32.1
25
WithK=32.1and Kt
0.912Z n
25.84
Thus, Kt
0.0417
0.0417, thesystemtransferfunctionis
Y ( s)
R( s )
802.59
2
s 25.84 s 802.59

UnitstepResponse:

tr
y max
0.072 0.0178
0.0542 sec.

519
1.2 ( 20% max. overshoot )
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
Chapter5Solutions
s 5 500 K t s 25 K
11
. 0.125] 0.469]
Delaytime t d #
WhenMaximumovershoot=4.3%,]
1.423
td
0.707.
0.1 sec. ThusZ n
Zn
8.1
2]Z n
5 500 K t
1.414Z n
20.12 Thus Kt
WithK=20.12and Kt
0.0302 ,thesystemtransferfunctionis
Y ( s)
R( s )
0
0.1 sec.
Zn
14.23
Zn

5
Golnaraghi,Kuo
202.5
2
s 20.1s 202.5
14.23rad/sec.
1512
.
0.0302
500
UnitStepResponse:

Wheny=0.5,t=0.1005sec.
Thus, t d
y max

520
0.1005 sec.
1043
.
( 4.3% max. overshoot )
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
Delaytime t d #
Zn

5
s 5 500 K t s 25 K
Zn
26.74
WithK=28.6and Kt
Golnaraghi,Kuo
11
. 0.125] 0.469]
Chapter5Solutions
0.05
1337
.
Zn
Thus,Z n
.
1337
0
26.74
0.05
28.6
5 500 Kt
2]Z n
2 u 0.59 u 26.74
3155
.
Thus Kt
0.0531
0.0531, the system transfer function is
Y ( s)
R( s )
715
2
s 3155
. s 715

UnitStepResponse:

Thus, t d
y max
0.0505sec.

521
11007
.
(10.07% max. overshoot )
Chapter5Solutions
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
s 5 500 K t s 25 K
ForMaximumovershoot=0.2,]
Delaytime t d
NaturalUndampedFrequencyZ n
2]Z n
WithK=629.5and Kt
1.2545
Zn
5 500 Kt
Zn
1.2545
0
0.01sec.
125.45rad/sec.Thus, K
0.01
2 u 0.456 u 125.45 114.41
0.456 .
11
. 0.125] 0.469]
Golnaraghi,Kuo
Thus, Kt
Zn

5
15737.7
629.5
25
0.2188
0.2188 ,thesystemtransferfunctionis
Y ( s)
R( s )
15737.7
2
s 114.41s 15737.7

UnitstepResponse:
Thus, t d
y max
0.0101sec.

522
1.2 ( 20% max. overshoot )
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
2]Z n
0.6
Settlingtime t s #
3.2
]Z n
0.6Z n
1.2Z n 5
SystemTransferFunction:
s 5 5000 K t s 25 K
0
1.2Z n
3.2
0.1sec.Thus,Z n
53.33 rad / sec
0.06
0.118
500
Golnaraghi,Kuo
5 500 Kt
3.2
Kt
Chapter5Solutions
Zn
113.76
25
Y ( s)
R( s )
2844
2
s 64 s 2844

UnitstepResponse:
y(t)reaches1.00andneverexceedsthis
valueatt=0.098sec.
Thus, t s

523
0.098 sec.
Chapter5Solutions
526(a)ClosedLoopTransferFunction:
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
Formaximumovershoot=0.1,]
Settlingtime: t s
3.2
]Z n
0.59Z n
0.05 sec.
0.246
s 5 500 K t s 25 K
2

2]Z n
2 u 0.59Z n
Zn
3.2
0.05 u 0.59
0
118
. Z n
108.47
Zn
470.63
25
Y ( s)
R( s )
500
118
. Zn 5
Kt
0.59. 5 500 Kt
3.2
Golnaraghi,Kuo
11765.74
2
s 128 s 11765.74
UnitStepResponse:

y(t)reaches1.05andneverexceeds
thisvalueatt=0.048sec.
Thus, t s
0.048 sec.

(b)Formaximumovershoot=0.2,]
Settlingtime t s
3.2
3.2
]Z n
0.456Z n
Kt
0.01 sec. Z n
0.912Z n 5
1.27
500
Y ( s)
R( s )
0.456. 5 500 Kt
492453
2
s 640 s 492453
UnitStepResponse:
524
2]Z n
0.912Z n
3.2
0.456 u 0.01
701.75 rad / sec
Chapter5Solutions
Golnaraghi,Kuo
y(t)reaches1.05andnever
exceedsthisvalueatt=0.0074sec.
Thus, t s
thanthecalculatedvalueof0.01sec.

525
0.0074 sec. Thisisless
Y (s)
25 K
R(s)
s 5 500 K t s 25 K
2
Dampingratio]
Chapter5Solutions
Golnaraghi,Kuo
s 5 500 K t s 25 K
0.707. Settlingtime t s
4.5]
3.1815
Zn
Zn
0.1sec. Thus,Z n
0
31815
.
rad/sec.
5 500 Kt
2]Z n
44.986
Y ( s)
R( s )
Thus, Kt
0.08
1012.2
2
s 44.986 s 1012.2

526
Zn
2]
40.488
UnitStepResponse:Theunitstepresponsereaches0.95att=0.092sec.whichisthemeasured t s .
528(a)When]
Chapter5Solutions
Golnaraghi,Kuo
0.5 ,therisetimeis
tr #
1 0.4167] 2.917]
1521
.
1 sec.ThusZ n
1.521rad/sec.
Thesecondordertermofthecharacteristicequationiswritten
Thecharacteristicequationofthesystemis s ( a 30 ) s 30 as K
Dividingthecharacteristicequationby s 1521
. s 2.313, wehave
Zn
Zn
s 2]Z n s Z n
s 1521
. s 2.313
0
0
Forzeroremainders, 28.48 a
45.63 Thus, a
ForwardPathTransferFunction:
UnitStepResponse:
G( s)
16
. K
69.58
s( s 16
. )( s 30)
65.874 2.313a
69.58

y=0.9whent=1.43sec.
RiseTime:
tr
527
1.43 0.355 1075

.
sec.
Chapter5Solutions
Golnaraghi,Kuo
(b)Thesystemistype1.
(i)Foraunitstepinput, e ss
0.
(ii)Foraunitrampinput,
K v
lim sG ( s )
so 0
60.58
30 a
.
30 u 16
1.45
e ss
0.69
Kv

529(a)CharacteristicEquation:
3
0
ApplytheRouthHurwitzcriteriontofindtherangeofKforstability.
s 3 s ( 2 K ) s K
RouthTabulation:
s
2 K
K
6 4K
3
K
StabilityCondition:
1.5<K<0ThissimplifiesthesearchforKfortwoequalroots.
WhenK=0.27806,thecharacteristicequationrootsare:0.347,
0.347,and2.3054.
(b)UnitStepResponse:(K=0.27806)
528
Chapter5Solutions
Golnaraghi,Kuo

(c)UnitStepResponse(K=1)

Thestepresponsesin(a)and(b)allhaveanegativeundershootforsmallvaluesoft.Thisisduetothe
zeroofG(s)thatliesintherighthalfsplane.

529
Chapter5Solutions
Golnaraghi,Kuo
530(a)Thestateequationsoftheclosedloopsystemare:
dx1
dt
dx 2
x1 5x 2
6 x1 k1 x1 k 2 x 2 r
dt
Thecharacteristicequationoftheclosedloopsystemis
'
s 1
5
6 k1
s k2
s 1 k 2 s 30 5k1 k 2
2
0

ForZ n
Zn
30 5k1 k 2
10 rad / sec,
100. Thus 5k1 k 2
70

(b)For]
0.707, 2]Z n
Zn
Thus Z n
1 k2 .
1 k
1
k2
.
1.414
30 5k1 k 2
Thus
k2
59 10 k1

(c)ForZ n
10 rad / sec and ]

5k1 k 2
0.707,
and 1 k 2
100
Solvingfor k1 , we have k1
2]Z n
14.14
Thus k 2
1314
.
1137
. .

(d)Theclosedlooptransferfunctionis
Y (s)
R(s)
s k 2 1 s 30 5k1 k 2
s 14.14 s 100
Foraunitstepinput,
lim y ( t )
t of
lim sY ( s )
so 0
0.05
100

(e)Forzerosteadystateerrorduetoaunitstepinput,

30 5k1 k 2
Thus
5k1 k 2
530
25
Chapter5Solutions
Golnaraghi,Kuo

ParameterPlane k1versus k 2 :

531(a)ClosedLoopTransferFunction
Y (s)
100 K P K D s
R(s)
s 100 K D s 100 K P
2

(b)CharacteristicEquation:
s 100 K D s 100 K P
Thesystemisstablefor K P ! 0 and K D ! 0.

(b)For]
1, 2]Z n
Zn
10 K P
100 K D .
Thus
2Z n
100 K D
20 K P

(c)Seeparameterplaneinpart(g).
531
KD
0.2 K P
0
Chapter5Solutions
Golnaraghi,Kuo
(d)Seeparameterplaneinpart(g).

(e)Parabolicerrorconstant K a
Ka
lim s G ( s )
so0
2
1000 sec
lim100 K P K D s
s o0
100 K P
1000
Thus K P
10

(f)NaturalundampedfrequencyZ n
Zn
10 K P
50 rad/sec.
50
Thus
KP
25

(g)When K P
0,
G( s)
100 K D s
s
100 K D
(polezerocancellation)

532
Chapter5Solutions
Golnaraghi,Kuo
532(a)ForwardpathTransferFunction:
G ( s )
Y (s)
KK i
When r ( t )
tu s ( t ),
Kv
s > Js (1 Ts ) K i K t @
E (s)
lim sG ( s )
so 0
s 0.001s 0.01s 10 K t
e ss
Kt
10 K
2
Kt
Kv

(b)Whenr(t)=0
Y (s)
1 Ts
Td ( s )
s > Js (1 Ts ) K i K t @ KK i
For Td ( s )
lim y ( t )
lim sY ( s )
t of
so 0
1 0.1s
s 0.001s 0.01s 10 K t 10 K
2
ifthesystemisstable.
10 K

(c)Thecharacteristicequationoftheclosedloopsystemis

0.001s 0.01s 0.1s 10 K
0

ThesystemisunstableforK>0.1.SowecansetKtojustlessthan0.1.Then,theminimumvalueof
thesteadystatevalueofy(t)is
10 K
1

K 0.1
However,withthisvalueofK,thesystemresponsewillbeveryoscillatory.Themaximumovershoot
willbenearly100%.

(d)ForK=0.1,thecharacteristicequationis

0.001s 0.01s 10 Kt s 1 0
533
or s 10 s 10 Kt s 1000
0
Chapter5Solutions
Golnaraghi,Kuo
Forthetwocomplexrootstohaverealpartsof2/5.weletthecharacteristicequationbewrittenas
Then,
Thethreerootsare:
a 5 10
ab
a
5
s a s 5s b
5-33) Rise time:
Peak time:
Settling time:

1000
a
Maximum overshoot:
s ( s 5) s (5a b) s ab
or
5

5a b
2.5 r j13.92
534
200
0
4
10 Kt
Kt
0.0225
Chapter5Solutions
5-34)
K
s ( Js a KK f )
= 0.456
n = 0.353

535
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-35) a)

Substituting into equation (2) gives:

Since the system is multi input and multi output, there are 4 transfer functions as:

To find the unit step response of the system, lets consider

By looking at the Laplace transform function table:
where
b)
536
Chapter5Solutions
Golnaraghi,Kuo

Therefore:

As a result:

which means:
The unit step response is:
Therefore as a result:
where n = 1 and n = 1 / 2
c)

Therefore:

As a result, the step response of the system is:
By looking up at the Laplace transfer function table:

537
Chapter5Solutions
Golnaraghi,Kuo

where n = 1, and 2 n = 1 = 1 / 2
where = cos-1 (2 2 -1) = cos-1(0.5), therefore,
5-36) MATLAB CODE

(a)
clear all
Amat=[-1 -1;6.5 0]
Bmat=[1 1;1 0]
Cmat=[1 0;0 1]
Dmat=[0 0;0 0]
disp(' State-Space Model is:')
Statemodel=ss(Amat,Bmat,Cmat,Dmat)
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial:')
chareq=poly(Amat);
%p = poly(A) where A is an n-by-n matrix returns an n+1 element
%row vector whose elements are the coefficients of the characteristic
%polynomialdet(sI-A). The coefficients are ordered in descending powers.
[mchareq,nchareq]=size(chareq);
syms 's';
poly2sym(chareq,s)
disp(' Equivalent Transfer Function Model is:')
Hmat=Cmat*inv(s*eye(2)-Amat)*Bmat+Dmat
Since the system is multi input and multi output, there are 4 transfer functions as:
To find the unit step response of the system, lets consider

538
Chapter5Solutions
Lets obtain this term and find Y2(s) time response for a step input.
H22=Hmat(2,2)
ilaplace(H22/s)
Pretty(H22)
H22poly=tf([13/2],chareq)
step(H22poly)
H22 =
13/(2*s^2+2*s+13)
ans =
1-1/5*exp(-1/2*t)*(5*cos(5/2*t)+sin(5/2*t))
13
--------------2
2 s + 2 s + 13
Transfer function:
6.5
------------s^2 + s + 6.5
To find the step response H11, H12, and H21 follow the same procedure.
Other parts are the same.
539
Golnaraghi,Kuo
Chapter5Solutions
5-37) Impulse response:

a)
b)
and
, therefore,

c)
-1
where = cos
5-38) Use the approach in 5-36 except:

H22=Hmat(2,2)
ilaplace(H22)
Pretty(H22)
H22poly=tf([13/2],chareq)
impulse(H22poly)
H22 =
13/(2*s^2+2*s+13)
ans =
13/5*exp(-1/2*t)*sin(5/2*t)
13
--------------2
2 s + 2 s + 13
Transfer function:
6.5
------------s^2 + s + 6.5
540
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
Other parts are the same.
5-39) a)
The displacement of the bar is:

Then the equation of motion is:
As x is a function of and changing with time, then
If is small enough, then sin

and cos
1. Therefore, the equation of motion is
rewritten as:

541
Chapter5Solutions
Golnaraghi,Kuo

(b) To find the unit step response, you can use the symbolic approach shown in Toolbox 2-1-1:
clear all
%s=tf(s);
syms s B L K
Theta=B*s/s/L/(B*s+K)
ilaplace(Theta)
Theta =
B/L/(B*s+K)
ans =
1/L*exp(-K*t/B)
Alternatively, assign values to B L K and find the step response see solution to problem 5-36.
540(a) Kt 10000 oz - in / rad

TheForwardPathTransferFunction:
9 u 10 K
12
G(s)
s s 5000 s 1.067 u 10 s 50.5 u 10 s 5.724 u 10
12
9 u 10 K
12
s ( s 116)( s 4883)( s 41.68 j 3178.3)( s 41.68 j 3178.3)
RouthTabulation:
1.067 u 10
5000
50.5 u 10
5.7 u 10
12
9 u 10 K
9
12
9 u 10 K
12
16.6 u 10 8.473 u 10 K 2.8422 u 10 K

29 1579
.
K
12
9 u 10 K
542
12
.
u 10 K
2.895 u 10 1579
13
12
5.724 u 10
. u 10 K
5.72 u 10 18

s
Chapter5Solutions
Golnaraghi,Kuo

1
Fromthe s row,theconditionofstabilityis165710 8473 K 2.8422 K ! 0
or K 298114
. K 58303.427 0
( K 19.43)( K 3000.57 ) 0
or

StabilityCondition:
0<K<3000.56

ThecriticalvalueofKforstabilityis3000.56.WiththisvalueofK,therootsofthecharacteristic
equationare: 4916.9,41.57+j3113.3,41.57+j3113.3,j752.68,andj752.68

(b) K L
1000 ozin/rad.Theforwardpathtransferfunctionis
9 u 10 K
11
G(s)
s s 5000 s 1.582 u 10 s 5.05 u 10 s 5.724 u 10

4
11
9 u 10 K
11
s (1 116.06)( s 4882.8)( s 56.248 j1005)( s 56.248 j1005)

(c)CharacteristicEquationoftheClosedLoopSystem:

5
6 3
RouthTabulation:
9 2
11
1.582 u 10
5000
5.05 u 10
5.72 u 10
9 u 10 K
15
14
26.618 u 10 377.43 u 10 K 2.832 u 10 K

7
4.6503 u 10 15734
.
u 10 K
11
9 u 10 K
543
11
11
9 u 10 K
8
11
4.6503 u 10 15734
.
u 10 K
0
5.724 u 10
11
18
5.724 u 10 18
. u 10 K
11
s 5000 s 1.582 u 10 s 5.05 u 10 s 5.724 u 10 s 9 u 10 K
Chapter5Solutions
Golnaraghi,Kuo

1
Fromthe s row,theconditionofstabilityis
Or,
K 1332.73 K 93990 0
or
26.618 u 10 3774.3 K 2.832 K ! 0
( K 1400 )( K 67.14 ) 0

StabilityCondition:
0<K<1400
ThecriticalvalueofKforstabilityis1400.WiththisvalueofK,thecharacteristicequationrootare:
4885.1,57.465+j676,57.465j676,j748.44,andj748.44

(c) K L
f.
ForwardPathTransferFunction:
G(s)
CharacteristicEquationoftheClosedLoopSystem:
nK s K i K
JT
s La J T s Ra J T Rm La s Ra Bm K i K b
2
891100 K
s s 5000 s 566700
2
891100 K
s ( s 116)( s 4884)
s 5000 s 566700 s 891100 K
0
RouthTabulation:
566700
5000
891100 K
566700 178.22 K
8991100 K

Fromthe s row,theconditionofKforstabilityis566700178.22K>0.
544
Jm n JL
2
StabilityCondition:
Chapter5Solutions
Golnaraghi,Kuo
0<K<3179.78

ThecriticalvalueofKforstabilityis3179.78.WithK=3179.78,thecharacteristicequationrootsare

5000,j752.79,andj752.79.

Whenthemotorshaftisflexible, K L isfinite,twooftheopenlooppolesarecomplex.Astheshaft
becomesstiffer, K L increases,andtheimaginarypartsoftheopenlooppolesalsoincrease.When
K L
areobservedfortherootsofthecharacteristicequationwithrespecttothevalueof K L .
f ,theshaftisrigid,thepolesoftheforwardpathtransferfunctionareallreal.Similareffects
541(a)
Gc ( s ) 1
G( s)
100( s 2 )
Kp
s 1
lim G ( s )
so 0
200

Whend(t)=0,thesteadystateerrorduetoaunitstepinputis

e ss
1 K p
1 200
1
199
0.005025
(b)
Gc ( s )
s D
G(s)
100( s 2)( s D )
s s 1
2
Kp

(c)
D
D = 50
D = 500
maximum overshoot = 5.6%

maximum overshoot = 22%
maximum overshoot = 54.6%
545
ess
0
Chapter5Solutions
Golnaraghi,Kuo

AsthevalueofD increases,themaximumovershootincreasesbecausethedampingeffectofthe
zeroat s
D becomeslesseffective.
UnitStepResponses:

(d) r ( t )
0 and Gc ( s ) 1. d ( t )
us (t )
D( s )
SystemTransferFunction:(r=0)
100( s 2)
Y ( s)
D( s )
s 100 s (199 100D ) s 200D
r 0

OutputDuetoUnitStepInput:
Y ( s)
y ss
100( s 2 )
3
s s 100 s (199 100D ) s 200D
lim y ( t )
t of
lim sY ( s )
so 0

(e) r ( t )
0, d ( t )
us (t )
Gc ( s )
s D
546
200
200D
Chapter5Solutions
SystemTransferFunction[r(t)=0]
100 s( s 20
Y ( s)
D( s )
Golnaraghi,Kuo
s 100 s (199 100D ) s 200D
r 0
D( s )
y ss
lim y ( t )
t of
lim sY ( s )
so 0
0

(f)
5000
100 s( s 2 )
Y ( s)
D( s )
D 50
D
r 0
100 s( s 2)
Y ( s)
D( s )
r 0
s 100 s 5199 s 10000
100 s( s 2)
Y ( s)
D( s )
s 100 s 699 s 1000
r 0
s 100 s 50199 s 100000

UnitStepResponses:

(g)AsthevalueofD increases,theoutputresponsey(t)duetor(t)becomesmoreoscillatory,andthe
overshootislarger.AsthevalueofD increases,theamplitudeoftheoutputresponsey(t)duetod(t)
becomessmallerandmoreoscillatory.
547
Chapter5Solutions
Golnaraghi,Kuo
542(a)ForwardPathTransferfunction:
s s N

G ( s )
H ( s)
10 N
E ( s)
s( s 1)( s 10)
N
s( s 1)
N=1:CharacteristicEquation: s s 1 0
0
0.5
S]
Maximum overshoot = e
1]
0.163 (16.3%)Peaktime t max
N=10:CharacteristicEquation: s s 10
0.158
S]
Maximumovershoot e
1]
0.605 (60.5%)Peaktime t max
(b)UnitStepResponse:N=1

548
Zn
1rad/sec.
S
Z n 1 ]
Zn
3.628 sec.
10 rad/sec.
S
Z n 1 ]
sec.
.
1006
Chapter5Solutions

SecondorderSystem
ThirdorderSystem
Maximumovershoot
0.163
0.206
Peaktime
3.628sec.
3.628sec.
SecondorderSystem
ThirdorderSystem

UnitStepResponse:N=10
Maximumovershoot
0.605
0.926
Peaktime
1.006sec.
1.13sec.

549
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
543UnitStepResponses:

When Tz issmall,theeffectislowerovershootduetoimproveddamping.WhenTz isverylarge,the
overshootbecomesverylargeduetothederivativeeffect.Tz improvestherisetime,since1 Tz s isa
derivativecontrolorahighpassfilter.
550
Chapter5Solutions
Golnaraghi,Kuo

544UnitStepResponses

Theeffectofaddingthepoleat s
toG(s)istoincreasetherisetimeandtheovershoot.Thesystemis
Tp
lessstable.WhenT p ! 0.707 ,theclosedloopsystemisstable.

551
Chapter5Solutions
Golnaraghi,Kuo
5-45) You may use the ACSYS software developed for this book. For description refer to Chapter 9. We
use a MATLAB code similar to toolbox 2-2-1 and those in Chapter 5 to solve this problem.
(a) Using Toolbox 5-9-3
clear all
num = [];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
t=0:0.001:15;
step(G,t);
hold on;
for Tz=[1 5 20];
t=0:0.001:15;
num = [-1/Tz];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
step(G,t);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
1
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+1)
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.2)
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.05)
-----------------s (s+0.55) (s+1.5)
552
Chapter5Solutions
(b)
clear all
for Tz=[0 1 5 20];
t=0:0.001:15;
num = [Tz 1];
den = [1 2 2];
G=tf(num,den)
step(G,t);
hold on;
end
ylabel('y(t)')
Transfer function:
1
------------s^2 + 2 s + 2
Transfer function:
s + 1
------------s^2 + 2 s + 2
Transfer function:
5 s + 1
------------s^2 + 2 s + 2
553
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
Transfer function:
20 s + 1
------------s^2 + 2 s + 2
Follow the same procedure for other parts.

5-46) Since the system is linear we use superposition to find Y, for inputs X and D
First, consider D = 0
kK
Js a
Kf
Then

554
Chapter5Solutions
Golnaraghi,Kuo
Kk
s ( Js a KK f k )

According to above block diagram:
Now consider X = 0, then:

k
K
Kf
Js a
1
Accordingly,
and
In this case, E(s) = D-KY(s)
555
Chapter5Solutions
Golnaraghi,Kuo
Now the steady state error can be easily calculated by:

(c) The overall response is obtained through superposition

Y ( s) Y ( s) D 0 Y (s) X
y (t )
y (t ) d (t ) 0 y (t ) x (t )

MATLAB
clear all
syms s K k J a Kf
X=1/s;
D=1/s^2
Y=K*k*X/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)*D/(s*(J*s+a)+k*(Kf+s)*K)
ilaplace(Y)
D =
1/s^2
Y =
K*k/s/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)/s^2/(s*(J*s+a)+k*(Kf+s)*K)
ans =
1+t/K+1/k/K^2/Kf/(a^2+2*a*K*k+K^2*k^24*J*K*k*Kf)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2))*exp(1/2*(a+K*k)/J*t)*(a^2+a*K*k-2*J*K*k*Kf)-cosh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^24*J*K*k)^(1/2))*exp(-1/2*(a+K*k*Kf)/J*t)-(a+K*k*Kf)/(a^2+2*a*K*k*Kf+K^2*k^2*Kf^24*J*K*k)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^2-4*J*K*k)^(1/2))*exp(1/2*(a+K*k*Kf)/J*t)+1/k/K^2/Kf*a*(-1+exp(1/2*(a+K*k)/J*t)*cosh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2)))
556
Chapter5Solutions
Golnaraghi,Kuo
5-47)(a)Findthe e(t )dt whene(t)istheerrorintheunitstepresponse.

0
Asthesystemisstablethen
e(t )dt willconvergetoaconstantvalue:
e(t )dt
lim s
s o0
E ( s)
s
lim E ( s )
s o0
Y ( s)
X ( s)
G ( s)
1 G ( s)
( A1 s 1)( A2 s 1)...( An s 1)
ndm
( B1 s 1)( B2 s 1)...( Bm s 1)
Try to relate this to Equation (5-40).

E s
X ( s) Y ( s)
X (s)
G ( s)
1
X (s)
X (s)
1 G ( s)
1 G (s)
( A1s 1)( A2 s 1)...( An s 1)

( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
1
X (s)
X (s)
( B1s 1)( B2 s 1)...( Bm s 1)
( B1s 1)( B2 s 1)...( Bm s 1)
1 ( B s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)

lim 1
s o0 s
( B1s 1)( B2 s 1)...( Bm s 1)
B1 B2 Bm A1 A2 An
lim E ( s )
s o0
( B1s 1)( B2 s 1)...( Bm s 1)

G ( s)
1
( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
( A1s 1)( A2 s 1)...( An s 1)

G ( s)
( B1s 1)( B2 s 1)...( Bm s 1) ( A1s 1)( A2 s 1)...( An s 1)
ess
1 ( A s 1)( A2 s 1)...( An s 1)
lim s 1 1
0
s o0
s ( B1s 1)( B2 s 1)...( Bm s 1)
557
(b)Calculate
1
K
Chapter5Solutions
Golnaraghi,Kuo
1

lim sG ( s )
so 0
Recall
E s
X ( s) Y ( s)
X ( s)
G ( s)
1
X (s)
X (s)
1 G(s)
1 G(s)
Hence
lim E s
s o0
1
1
lim
X ( s ) lim
s o0 1 G ( s )
s o 0 s sG ( s )
1
lim
s o0 sG ( s )
Ramp Error Constant
558
1
Kv
Chapter5Solutions
Golnaraghi,Kuo
5-48)

Comparing with the second order prototype system and matching denominators:

Let = 0.4 and n = 80

Then
clear all
p=29;
K=56.25;
num = [10 10*K];
den = [1 35+p 25*p+10*K];
G=tf(num,den)
step(G);
ylabel('y(t)')
Transfer function:
10 s + 562.5
----------------s^2 + 64 s + 1288
559
Chapter5Solutions
Golnaraghi,Kuo
5-49) According to the maximum overshoot:

which should be less than t, then
or
jZ
S /t
Zn 1 [ 2
V
Zn 1 [ 2
S /t
560
Chapter5Solutions
Golnaraghi,Kuo
5-50) Using a 2nd order prototype system format, from Figure 5-15, n is the radial distance from the
complex conjugate roots to the origin of the s-plane, then n with respect to the origin of the
shown region is n
3.6.
Therefore the natural frequency range in the region shown is around 2.6 n 4.6
On the other hand, the damping ratio at the two dashed radial lines is obtained from:

The approximation from the figure gives:

Therefore 0.56 0.91
b)

As Kp=2, then:

If the roots of the characteristic equations are assumed to be lied in the centre of the shown
region:

Comparing with the characteristic equation:

c) The characteristic equation

is a second order polynomial with two roots. These two roots can be determined by two terms
2(p+KKp) and KKpKI which includes four parameters. Regardless of the p and Kp values, we can
always choose K and so that to place the roots in a desired location.
561
5-51) a)
Chapter5Solutions
Golnaraghi,Kuo
By substituting the values:
b)
Speed of the motor is
(c)
d)

As a result:

e) As
, then, = 0.404
According to the transfer function, , then

where K<0.0845
f) As
, then ,
as , therefore;
562
Chapter5Solutions
g) MATLAB
clear all
for K=[0.5 1 2];
t=0:0.001:15;
num = [0.2*K];
den = [1 0.109 0.2*K];
G=tf(num,den)
step(G,t);
hold on;
end
ylabel('y(t)')
Transfer function:
0.1
------------------s^2 + 0.109 s + 0.1
Transfer function:
0.2
------------------s^2 + 0.109 s + 0.2
Transfer function:
0.4
------------------s^2 + 0.109 s + 0.4
563
Golnaraghi,Kuo
Chapter5Solutions
Rise time decreases with K increasing.

Overshoot increases with K.
564
Golnaraghi,Kuo
5-52)
As
Chapter5Solutions
Golnaraghi,Kuo
, therefore, = 0.59
, then,

Therefore:

If p is a non-dominant pole; therefore comparing both sides of above equation and:

If we consider p = 10a (non-dominant pole), = 0.6 and n = 4, then:

clear all
K=160;
a=8.3;
b=89.8;
p=83;
num = [K K*a];
den = [1 3+b 3*b+K K*a];
G=tf(num,den)
step(G);
ylabel('y(t)')
Transfer function:
160 s + 1328
------------------------------s^3 + 92.8 s^2 + 429.4 s + 1328
565
Chapter5Solutions
Golnaraghi,Kuo
Both Overshoot and settling time values are met. No need to adjust parameters.
5-53) For the controller and the plant to be in series and using a unity feedback loop we have:
MATLAB
USE toolbox 5-8-3
clearall
num=[123];
denom=[3+sqrt(940)3sqrt(940)0.02+sqrt(.004.07)0.02sqrt(.004.07)10];
G=zpk(num,denom,60)
rlocus(G)

Zero/pole/gain:
60(s+1)(s+2)(s+3)

(s+10)(s^2+0.04s+0.0664)(s^2+6s+40)
566
Chapter5Solutions
Golnaraghi,Kuo

Notethesystemhastwodominantcomplexpolesclosetotheimaginaryaxis.Letszoomintherootlocusdiagramand
usethecursortofindtheparametervalues.
567
Chapter5Solutions
Golnaraghi,Kuo

AsshownforK=0.933thedominantclosedlooppolesareat0.46j0.626ANDOVERSHOOTIS
ALMOST10%.

IncreasingKwillpushthepolesclosertowardslessdominantzerosandpoles.Asaprocessthedesignprocessbecomesless
trivialandmoredifficult.

Toconfirmuse
M=feedback(G*.933,1)%Seetoolbox542
step(M)
Zero/pole/gain:
55.98(s+3)(s+2)(s+1)

(s+7.048)(s^2+0.9195s+0.603)(s^2+8.072s+85.29)
568
Chapter5Solutions
Golnaraghi,Kuo

Toreducerisetime,thepoleshavetomovetolefttomakethesecondarypolesmoredominant.As
aresultthelittlebumpinthelefthandsideoftheabovegraphshouldrise.TryK=3:
>>M=feedback(G*3,1)

Zero/pole/gain:
180(s+3)(s+2)(s+1)

(s+5.01)(s^2+1.655s+1.058)(s^2+9.375s+208.9)

>>step(M)
**Try a higher K value, but looking at the root locus and the time plots, it appears that the
overshoot and rise time criteria will never be met simultaneously.
569
Chapter5Solutions
Golnaraghi,Kuo

K=5
M=feedback(G*5,1) %See toolbox 5-4-2
step(M)
Zero/pole/gain:
300 (s+3) (s+2) (s+1)
--------------------------------------------------------(s+4.434) (s^2 + 1.958s + 1.252) (s^2 + 9.648s + 329.1)
570
Chapter5Solutions
571
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-54) ForwardpathTransferFunction:
G( s)
M ( s)
K
3
1 M ( s)
s ( 20 a ) s ( 200 20a ) s 200a K

Fortype1system, 200a K
0 ThusK=200a
Ramperrorconstant:
K v
lim sG ( s )
so 0
200 a
200 20a
200 20 a
5
Thusa=10
K=2000
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
>>solve(5*200+5*20*a200a)
ans=
10
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i

Theforwardpathtransferfunctionis
Thecontrollertransferfunctionis
572
G ( s )
2000
s s 30 s 400
2
Chapter5Solutions
Gc ( s )

Themaximumovershootoftheunitstepresponseis0percent.
MATLAB
clear all
K=2000;
a=10;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
ylabel('y(t)')
Zero/pole/gain:
2000
------------------------(s+10) (s^2
+ 20s + 200)
Clearly PO=0.
573
G(s)
Gp (s)
Golnaraghi,Kuo
20 s 10 s 100
30 s 400
Chapter5Solutions
Golnaraghi,Kuo
5-55)
ForwardpathTransferFunction:

G( s)
M ( s)
K
3
1 M ( s)
s ( 20 a ) s ( 200 20a ) s 200a K

Fortype1system, 200a K
0 ThusK=200a
Ramperrorconstant:
K v
lim sG ( s )
so 0
200 a
200 20a
200 20 a
9
Thusa=90
K=18000
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
solve(9*200+9*20*a200*a)
ans=
90
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i

Theforwardpathtransferfunctionis
Thecontrollertransferfunctionis
574
G ( s )
18000
s s 110 s 2000
2
Chapter5Solutions
Gc ( s )
G(s)
Gp ( s)
Golnaraghi,Kuo

s 110s 2000
180 s 10 s 100
2

Themaximumovershootoftheunitstepresponseis4.3percent.
Fromtheexpressionfortheramperrorconstant,weseethatasaorKgoestoinfinity, Kv approaches10.
Thusthemaximumvalueof Kv thatcanberealizedis10.ThedifficultieswithverylargevaluesofKand
aarethatahighgainamplifierisneededandunrealisticcircuitparametersareneededforthecontroller.
clear all
K=18000;
a=90;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
ylabel('y(t)')
Zero/pole/gain:
18000
------------------------(s+90) (s^2 + 20s + 200)
PO is less than 4.
575
Chapter5Solutions
Golnaraghi,Kuo
5-56)(a)RamperrorConstant:
MATLAB
clearall
symssKpKdkv
Gnum=(Kp+Kd*s)*1000
Gden=(s*(s+10))
G=Gnum/Gden
Kv=s*G
s=0
eval(Kv)

Gnum=
1000*Kp+1000*Kd*s

Gden=
s*(s+10)

G=
(1000*Kp+1000*Kd*s)/s/(s+10)

Kv=
(1000*Kp+1000*Kd*s)/(s+10)

s=
0

ans=
100*Kp

Kv
lim s
s o0
1000 K P K D s
1000 K P
s ( s 10)
10
100 K P
Kp=10
clears
symss
Mnum=(Kp+Kd*s)*1000/s/(s+10)
Mden=1+(Kp+Kd*s)*1000/s/(s+10)
576
1000
Thus
KP
10
Chapter5Solutions
Golnaraghi,Kuo
Kp=
10
Mnum=
(10000+1000*Kd*s)/s/(s+10)
Mden=
1+(10000+1000*Kd*s)/s/(s+10)
ans=
(s^2+10*s+10000+1000*Kd*s)/s/(s+10)

s 10 1000 K D s 1000 K P
2
0
Matchwitha2ndorderprototypesystem
Z n
1000 K P
10000
2]Z n
100 rad/sec
10 1000 K D
2 u 0.5 u 100 100
solve(10+1000*Kd100)
ans=
9/100
Thus
KD
90
0.09
1000
Usethesameprocedureforotherparts.
(b)For K v 1000 and ] 0.707 ,andfrompart(a),Z n 100 rad/sec,
2]Z n
(c)For K v
2]Z n
10 1000 K D
2 u 0.707 u 100 141.4
Thus
1000 and ] = 1.0 ,andfrompart(a),Z n

10 1000 K D
2 u 1 u 100
200
131.4
0.1314
1000
100 rad/sec,
Thus

577
KD
KD
190
1000
0.19
Chapter5Solutions
Golnaraghi,Kuo
5-57)Theramperrorconstant:
Kv
lim s
s o0
1000 K P K D s
s ( s 10)
Theforwardpathtransferfunctionis:
100 K P
10, 000
G(s)
1000 100 K D s
s ( s 10)
clear all
for KD=0.2:0.2:1.0;
num = [-100/KD];
den = [0 -10];
G=zpk(num,den,1000);
M=feedback(G,1)
step(M);
hold on;
end
ylabel('y(t)')
Zero/pole/gain:
1000(s+500)

(s^2+1010s+5e005)

Zero/pole/gain:
1000(s+250)

(s+434.1)(s+575.9)

Zero/pole/gain:
1000(s+166.7)

(s+207.7)(s+802.3)
578
Thus K P
100
Chapter5Solutions
Golnaraghi,Kuo
Zero/pole/gain:
1000(s+125)

(s+144.4)(s+865.6)

Zero/pole/gain:
1000(s+100)

(s+111.3)(s+898.7)
UsethecursortoobtainthePOandtrvalues.
ForpartbthemaximumvalueofKDresultsintheminimumovershoot.
579
Chapter5Solutions
Golnaraghi,Kuo
5-58)(a)ForwardpathTransferFunction:
G(s)
Gc ( s )G p ( s )
4500 K K P K D s
s ( s 361.2)
RampErrorConstant:
e ss
0.0802
Kv
KK P
Kv
lim sG ( s )
so 0
4500 KK P
361.2
d 0.001Thus KK P t 80.2 Let K P
clear all
KP=1;
K=80.2;
figure(1)
num = [-KP];
den = [0 -361.2];
G=zpk(num,den,4500*K)
M=feedback(G,1)
step(M)
hold on;
for KD=00.0005:0.0005:0.002;
num = [-KP/KD];
den = [0 -361.2];
G=zpk(num,den,4500*K*KD)
M=feedback(G,1)
step(M)
end
ylabel('y(t)')

580
12.458 KK P
1 and K
80.2
Chapter5Solutions

581
Golnaraghi,Kuo
KD
Chapter5Solutions
tr(sec)
Golnaraghi,Kuo
ts (sec)
MaxOvershoot(%)

0
0.00221
0.0166
37.1
0.0005
0.00242
0.00812
21.5
0.0010
0.00245
0.00775
12.2
0.0015
0.0024
0.0065
6.4
0.0016
0.00239
0.00597
5.6
0.0017
0.00238
0.00287
4.8
0.0018
0.00236
0.0029
4.0
0.0020
0.00233
0.00283
2.8
582
Chapter5Solutions
Golnaraghi,Kuo
5-59)TheforwardpathTransferFunction:N=20
200 K P K D s
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P
G(s)
G(s)
s ( s 1)( s 10)
200 0.05 K D s
s ( s 1)( s 10)
ALSO try other Kp values and compare your results.

clear all
figure(1)
KD=0
num = [];
den = [0 -1 -10];
G=zpk(num,den,200*0.05)
M=feedback(G,1)
step(M)
hold on;
for KD=0.01:0.01:0.1;
KD
num = [-0.05/KD];
G=zpk(num,den,200*KD)
M=feedback(G,1)
step(M)
end
ylabel('y(t)')

KD=
0

Zero/pole/gain:
10

s(s+1)(s+10)

Zero/pole/gain:
10

(s+10.11)(s^2+0.8914s+0.9893)

KD=
0.0100
583
0.05
Chapter5Solutions
Zero/pole/gain:
2(s+5)

s(s+1)(s+10)

Zero/pole/gain:
2(s+5)

(s+9.889)(s^2+1.111s+1.011)

KD=
0.0200

Zero/pole/gain:
4(s+2.5)

s(s+1)(s+10)

Zero/pole/gain:
4(s+2.5)

(s+9.658)(s^2+1.342s+1.035)

KD=
0.0300

Zero/pole/gain:
6(s+1.667)

s(s+1)(s+10)

Zero/pole/gain:
6(s+1.667)

(s+9.413)(s^2+1.587s+1.062)

KD=
0.0400

Zero/pole/gain:
8(s+1.25)

s(s+1)(s+10)

Zero/pole/gain:
8(s+1.25)

(s+9.153)(s^2+1.847s+1.093)
584
Golnaraghi,Kuo
Chapter5Solutions
KD=
0.0500

Zero/pole/gain:
10(s+1)

s(s+1)(s+10)

Zero/pole/gain:
10(s+1)

(s+8.873)(s+1.127)(s+1)

KD=
0.0600

Zero/pole/gain:
12(s+0.8333)

s(s+1)(s+10)

Zero/pole/gain:
12(s+0.8333)

(s+8.569)(s+1.773)(s+0.6582)

KD=
0.0700

Zero/pole/gain:
14(s+0.7143)

s(s+1)(s+10)

Zero/pole/gain:
14(s+0.7143)

(s+8.232)(s+2.221)(s+0.547)

KD=
0.0800

Zero/pole/gain:
16(s+0.625)

s(s+1)(s+10)

Zero/pole/gain:
16(s+0.625)

(s+7.85)(s+2.673)(s+0.4765)
585
Golnaraghi,Kuo
Chapter5Solutions
KD=
0.0900

Zero/pole/gain:
18(s+0.5556)

s(s+1)(s+10)

Zero/pole/gain:
18(s+0.5556)

(s+7.398)(s+3.177)(s+0.4255)

KD=
0.1000

Zero/pole/gain:
20(s+0.5)

s(s+1)(s+10)

Zero/pole/gain:
20(s+0.5)

(s+0.3861)(s+3.803)(s+6.811)
586
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo

UnitstepResponseAttributes:
KD
ts(sec)
MaxOvershoot(%)
When K D
0.01
5.159
12.7
0.02
4.57
7.1
0.03
2.35
3.2
0.04
2.526
0.8
0.05
2.721
0
0.06
3.039
0
0.10
4.317
0
0.05 therisetimeis2.721sec,andthestepresponsehasnoovershoot.
587
Chapter5Solutions
Golnaraghi,Kuo
5-60) (a)For e ss 1,
Kv
lim sG ( s )
s o0
lim s
so0
200 K P K D s
s ( s 1)( s 10)
G ( s )
20 K P
200 0.05 K D s
s ( s 1)( s 10)
1 Thus K P
0.05
Because of the choice of Kp this is the same as previous part.
5-61)
(a)ForwardpathTransferFunction:
100 K P
G ( s )
s 10 s 100
2
Thus K I
Gcl ( s )
s
KI
For K v
10,
lim sG ( s )
s o0
100 K P s K I
lim s
s s 10 s 100
s o0
KI
10
10.
100 K P s K I
s 10 s 100 s 100 K P s K I
3
Kv
100 K P s 10
2
s 10 s 100(1 K P ) s 1000
3
(b)Letthecomplexrootsofthecharacteristicequationbewrittenas s V j15 and s V j15.
s 2V s V 225
2
0
Thequadraticportionofthecharacteristicequationis
Thecharacteristicequationofthesystemis
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
s 10 s 100 100 K P s 1000

3
588
0
Chapter5Solutions
Golnaraghi,Kuo
s (10 2V )
s 2V s V 225 s 10 s 100 100 K P s 1000

2
s 2V s V 225 s
3

20V 4V s (10 2V ) s
(10 2V ) s 100 K P V 125 s 1000

2
(10 2V ) s
100 K
225
3V 20V 125 s 2V 10V 450V 1250

2

3
Forzeroremainder,
2V 10V 450V 1250 0
and
100 K P 3V 20V 125
TherealsolutionofEq.(1)isV
KP
0
(1)
(2)
2.8555 .FromEq.(2),
125 20V 3V
15765
.
100
2.8555 j15, 2.8555 j15, and s
Thecharacteristicequationrootsare: s
10 2V
4.289
(c)RootContours:

Dividingbothsidesof s 10 s 100 100 K P s 1000
1
100 K P s
1 Geq
2
s 10 s 100 s 1000
100 K P s
100 K P s
Geq ( s )
s 10 s 100 s 1000
3
s 10 s
100
0 bythetermsthatdonotcontainKpwehave:
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 1000];
rlocus(num,den)
589
Chapter5Solutions
Golnaraghi,Kuo
590
Chapter5Solutions
Golnaraghi,Kuo
5-62) (a)ForwardpathTransferFunction:
100 K P
G ( s )
KI
s
For K
s 10 s 100
2
Kv
10,
Thustheforwardpathtransferfunctionbecomes
Gcl ( s )
G(s)
100 10 K P s
s s 10 s 100
2
100 K P s K I
s 10 s 100 s 100 K P s K I
3
lim sG ( s )
s o0
s o0
100 K P s 10
2
s 10 s 100(1 K P ) s 1000
3

clear all
for Kp=.4:0.4:2;
num = [100*Kp 1000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL);
step(GCL)
hold on;
end

591
lim s
100 K P s K I
s s 10 s 100
2
KI
10
Chapter5Solutions
Golnaraghi,Kuo
Usethecursertofindthemaximumovershootandrisetime.ForexamplewhenKp=2,PO=43andtr100%=0.152
sec.
Transferfunction:
200s+1000

s^3+10s^2+300s+1000
592
Chapter5Solutions
Golnaraghi,Kuo
5-63)
G(s)
For K v
100 K P s K I
s s 10 s 100
2
100,
K v
lim sG ( s )
lim s
s o0
s o0
100 K P s K I
s s 10 s 100
2
KI
100
s 10 s 100 100 K P s 100 K I

3
(b)Thecharacteristicequationis
Thus K I
100.
0
RouthTabulation:
100 + 100 K P
10
10,000
100 K P 900
10,000
Forstability, 100 K P 900 ! 0
Thus
KP ! 9
7. ActivateMATLAB
9. Typein
Acsys
10. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
11. ThenpresstheRouthHurwitzbutton
593
Chapter5Solutions
Golnaraghi,Kuo

RH=

[1,100+100*kp]
[10,10000]
[900+100*kp,0]
[(9000000+1000000*kp)/(900+100*kp),0]

594
Chapter5Solutions
Golnaraghi,Kuo
RootContours:
Geq ( s )
100 K P s
3
s 10 s 100 s 10,000
100 K P s
( s 23.65)( s 6.825 j19.4)( s 6.825 j19.4)
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 10000];
rlocus(num,den)
595
Chapter5Solutions
Golnaraghi,Kuo
(c) K I 100
Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
G(s)
100 K P s 100
s s 10 s 100
2
clear all
Kp=[15 20 22 24 25 26 30 40 100 1000];
[N,M]=size(Kp);
for i=1:M
num = [100*Kp(i) 10000];
den = [1 10 100 0];
GCL=tf(numCL,denCL);
figure(i)
step(GCL)
end

KP
15
20
22
24
25
26
596
30
40
100
1000
ymax
1.794
1.779
1.7788 1.7785
Chapter5Solutions
1.7756
1.779

WhenKP=25,minimumymax=1.7756
Use: close all to close all the figure windows.
597
Golnaraghi,Kuo
1.782
1.795
1.844
1.859
Chapter5Solutions
Golnaraghi,Kuo
5-64) MATLAB solution is the same as 5-63.

100 K P s K I
G(s)
s s 10 s 100
2
100 K I
For K v
10,
100
KI
10
RouthTabulation:
s3 10 s 2 100 K 1 s 1000
P
(b)CharacteristicEquation:
100 + 100 K P
10
1000
100 K P
1000

0
Forstability,KP>0

RootContours:
Geq ( s )
100 K P s
3
s 10 s 100 s 1000

598
Chapter5Solutions
Golnaraghi,Kuo

(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.

KP
0.5
1.0
1.6
1.7
1.8
1.393
1.275
1.2317 1.2416 1.2424
1.9
2.0
3.0
5.0
10 20
1.2441
1.246
1.28
1.372
1.514

ymax

WhenKP=1.7,maximumymax=1.2416
5-65)
Gc ( s ) K P K D s
where
KP
KDs KPs KI
2
KI
s
1 K s K
D1
K P 2 K D1 K I 2
KD
P2
K D1 K P 2
100
G(s)
Gc ( s )G p ( s )
s2 KP s KI
s s 10 s 100
Andrenametheratios: K D / K P
Thus

A, K I / K P
Kv
lim sG ( s ) 100
KI
100
s o0
B
KI
100

100
599
KI 2
KI

KI 2
1.642
Chapter5Solutions
Golnaraghi,Kuo
ForKDbeingsufficientlysmall:
G ( s )
100 K P s 100
s s 10 s 100
2

s 10 s 100 100 K P s 10, 000
3
0
Forstability,Kp>9.SelectKp=10andobservetheresponse.
clear all
Kp=10;
num = [100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
1000 s + 10000
----------------------------s^3 + 10 s^2 + 1100 s + 10000
ObviouslybyincreasingKpmoreoscillationswilloccur.AddKDtoreduceoscillations.
clear all
Kp=10;
Kd=2;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
5100
Chapter5Solutions
Golnaraghi,Kuo
Transfer function:
200 s^2 + 1000 s + 10000
-----------------------------s^3 + 210 s^2 + 1100 s + 10000

UnitstepResponse

Therisetimeseemsreasonable.ButweneedtoincreaseKptoimproveapproachtosteadystate.
IncreaseKptoKp=30.
clear all
Kp=30;
Kd=1;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
100 s^2 + 3000 s + 10000
-----------------------------s^3 + 110 s^2 + 3100 s + 10000
5101
Chapter5Solutions
To obtain a better response continue adjusting KD and KP.
5102
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
5-66) This problem has received extended treatment in Chapter 6, Control Lab see Section 6-6.
For the sake simplicity, this problem we assume the control force f(t) is applied in parallel to the
spring K and damper B. We will not concern the details of what actuator or sensors are used.
Lets look at Figure 4-84 and equations 4-322 and 4-323.
xc
mc
mc
cs
ks
ks
cs
mw
mw
kw
cw
(a)
cw
kw
xw
(b)
(c)
Figure 4-84 Quarter car model realization: (a) quarter car, (b) 2 degree of
freedom, and (c) 1 degree of freedom model.
Theequationofmotionofthesystemisdefinedasfollows:
mx(t ) cx (t ) kx (t )
cy (t ) ky (t )
(4-322)
whichcanbesimplifiedbysubstitutingtherelationz(t)=x(t)y(t)andnondimensionalizingthecoefficientsto
theform

z (t ) 2]Z n z (t ) Z n 2 z (t )

y (t )
TheLaplacetransformofEq.(4323)yieldstheinputoutputrelationship
5103
(4-323)
Chapter5Solutions
Z (s)
Y( s )
Golnaraghi,Kuo
1
s 2]Z n s Z n 2
(4-324)
Now lets apply control see section 6-6 for more detail.
x
k
k f(t)
For simplicity and better presentation, we have scaled the control force as kf(t) we rewrite (4-324) as:
mx(t ) cx (t ) kx(t )
cy (t ) ky (t ) kf (t )

z (t ) 2]Zn z (t ) Zn 2 z (t )
s 2 2]Zn s Zn 2
A( s ) Y( s )

y (t ) Zn 2 f (t )
A( s ) Zn 2 F ( s )
Setting the controller structure such that the vehicle bounce Z ( s )

K
F (s) 0 K P K D s I
s
Z (s)
Z (s)
A( s )
1
K
s 2 2]Zn s Zn 2 1 K P K D s I
s
Z (s)
A( s )
s
s 2]Zn s Zn 1 K P s K D s 2 K I
3
See Equation (6-4).
For proportional control KD=KI=0.
5104
(4-324)
X ( s ) Y ( s ) is minimized:
Pick 9
0.707
and Zn
Chapter5Solutions
1 for simplicity. This is now an underdamped system.
Use MATLAB to obtain response now.

clear all
Kp=1;
Kd=0;
Ki=0;
num = [-1 0];
den =[1 2*0.707+Kd 1+Kp Ki];
G=tf(num,den)
step(G)
Transfer function:
-s
--------------------s^3 + 1.414 s^2 + 2 s
Adjust parameters to get the desired response if necessary.

The process is the same for parts b, c and d.
5105
Golnaraghi,Kuo
Chapter5Solutions
5-67) Replace F(s) with

K
X ref K P K D s I X ( s )
s
B
2]Zn
M
K
Zn 2
M
X ( s)
1
K
X ref ( s )
s 2 2]Zn s Zn 2 K P K D s I
s
F ( s)
Use MATLAB to obtain response now.

clear all
Kp=1;
Kd=0;
Ki=0;
B=10;
K=20;
M=1;
omega=sqrt(K/M);
zeta=(B/M)/2/omega;
num = [1 0];
den =[1 2*zeta*omega+Kd omega^2+Kp Ki];
G=tf(num,den)
step(G)
ransfer function:
s
------------------s^3 + 10 s^2 + 21 s
T0 achieve the proper response, adjust controller gains accordingly.
5106
Golnaraghi,Kuo
Chapter5Solutions
5-68) From problem 4-3

a)
Rotational kinetic energy:
Translational kinetic energy:
Relation between translational displacement and rotational displacement:
Potential energy:
As we know , then:

By differentiating, we have:
Since cannot be zero, then
b)
c)
5107
Golnaraghi,Kuo
Chapter5Solutions

where at the maximum energy.
Then:
Or:
d)
G (s)
J

(ms K )
2

K=100;
J=5;
m=25;
G=tf([J],[m 0 K])
Pole(G)
impulse(G,10)
Transfer function:
5
-----------25 s^2 + 100
ans =
0 + 2.0000i
0 - 2.0000i
5108
Golnaraghi,Kuo
Chapter5Solutions
Golnaraghi,Kuo
Uncontrolled
With a proportional controller one can adjust the oscillation amplitude the transfer function is
rewritten as:
Gcl ( s )
JK p
(ms K JK p )
2

Kp=0.1
K=100;
J=5;
m=25;
G=tf([J*Kp],[m 0 (K+J*Kp)])
Pole(G)
impulse(G,10)
5109
Chapter5Solutions
Golnaraghi,Kuo
Kp =
0.1000
Transfer function:
0.5
-------------25 s^2 + 100.5
ans =
0 + 2.0050i
0 - 2.0050i
A PD controller must be used to damp the

oscillation and reduce overshoot. Use Example
5-11-1 as a guide.
5110
Chapter5Solutions
Golnaraghi,Kuo
5-69) From Problem 4-6 we have:

a)
y1
y2
K ( y1 y 2 )
K ( y1 y 2 )
PMgy1
Pmgy 2
b)
From Newtons Law:

If y1 and y2 are considered as a position and v1 and v2 as velocity variables

Then:

The output equation can be the velocity of the engine, which means
c)

Obtaining
requires solving above equation with respect to Y2(s)
From the first equation:
Substituting into the second equation:
5111
Chapter5Solutions
Golnaraghi,Kuo
By solving above equation:
Replace Force F with a proportional controller so that F=K(Z-Zref):
KP
Zref_FZ

5-70) Also see derivations in 4-9.
L
x(t)
F
M
L
Here is an alternative representation including friction (damping) . In this case the angle is
measured differently.
Lets find the dynamic model of the system:
5112
Chapter5Solutions
Golnaraghi,Kuo
1)
2)
Let . If is small enough then and , therefore

which gives:

Ignoring friction

where

Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
KP+KDs
R_F
F ( s)
K p R s ) KD s R s )
The system transfer function is:
)
R
A K p KDs
(s 2 K D s A K p B
Control is achieved by ensuring stability (Kp>B)
5113
Chapter5Solutions
Golnaraghi,Kuo
Use Routh Hurwitz to establish stability first. Use Acsys to do that as

demonstrated in this chapter problems. Also Chapter 2 has many examples.
Use MATLAB to simulate response:

clear all
Kp=10;
Kd=5;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
step(G)
Transfer function:
50 s + 100
-------------s^2 + 5 s + 20
Adjust parameters to achieve desired response. Use THE PROCEDURE in Example 5-11-1.
You may look at the root locus of the forward path transfer function to get a better perspective.
5114
) A K p KDs
E
s 2 AB
fix z and vary K D .
Chapter5Solutions
Golnaraghi,Kuo
AK D z s
s 2 AB
clear all
z=100;
Kd=0.01;
A=10;
B=8;
num = [A*Kd A*Kd*z];
den =[1 0 -(A*B)];
G=tf(num,den)
rlocus(G)
Transfer function:
0.1 s + 10
---------s^2 80

Forz=10,alargeKD=0.805resultsin:
5115
Chapter5Solutions
Golnaraghi,Kuo
clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
pole(G)
zero(G)
step(G)
Transfer function:
8.05 s + 80.5
------------------s^2 + 0.805 s + 0.5
ans =
-0.4025 + 0.5814i
-0.4025 - 0.5814i
ans =
-10
Looking at dominant poles we expect to see an oscillatory response with overshoot
close to desired values.
For a better design, and to meet rise time criterion, use Example 511-1.
5116
Automatic Control Systems, 9th Edition
Chapter 6
Chapter 6 Solutions
Golnaraghi, Kuo
THE CONTROL LAB
Part 1) Solution to Lab questions within Chapter 6

6-4-1 Open Loop Speed
1. Open loop speed response using SIMLab:
a. +5 V input:
The form of response is like the one that we expected; a second order system response with overshoot and
oscillation. Considering an amplifier gain of 2 and K b 0.1 , the desired set point should be set to 2.5 and as
seen in the figure, the final value is approximately 50 rad/sec which is armature voltage divided by K b . To find
the above response the systems parameters are extracted from:
Wm
Ra J m
,
Ra B k b k m
Ra J m k b k mW m
RaW m
6-1
0.000792kg m 2 / sec
Chapter 6 Solutions
b. +15 V input:
c. 10 V input:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
2. Study of the effect of viscous friction:
The above figure is plotted for three different friction coefficients (0, 0.001, 0.005) for 5 V armature input. As
seen in figure, two important effects are observed as the viscous coefficient is increased. First, the final steady
state velocity is decreased and second the response has less oscillation. Both of these effects could be predicted
from Eq. (5-114) by increasing damping ratio ].
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
3. Additional load inertia effect:
As the overall inertia of the system is increased by 0.005 / 5.2 2 and becomes 1.8493 u 10 3 kg.m2, the
mechanical time constant is substantially increased and we can assume the first order model for the motor
(ignoring the electrical sub-system) and as a result of this the response is more like an exponential form. The
above results are plotted for 5 V armature input.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
4. Reduce the speed by 50% by increasing viscous friction:
As seen in above figure, if we set B=0.0075 N.s/m the output speed drop by half comparing with the case that
B=0 N.s/m. The above results are plotted for 5 V armature input.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
5. Study of the effect of disturbance:
Repeating experiment 3 for B=0.001 N.s/m and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of open loop system is like the effect of higher viscous friction and caused to decrease
the steady state value of speed.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6. Using speed response to estimate motor and load inertia:
Using first order model we are able to identify system parameters based on unit step response of the system. In
above plot we repeated the experiments 3 with B=0.001 and set point voltage equal to 1 V. The final value of the
speed can be read from the curve and it is 8.8, using the definition of system time constant and the cursor we read
63.2% of speed final value 5.57 occurs at 0.22 sec, which is the system time constant. Considering Eq. (5-116),
and using the given value for the rest of parameters, the inertia of the motor and load can be calculated as:
W m ( Ra B K m K b )
Ra
0.22(1.35 u 0.001 0.01)

1.35
1.8496 u 10 3 kg.m2
We also can use the open loop speed response to estimate B by letting the speed to coast down when it gets to the
steady state situation and then measuring the required time to get to zero speed. Based on this time and energy
conservation principle and knowing the rest of parameters we are able to calculate B. However, this method of
identification gives us limited information about the system parameters and we need to measure some parameters
directly from motor such as Ra , K m , K b and so on.
So far, no current or voltage saturation limit is considered for all simulations using SIMLab software.
6-1
Chapter 6 Solutions
7. Open loop speed response using Virtual Lab:

a. +5 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Comparing these results with the part 1, the final values are approximately the same but the shape of responses is
closed to the first order system behavior. Then the system time constant is obviously different and it can be
identified from open loop response. The effect of nonlinearities such as saturation can be seen in +15 V input with
appearing a straight line at the beginning of the response and also the effects of noise and friction on the response
can be observed in above curves by reducing input voltage for example, the following response is plotted for a 0.1
V step input:
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
8. Identifying the system based on open loop response:
Open loop response of the motor to a unit step input voltage is plotted in above figure. Using the definition of
time constant and final value of the system, a first order model can be found as:
G(s)
9
,
0.23s 1
where the time constant (0.23) is found at 5.68 rad/sec (63.2% of the final value).
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-4-2 Open Loop Sine Input

9. Sine input to SIMLab and Virtual Lab (1 V. amplitude, and 0.5, 5, and 50 rad/sec frequencies)
a. 0.5 rad/sec (SIMLab):
6-1
Chapter 6 Solutions
b. 5 rad/sec (SIMLab):
c. 50 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
d. 0.5 rad/sec (Virtual Lab):
e. 5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
f. 50 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
10. Sine input to SIMLab and Virtual Lab (20 V. amplitude)

a. 0.5 rad/sec (SIMLab):
b. 5 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. 50 rad/sec (SIMLab):
d. 0.5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
e. 5 rad/sec (Virtual Lab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
f. 5 rad/sec (Virtual Lab):
In both experiments 9 and 10, no saturation considered for voltage and current in SIMLab software. If
we use the calculation of phase and magnitude in both SIMLab and Virtual Lab we will find that as
input frequency increases the magnitude of the output decreases and phase lag increases. Because of
existing saturations this phenomenon is more sever in the Virtual Lab experiment (10.f). In this
experiments we observe that M 0.288 and M 93.82 $ for Z 50.
6-1
Chapter 6 Solutions
6-4-3 Speed Control

11.Apply step inputs (SIMLab)
In this section no saturation is considered either for current or for voltage.
a. +5 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. -10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
12. Additional load inertia effect:

a. +5 V:
b. +15 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. -10 V:
13. Study of the effect of viscous friction:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As seen in above figure, two different values for B are selected, zero and 0.0075. We could change the
final speed by 50% in open loop system. The same values selected for closed loop speed control but as
seen in the figure the final value of speeds stayed the same for both cases. It means that closed loop
system is robust against changing in systems parameters. For this case, the gain of proportional
controller and speed set point are 10 and 5 rad/sec, respectively.
14. Study of the effect of disturbance:
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Repeating part 5 in section 6-4-1 for B=0.001 and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of closed loop system is not substantial like the one on the open loop system in part 5,
and again it is shown the robustness of closed loop system against disturbance. Also, to study the effects of
conversion factor see below figure, which is plotted for two different C.F. and the set point is 5 V.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
By decreasing the C.F. from 1 to 0.2, the final value of the speed increases by a factor of 5.
15. Apply step inputs (Virtual Lab)

a. +5 V:
6-1
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As seen the responses of Virtual Lab software, they are clearly different from the same results of
SIMLab software. The nonlinearities such as friction and saturation cause these differences. For
example, the chattering phenomenon and flatness of the response at the beginning can be considered as
some results of nonlinear elements in Virtual Lab software.
6-4-4 Position Control

16. 160 $ step input (SIMLab)
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
17. 0.1 N.m step disturbance
18. Examine the effect of integral control
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
In above figure, an integral gain of 1 is considered for all curves. Comparing this plot with the previous
one without integral gain, results in less steady state error for the case of controller with integral part.
19. Additional load inertia effect (J=0.0019, B=0.004):
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
20. Set B=0:
21. Study the effect of saturation
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
The above figure is obtained in the same conditions of part 20 but in this case we considered r 10 V. and
r 4 A. as the saturation values for voltage and current, respectively. As seen in the figure, for higher
proportional gains the effect of saturations appears by reducing the frequency and damping property of
the system.
22. Comments on Eq. 5-126

After neglecting of electrical time constant, the second order closed loop transfer function of position
control obtained in Eq. 5-126. In experiments 19 through 21 we observe an under damp response of a
second order system. According to the equation, as the proportional gain increases, the damped
frequency must be increased and this fact is verified in experiments 19 through 21. Experiments16
through 18 exhibits an over damped second order system responses.
23. In following, we repeat parts 16 and 18 using Virtual Lab:
Study the effect of integral gain of 5:
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Ch. 6 Problem Solutions

Part 2) Solution to Problems in Chapter 6
6-1. In order to find the current of the motor, the motor constant has to be separated from the electrical
component of the motor.
The response of the motor when 5V of step input is applied is:
a) The steady state speed: 41.67rad/sec

b) It takes 0.0678 second to reach 63% of the steady state speed (26.25rad/sec). This is the time
constant of the motor.
c) The maximum current: 2.228A
6-1
Chapter 6 Solutions
11.2
The steady state speed at 5V step input is 50rad/sec.

a) It takes 0.0797 seconds to reach 63% of the steady state speed (31.5rad/sec).
b) The maximum current: 2.226A
c) 100rad/sec
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-3
a)
b)
c)
d)
50rad/sec
0.0795 seconds
2.5A. The current
When Jm is increased by a factor of 2, it takes 0.159 seconds to reach 63% of its steady state
speed, which is exactly twice the original time period . This means that the time constant has
been doubled.
6-1
Chapter 6 Solutions
6-4
Part 1: Repeat problem 6-1 with TL = -0.1Nm
a) It changes from 41.67 rad/sec to 25 rad/sec.

b) First, the speed of 63% of the steady state has to be calculated.
41.67 - (41.67 - 25) u 0.63 31.17 rad/sec.
The motor achieves this speed 0.0629 seconds after the load torque is applied
c) 2.228A. It does not change
a) It changes from 50 rad/sec to 30 rad/sec.
b) The speed of 63% of the steady state becomes
50 - (50 - 30) u 0.63 37.4 rad/sec.
The motor achieves this speed 0.0756 seconds after the load torque is applied
c) 2.226A. It does not change.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
a) It changes from 50 rad/sec to 30 rad/sec.

b) 50 - (50 - 30) u 0.63 37.4 rad/s
The motor achieves this speed 0.0795 seconds after the load torque is applied. This is the same
as problem 6-3.
c) 2.5A. It does not change
d) As TL increases in magnitude, the steady state velocity decreases and steady state current
increases; however, the time constant does not change in all three cases.
6-1
Chapter 6 Solutions
6-4 The steady state speed is 4.716 rad/sec when the amplifier input voltage is 5V:
6-6
a) 6.25 rad/sec.
b) 63% of the steady state speed: 6.25 u 0.63 3.938 rad/sec
It takes 0.0249 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 1 Ampere.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-7
a) 9.434 rad/sec.
b) 63% of the steady state speed: 9.434 u 0.63 5.943 rad/sec
It takes 0.00375 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 10 Amperes.
d) When there is no saturation, higher Kp value reduces the steady state error and decreases the rise
time. If there is saturation, the rise time does not decrease as much as it without saturation.
Also, if there is saturation and Kp value is too high, chattering phenomenon may appear.
6-8
a) The steady state becomes zero. The torque generated by the motor is 0.1 Nm.
b) 6.25 - (6.25 - 0) u 0.63 2.31 rad/sec. It takes 0.0249 seconds to reach 63% of its new steady
state speed. It is the same time period to reach 63% of its steady state speed without the load
torque (compare with the answer for the Problem 6-6 b).
11-9 The SIMLab model becomes
The sensor gain and the speed input are reduced by a factor of 5. In order to get the same result as
Problem 6-6, the Kp value has to increase by a factor of 5. Therefore, Kp = 0.5.
The following graphs illustrate the speed and current when the input is 2 rad/sec and Kp = 0.5.
6-1
Chapter 6 Solutions
6-10
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
a) 1 radian.
b) 1.203 radians.
c) 0.2215 seconds.
6-11
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
a) The steady state position is very close to 1 radian.

b) 1.377 radians.
c) 0.148 seconds.
It has less steady state error and a faster rise time than Problem 6-10, but has larger overshoot.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-12
Different proportional gains and their corresponding responses are shown on the following graph.
As the proportional gain gets higher, the motor has a faster response time and lower steady state error,
but if it the gain is too high, the motor overshoot increases. If the system requires that there be no
overshoot, Kp = 0.2 is the best value. If the system allows for overshoot, the best proportional gain is
dependant on how much overshoot the system can have. For instance, if the system allows for a 30%
overshoot, Kp = 1 is the best value.
6-1
Chapter 6 Solutions
6-13 Let Kp = 1 is the best value.
As the derivative gain increases, overshoot decreases, but rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-14
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-15
There could be many possible answers for this problem. One possible answer would be
Kp= 100
Ki= 10
Kd= 1.4
The Percent Overshoot in this case is 3.8%.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-16
0.1 Hz
0.2 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
0.5 Hz
1 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
2Hz
5Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
10Hz
50Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As frequency increases, the phase shift of the input and output also increase. Also, the amplitude of the
output starts to decrease when the frequency increases above 0.5Hz.
6-17
6-1
Chapter 6 Solutions
As proportional gain increases, the steady state error decreases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-18
Considering fast response time and low overshoot, Kp=1 is considered to be the best value.
6-1
Chapter 6 Solutions
6-19 It was found that the best Kp = 1
As Kd value increases, the overshoot decreases and the rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-20 From the Experiment Menu select the Open Loop Sine Input option.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Double click on the Sine wave block and choose the input values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Run simulation in SIMULINK.

Change run time to 20 sec (default is
5 sec)
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Calculate the Gain and Phase values by entering the input frequency. Repeat the process for other
frequency values and use the calculated gain and phase values to plot the frequency response of the
system.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-21)
Select the Speed Control option in Virtual Lab Experiment Window.

Enter the Step Input and Controller Gain values by double clicking on their respective blocks.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Run simulation, and repeat the process for different gain values. Observe the steady state value change
with K.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-22)
Select the Position Control option in Virtual Lab Experiment Window.

Enter the Step Input and Controller Gain values by double clicking on their respective blocks.
6-1
Chapter 6 Solutions
Run simulation, and repeat the process for different gain values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-23) If we choose Kp= 1, Ki= 0, and Kd= 0, we get
Increase Kd=0.1 we get:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-24) Here Kp=275 and Kd=12.
Next Kp=275 and Kd=20.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
You may try other parts and make observations.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-25) a)
Change variables displayed using Setup Axes if desired.

b) Next use the Model Parameters button and change k to 15 as shown. Simulate the response and
show the desire variables.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c) A sample response
d)
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Other parts are trivial and follow section 6-6.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo

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So

'Generated transfer function:'

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'Generated transfer function:'

'Generated transfer function:'

2-4) Mathematical representation:

'Generated transfer function:'

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'Generated transfer function:'

In all cases find the real and imaginary axis intersections.

Imaginary axis int er sec tion does not exist.

%asuuming a value for zeta <1

wn=2*pi*10 %asuuming a value for wn

%asuuming a value for zeta >1

Steps for plotting |G|:

Lets convert the transfer function to the following form:

Steps for plotting |G|:

Slope: -1 or -20 dB/decade

(2) n =2 and = 0.1 for second-order pole

Steps for plotting G(j):

Convert the transfer function to the following form:

, slope is -2 (-40 dB/decade) and passes through

(1) the breakpoint: = 1 and slope is zero

= 50 above the asymptote

Steps for plotting G:

phase starts from -180o due to

Steps for plotting the |G|:

= 0.2 and approaches -180o

> 5, the phase remains at -180o.

'Generated transfer function:'

'Generated transfer function:'

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Differentiation of both sides of equation (1) with respect to s gives:

Comparing with equation (1), we conclude that:

2-11) Let g(t) = then

Using Laplace transform and differentiation property, we have X(s) = sG(s)

2-12) By Laplace transform definition:

Now, consider  = t - T, then:

By Laplace transform definition:

By using time shifting theorem, we have:

Lets consider g(t) = g1(t) g2(t)

By inverse Laplace Transform definition, we have

When s , it can be written as:

By Laplace transform differentiation property:

===> L(f2)=1/s-L(f1) ===>

L2= 1/s - 8/s/(s^2+16)

'verified as L2 equals L3'

%section (e) requires assignment of T and a numerical loop calculation

%section (e) requires assignment of T and a numerical loop calculation

2tu s (t )  4(t  0.5)u s (t  0.5)  4(t  1)u s (t  1)  4(t  1.5)u s (t  1.5)  

gT ( t ) 2tu s ( t )  4( t  0.5)u s ( t  0.5)  2( t  1)u s ( t  1)

( t  1)u s ( t )  ( t  1)u s ( t  1)  2u s ( t  1)  ( t  2 )u s ( t  2)  ( t  3)u s ( t  3)  u s ( t  3)

>50  20e  (t 1)  30 cos 2(t  1)  5 sin 2(t  1) @ us (t  1)

>sin 1.323t  sin 1.323t  69.3o @

(f)Try using MATLAB

1.447 sin 1.323t  cos1.323t t t 0

>> denom=conv([1 0],conv(denom1,denom2))

>> [r, p, k] = residue(b,a)

The number of poles n is

In this case, p1 and k are zero. Hence,

wn=2pi10 %asuuming a value for wn

Now, consider = t - T, then:

2tu s (t ) 4(t 0.5)u s (t 0.5) 4(t 1)u s (t 1) 4(t 1.5)u s (t 1.5)

gT ( t ) 2tu s ( t ) 4( t 0.5)u s ( t 0.5) 2( t 1)u s ( t 1)

( t 1)u s ( t ) ( t 1)u s ( t 1) 2u s ( t 1) ( t 2 )u s ( t 2) ( t 3)u s ( t 3) u s ( t 3)

>50 20e (t 1) 30 cos 2(t 1) 5 sin 2(t 1) @ us (t 1)

>sin 1.323t sin 1.323t 69.3o @

1.447 sin 1.323t cos1.323t t t 0

0.4 0.9889e 3.618t 1.3820e 2.5889t 2e t

0.8688, 0.4344 j 2.3593, 0.4344 j 2.3593TwopolesinRHP.Unstable.

22.8487 r j 22.6376, 213487

Roots: 25.31, 0.1537 j 4.214, 0.1537 4.214

Roots: 24.6769, 0.1616 j1.4142, 0.1616 j1.4142

Roots: 0.0402, 12.48 j 9.6566, j 9.6566

(d) 2 s 10 s 5.5 s 5.5 s 10

0 Roots: 4.466, 1116

(e) s 6 2 s 5 8 s 4 15 s 3 20 s 2 16 s 16 0 Roots: 1.222 r j 0.8169, 0.0447 r j1153

Roots: 0.29, 1788

auxiliaryequationis A( s ) 14.2 s 11.36

Theconditionsforstabilityare:K>0,K>1,and 9 K 1 ! 0 .Since K isalwayspositive,the

s 4 17.4142 s 3 79.3137 s 2 166.6274 s 160

dy1 dy2 K1 y y B2 y y B2 dy2