SOLUTIONS TO

SKILL-ASSESSMENT EXERCISES

CHAPTER 2
2.1
1
The Laplace transform of t is 2 using Table 2.1, Item 3. Using Table 2.2, Item 4,
1 s
Fs .
s 52
2.2
Expanding Fs by partial fractions yields:
A B C D
Fs
s s 2 s 32 s 3
where,


10
5 10




A
B

5
s 2s 32
S!0 9 ss 32
S!
2



10

10 dFs


40
C
; and D s 32

ss 2
3 ds
9
S!
3 s!
3
Taking the inverse Laplace transform yields,
5 10 40
f t
5e
2t te
3t e
3t
9 3 9

2.3
Taking the Laplace transform of the differential equation assuming zero initial con-
ditions yields:
s3 Cs 3s2 Cs 7sCs 5Cs s2 Rs 4sRs 3Rs

1
2 Solutions to Skill-Assessment Exercises

Collecting terms,

s3 3s2 7s 5Cs s2 4s 3Rs

Thus,
Cs s2 4s 3
3
Rs s 3s2 7s 5

2.4

Cs 2s 1
Gs 2
Rs s 6s 2
Cross multiplying yields,
d2 c dc dr
6 2c 2 r
dt2 dt dt

2.5

1 s 1 A B C
Cs RsGs 
s2 s 4s 8 ss 4s 8 s s 4 s 8
where



1
1 1

1
A
B
; and


s 4s 8 S!0 32

ss 8 S!
4 16




1

C

ss 4

S!
8 1
32
Thus,
1 1 1
ct
e
4t e
8t
32 16 32

2.6
Mesh Analysis

Transforming the network yields,

s

1 V1(s) 1
I9(s)

V(s) + +
_
s s V2(s)
_
I1(s) I2(s)
 Chapter 2 Solutions to Skill-Assessment Exercises 3

Now, writing the mesh equations,

s 1I1 s
sI2 s
I3 s Vs

sI1 s 2s 1I2 s
I3 s 0

I1 s
I2 s s 2I3 s 0

Solving the mesh equations for I2(s),

s 1 Vs
1






s 0
1






1 0 s 2
s2 2s 1Vs
I2 s




s 1
s
1

ss2 5s 2


s 2s 1
1






1
1 s 2

But, VL s sI2 s
Hence,
s2 2s 1Vs
VL s
s2 5s 2
or
VL s s2 2s 1
2
Vs s 5s 2
Nodal Analysis
Writing the nodal equations,
 
1
2 V1 s
VL s Vs
s
 
2 1

V1 s 1 VL s Vs
s s
Solving for VL(s),

 


1


2 Vs


s





1



1 Vs
s2 2s 1Vs
VL s
  s


1
s2 5s 2

2
1


s


 



2


1 1



s
or
VL s s2 2s 1
2
Vs s 5s 2

2.7
Inverting
Z2 s
100000
Gs

s
Z1 s 105 =s
4 Solutions to Skill-Assessment Exercises

Noninverting
 
105
105
Z1 s Z2 s s
Gs  5 s1
Z1 s 10
s

2.8
Writing the equations of motion,
s2 3s 1X1 s
3s 1X2 s Fs

3s 1X1 s s2 4s 1X2 s 0
Solving for X2(s),




s2 3s 1 Fs









3s 1 0
3s 1Fs
X2 s




3 2

s 3s 1
3s 1
ss 7s 5s 1
2





3s 1 s2 4s 1

Hence,
X2 s 3s 1
3
Fs ss 7s2 5s 1
2.9
Writing the equations of motion,
s2 s 1u1 s
s 1u2 s Ts

s 1u1 s 2s 2u2 s 0
where u1 s is the angular displacement of the inertia.
Solving for u2 s,




s2 s 1 Ts









s 1 0
s 1Fs
u2 s




3 2

s s 1
s 1
2s 3s 2s 1
2





s 1 2s 2

From which, after simplification,

1
u2 s
2s2 s1
2.10
Transforming the network to one without gears by reflecting the 4 N-m/rad spring to the
left and multiplying by (25/50)2, we obtain,
T(t)
q1(t) 1 N-m-s/rad qa(t)
1 kg
1 N-m/rad
 Chapter 2 Solutions to Skill-Assessment Exercises 5

Writing the equations of motion,

s2 su1 s
sua s Ts

su1 s s 1ua s 0
where u1 s is the angular displacement of the 1-kg inertia.
Solving for ua s,




s2 s Ts






s 0
sTs
ua s

2


s s
s

s s2 s
3


s s 1

From which,
ua s 1

Ts s2 s 1
1
But, u2 s ua s:
Thus, 2
u2 s 1=2
2
Ts s s 1

2.11
First find the mechanical constants.
   
1 1 2 1
Jm Ja JL  1 400 2
5 4 400
   
1 1 2 1
Dm Da DL  5 800 7
5 4 400
Now find the electrical constants. From the torque-speed equation, set vm 0 to find
stall torque and set Tm 0 to find no-load speed. Hence,
Tstall 200
vno
load 25
which,
Kt Tstall 200
2
Ra Ea 100
Ea 100
Kb 4
vno
load 25
Substituting all values into the motor transfer function,
KT
um s 1
 a Jm
R   
Ea s 1 KT Kb 15
s s Dm s s
Jm Ra 2
where um s is the angular displacement of the armature.
1
Now uL s um s. Thus,
20
uL s 1=20
 
Ea s 15
s s
2
6 Solutions to Skill-Assessment Exercises

2.12
Letting
u1 s v1 s=s
u2 s v2 s=s
in Eqs. 2.127, we obtain
 
K K
J1 s D1 v1 s
v2 s Ts
s s
 
K K

v1 s J2 s D2 v2 s
s s
From these equations we can draw both series and parallel analogs by considering these
to be mesh or nodal equations, respectively.
J1 D1 J2

T(t) 1
+ D2
K
w1(t) w2(t)

Series analog
1
w1(t) K w2(t)

1 1
T(t) J1 J2
D1 D2

Parallel analog

2.13
Writing the nodal equation,
dv
C ir
2 it
dt
But,
C1
v vo dv
ir evr ev evo dv
Substituting these relationships into the differential equation,
dvo dv
evo dv
2 it (1)
dt
We now linearize ev.
The general form is


d f


f v
f vo  dv
dv
vo
 Chapter 3 Solutions to Skill-Assessment Exercises 7

Substituting the function, f v ev , with v vo dv yields,

vo dv vo dev


e
e  dv
dv
vo
Solving for evo dv,


vo dv vodev


e e dv evo evo dv
dv
vo
Substituting into Eq. (1)
ddv
evo evo dv
2 it (2)
dt
Setting it 0 and letting the circuit reach steady state, the capacitor acts like an open
circuit. Thus, vo vr with ir 2. But, ir evr or vr ln ir.
Hence, vo ln 2 0:693. Substituting this value of vo into Eq. (2) yields
ddv
2dv it
dt
Taking the Laplace transform,
s 2dvs Is
Solving for the transfer function, we obtain
dvs 1

Is s2
or
Vs 1
about equilibrium.
Is s 2
CHAPTER 3
3.1
Identifying appropriate variables on the circuit yields

C1 R

iC1 iR
+
v1(t) + C2 vo(t)
L

iL iC2

Writing the derivative relations

dvC1
C1 iC1
dt
diL
L vL (1)
dt
dvC2
C2 iC2
dt
8 Solutions to Skill-Assessment Exercises

Using Kirchhoffs current and voltage laws,

1
iC1 iL iR iL vL
vC2
R
vL
vC1 vi
1
iC2 iR vL
vC2
R
Substituting these relationships into Eqs. (1) and simplifying yields the state equations as
dvC1 1 1 1 1

vC1 iL
vC2 vi
dt RC1 C1 RC1 RC1
diL 1 1

vC1 vi
dt L L
dvC2 1 1 1

vC
vC vi
dt RC2 1 RC2 2 RC2
where the output equation is
vo vC2
Putting the equations in vector-matrix form,
2 3 2 3
1 1 1 1
6
RC1 C1
RC1 7 6 RC1 7
6 7 6 7
6 7 6 7
6 1 7 6 1 7
x_ 6
0 0 7x 6 7vi t
6 L 7 6 L 7
6 7 6 7
4 1 1 5 4 1 5

0

RC2 RC2 RC2
y 0 0 1 x

3.2
Writing the equations of motion
s2 s 1X1 s
sX2 s Fs
2

sX1 s s s 1X2 s
X3 s 0
2

X2 s s s 1X3 s 0
Taking the inverse Laplace transform and simplifying,
x1
_x1
x1 x_ 2 f
x2 x_ 1
x_ 2
x2 x3
x3
_x3
x3 x2
Defining state variables, zi,
z1 x1 ; z2 x_ 1 ; z3 x2 ; z4 x_ 2 ; z5 x3 ; z6 x_ 3
Writing the state equations using the definition of the state variables and the inverse
transform of the differential equation,

z_ 1 z2
z_ 2 x1
_x1
x1 x_ 2 f
z2
z1 z4 f
z_ 3 x_ 2 z4
z_ 4 x2 x_ 1
x_ 2
x2 x3 z2
z4
z3 z5
z_ 5 x_ 3 z6
z_ 6 x3
_x3
x3 x2
z6
z5 z3
 Chapter 3 Solutions to Skill-Assessment Exercises 9

The output is z5. Hence, y z5 . In vector-matrix form,

2 3 2 3
0 1 0 0 0 0 0
6
1
1 0 1 0 0 7 617
6 7 6 7
6 0 0 0 1 0 0 7 607
6
z_ 6 7 6 7
0 1
1
1 1 0 7z 6 0 7 f t; y 0 0 0 0 1 0 z
6 7 6 7
4 0 0 0 0 0 1 5 405
0 0 1 0
1
1 0

3.3
First derive the state equations for the transfer function without zeros.
Xs 1
2
Rs s 7s 9
Cross multiplying yields
s2 7s 9Xs Rs
Taking the inverse Laplace transform assuming zero initial conditions, we get
x 7_x 9x r
Defining the state variables as,
x1 x
x2 x_
Hence,
x_ 1 x2
x_ 2 x
7_x
9x r
9x1
7x2 r
Using the zeros of the transfer function, we find the output equation to be,
c 2_x x x1 2x2
Putting all equation in vector-matrix form yields,
   
0 1 0
x_ x r

9
7 1
c 1 2 x

3.4
The state equation is converted to a transfer function using
Gs CsI
A
1 B 1
where
   

4
1:5 2
A ;B ; and C 1:5 0:625 :
4 0 0

Evaluating sI
A yields
 
s4 1:5
sI
A

4 s
10 Solutions to Skill-Assessment Exercises

Taking the inverse we obtain

 

1 1 s
1:5
sI
A 2
s 4s 6 4 s4
Substituting all expressions into Eq. (1) yields
3s 5
Gs
s2 4s 6

3.5
Writing the differential equation we obtain
d2 x
2x2 10 df t (1)
dt2
Letting x xo dx and substituting into Eq. (1) yields
d 2 xo dx
2xo dx2 10 df t (2)
dt2
Now, linearize x2.


2 dx2


xo dx
x2o dx 2xo dx
dx
xo
from which
xo dx2 x2o 2xo dx (3)
Substituting Eq. (3) into Eq. (1) and performing the indicated differentiation gives us the
linearized intermediate differential equation,
d 2 dx
4xo dx
2x2o 10 df t (4)
dt2
The force of the spring at equilibrium is 10 N. Thus, since F 2x2 ; 10 2x2o from
which
p
xo 5
Substituting this value of xo into Eq. (4) gives us the final linearized differential
equation.
d 2 dx p
4 5 dx df t
dt2
Selecting the state variables,
x1 dx
x2 d_ x
Writing the state and output equations
x_ 1 x2
p
x_ 2 d x
4 5x1 df t
y x1
 Chapter 4 Solutions to Skill-Assessment Exercises 11

Converting to vector-matrix form yields the final result as

   
0p 1 0
x_ x df t

4 5 0 1
y 1 0 x

CHAPTER 4
4.1
For a step input
10s 4s 6 A B C D E
Cs
ss 1s 7s 8s 10 s s 1 s 7 s 8 s 10
Taking the inverse Laplace transform,
ct A Be
t Ce
7t De
8t Ee
10t

4.2
1 1 4 4 2:2 2:2
Since a 50; Tc 0:02 s; Ts 0:08 s; and Tr
0:044 s. a 50 a 50 a 50

4.3

a. Since poles are at
6  j19:08; ct A Be
6t cos19:08t f.

b. Since poles are at
78:54 and
11:46; ct A Be
78:54t Ce
11:4t .
c. Since poles are double on the real axis at
15 ct A Be
15t Cte
15t :
d. Since poles are at j25; ct A B cos25t f.

4.4
p
a. vn 400 20 and 2zvn 12; ; z 0:3 and system is underdamped .
p
b. vn 900 30 and 2zvn 90; ; z 1:5 and system is overdamped .
p
c. vn 225 15 and 2zvn 30; ; z 1 and system is critically damped .
p
d. vn 625 25 and 2zvn 0; ; z 0 and system is undamped .

4.5
p
vn 361 19 and 2zvn 16; ; z 0:421:

4 p
Now, T s 0:5 s and T p p 0:182 s.
zvn vn 1
z2
From Figure 4.16, vn T r 1:4998. Therefore, Tr 0:079 s.

p
zp
Finally, %os e 1
z2  100 23:3%
12 Solutions to Skill-Assessment Exercises

4.6

a. The second-order approximation is valid, since the dominant poles have a real part of

2 and the higher-order pole is at
15, i.e. more than five-times further.
b. The second-order approximation is not valid, since the dominant poles have a real
part of
1 and the higher-order pole is at
4, i.e. not more than five-times further.
4.7
1 0:8942 1:5918 0:3023
a. ExpandingG(s) by partial fractions yields Gs

.
s s 20 s 10 s 6:5
But
0:3023 is not an order of magnitude less than residues of second-order
terms (term 2 and 3). Therefore, a second-order approximation is not valid.
1 0:9782 1:9078 0:0704
b. Expanding G(s) by partial fractions yields Gs

.
s s 20 s 10 s 6:5
But 0.0704 is an order of magnitude less than residues of second-order terms
(term 2 and 3). Therefore, a second-order approximation is valid.
4.8
See Figure 4.31 in the textbook for the Simulink block diagram and the output
responses.

4.9    
s
2
1 1 s5 2
a. Since sI
A ; sI
A 2 : Also,
 3 s 5 s 5s 6
3 s
0
BUs .
1=s 1

The state vector is Xs sI
A
1 x0 BUs 1 

s 1s 2s 3
 2 
2s 7s 7
. The output is Ys 1 3 Xs 5s2 2s
4
2 s 1s 2s 3
s
4s
6
0:5 12 17:5


. Taking the inverse Laplace transform yields yt
s1 s2 s3

0:5e
t
12e
2t 17:5e
3t .
b. The eigenvalues are given by the roots of jsI
Aj s2 5s 6, or
2 and
3.
4.10    
s
2 1 s5 2
a. Since sI
A ; sI
A
1 2 . Taking the
2 s5 s 5s 4
2 s
Laplace transform of each term, the state transition matrix is given by
2 3
4
t 1
4t 2
t 2
4t
63e
3e 3
e
e
3 7
Ft 6
4 2
7:
5
2 1 4

e
t e
4t
e
t e
4t
3 3 3 3
2 3
4
t
t 1
4t
t 2
t
t 2
4t
t
63 e
e e
e 7
3 3 3
b. Since Ft
t 6
4 2
7 and

t
t 2
4t
t 1
t
t 4
4t
t 5

e e
e e
3 3 3 3
 Chapter 5 Solutions to Skill-Assessment Exercises 13
2 3
2
t
t 2 2t
4t
 
0 63e e
3e e 7
But
2t ; Ft
tBut 6
4
7:
e 1
t
t 4 2t
4t 5

e e e e
3 3
Zt

Thus, xt Ftx0 Ft
t
0 2 10 4 3
e
t
e
2t
e
4t
6 3 3 7
BUtdt 6
4
7:
5
5 8

e
t e
2t e
4t
3 3

c. yt 2 1 x 5e
t
e
2t

CHAPTER 5
5.1
1
Combine the parallel blocks in the forward path. Then, push to the left past the pickoff
point. s

R(s) +
1 1 C(s)
s2 +
s s

Combine the parallel feedback paths and get 2s. Then, apply the feedback formula,
s3 1
simplify, and get, Ts 4 .
2s s2 2s

5.2
Gs 16
Find the closed-loop transfer function, Ts 2 , where
1 GsHs s as 16
16 a
and Gs and Hs 1. Thus, vn 4 and 2zvn a, from which z .
ss a   8
%

ln
100 a
But, for 5% overshoot, z s
  0:69. Since, z 8; a 5:52.
%
p2 ln2
100
14 Solutions to Skill-Assessment Exercises

5.3
Label nodes.

R(s) + + 1 C(s)
s s
N1 (s) N2 (s) N3 (s) N4 (s) s
+

1
N5 (s) s N6 (s)

s
N7 (s)

Draw nodes.
R(s) N1(s) N2(s) N3(s) N4(s) C (s)

N5(s) N6(s)

N7(s)

Connect nodes and label subsystems.

1

R(s) 1 N1 (s) N2 (s) N3 (s) 1

s s N4 (s) s C(s)
1

1 1
N5 (s) 1 N6 (s)
1 s

N7 (s) s

Eliminate unnecessary nodes.

1

R(s) 1
1 s s s C(s)

1
s

s
 Chapter 5 Solutions to Skill-Assessment Exercises 15

5.4
Forward-path gains are G1G2G3 and G1G3.
Loop gains are
G1 G2 H1 ;
G2 H2 ; and
G3 H3 .
Nontouching loops are
G1 G2 H1 
G3 H3  G1 G2 G3 H1 H3 and

G2 H2 
G3 H3  G2 G3 H2 H3 .
Also, D 1 G1 G2 H1 G2 H2 G3 H3 G1 G2 G3 H1 H3 G2 G3 H2 H3 :
Finally, D1 1 and D2 1.
T k Dk
Cs
Substituting these values into Ts k yields
Rs D
G1 sG3 s1 G2 s
Ts
1 G2 sH2 s G1 sG2 sH1 s1 G3 sH3 s

5.5
The state equations are,
x_ 1
2x1 x2
x_ 2
3x2 x3
x_ 3
3x1
4x2
5x3 r
y x2
Drawing the signal-flow diagram from the state equations yields
1

1 1 1
r 1 s x3 1 s x2 1 s x1 y

5 3 2

5.6
100s 5
From Gs we draw the signal-flow graph in controller canonical form
s2 5s 6
and add the feedback.
100

1 1 1
r s x1 s x2 500
y
5
6

1
16 Solutions to Skill-Assessment Exercises

Writing the state equations from the signal-flow diagram, we obtain

   

105
506 1
x x r
1 0 0
y 100 500 x

5.7
From the transformation equations,
 
3
2
P
1
1
4
Taking the inverse,
 
0:4
0:2
P
0:1
0:3
Now,
     
3
2 1 3 0:4
0:2 6:5
8:5
P
1 AP
1
4
4
6 0:1
0:3 9:5
11:5
    
3
2 1
3
P
1 B
1
4 3
11
 
0:4
0:2
CP 1 4  0:8
1:4 
0:1
0:3
Therefore,
   
6:5
8:5
3
z_ z u
9:5
11:5
11
y 0:8
1:4 z

5.8
First find the eigenvalues.

   




l 0 1 3



l
1
3


jlI
Aj


l2 5l 6
0 l
4
6

4 l 6

From which the eigenvalues are
2 and
3.
Now use Axi lxi for each eigenvalue, l.
Thus,
    
1 3 x1 x
l 1

4
6 x2 x2
For l
2,
3x1 3x2 0

4x1
4x2 0
Thus x1
x2
For l
3
4x1 3x2 0

4x1
3x2 0
 Chapter 6 Solutions to Skill-Assessment Exercises 17

Thus x1
x2 and x1
0:75x2 ; from which we let

 
0:707
0:6
P

0:707 0:8
Taking the inverse yields
 

1 5:6577 4:2433
P
5 5
Hence,
     

1 5:6577 4:2433 1 3 0:707
0:6
2 0
D P AP
5 5
4
6
0:707 0:8 0
3
    
5:6577 4:2433 1 18:39
P
1 B
5 5 3 20
 
0:707
0:6
CP 1 4 
2:121 2:6 

0:707 0:8

Finally,
   

2 0 18:39
z_ z u
0
3 20
y
2:121 2:6 z

CHAPTER 6
6.1
Make a Routh table.

s7 3 6 7 2
s6 9 4 8 6
s5 4.666666667 4.333333333 0 0
s4
4.35714286 8 6 0
s3 12.90163934 6.426229508 0 0
s2 10.17026684 6 0 0
s1
1.18515742 0 0 0
s0 6 0 0 0

Since there are four sign changes and no complete row of zeros, there are four right half-
plane poles and three left half-plane poles.

6.2
Make a Routh table. We encounter a row of zeros on the s3 row. The even polynomial is
contained in the previous row as
6s4 0s2 6. Taking the derivative yields
18 Solutions to Skill-Assessment Exercises

24s3 0s. Replacing the row of zeros with the coefficients of the derivative yields the s3
row. We also encounter a zero in the rst column at the s2 row. We replace the zero
with e and continue the table. The nal result is shown now as

s6 1
6
1 6
s5 1 0
1 0
s4 6 0 6 0
s3
24 0 0 0 ROZ
s2 e 6 0 0
s1 144=e 0 0 0
s0 6 0 0 0

There is one sign change below the even polynomial. Thus the even polynomial
(4th order) has one right half-plane pole, one left half-plane pole, and 2 imaginary
axis poles. From the top of the table down to the even polynomial yields one sign
change. Thus, the rest of the polynomial has one right half-plane root, and one left
half-plane root. The total for the system is two right half-plane poles, two left half-
plane poles, and 2 imaginary poles.

6.3
Ks 20 Gs Ks 20
Since Gs ; Ts 3 2
ss 2s 3 1 Gs s 5s 6 Ks 20K
Form the Routh table.
s3 1 6 K
s2 5 20K
s1 30
15K
5
s0 20K

From the s1 row, K < 2. From the s0 row, K > 0. Thus, for stability, 0 < K < 2.

6.4
First find

2 3 2 3




s 0 0 2 1 1



s
2
1
1




jsI
Aj

4 0 s 05
4 1 7 1 5




1 s
7
1



0 0 s
3 4
5

3
4 s 5

s3
4s2
33s 51

Now form the Routh table.

s3 1
33
s2
4 51
S1
20:25
S0 51

There are two sign changes. Thus, there are two rhp poles and one lhp pole.
 Chapter 7 Solutions to Skill-Assessment Exercises 19

CHAPTER 7
7.1
a. First check stability.

Gs 10s2 500s 6000 10s 30s 20

Ts 3 2

1 Gs s 70s 1375s 6000 s 26:03s 37:89s 6:085
Poles are in the lhp. Therefore, the system is stable. Stability also could be checked via
Routh-Hurwitz using the denominator of T(s). Thus,
15 15
15ut : estep 1 0
1 lim Gs 1 1
s!0
15 15
15tut : eramp 1   2:1875
lim sGs 10 20 30
s!0
25 35
15 30 30
15t2 ut : e parabola 1 2
1; since L15t2  3
lim s Gs 0 s
s!0

b. First check stability.

Gs 10s2 500s 6000
Ts 5
1 Gs s 110s4 3875s3 4:37e04s2 500s 6000
10s 30s 20

s 50:01s 35s 25s2
7:189e
04s 0:1372
From the second-order term in the denominator, we see that the system is unstable.
Instability could also be determined using the Routh-Hurwitz criteria on the denomi-
nator of T(s). Since the system is unstable, calculations about steady-state error
cannot be made.

7.2
a. The system is stable, since

Gs 1000s 8 1000s 8
Ts 2
1 Gs s 9s 7 1000s 8 s 1016s 8063
and is of Type 0. Therefore,
1000 8
K p lim Gs 127; Kv lim sGs 0;
s!0 7 9 s!0

and Ka lim s2 Gs 0
s!0
b.
1 1
estep 1 7:8e
03
1 lim Gs 1 127
s!0
20 Solutions to Skill-Assessment Exercises

1 1
eramp 1 1
lim sGs 0
s!0
1 1
e parabola 1 2
1
lim s Gs 0
s!0

7.3
System is stable for positive K. System is Type 0. Therefore, for a step input
1 12K
estep 1 0:1. Solving for Kp yields K p 9 lim Gs  ; from
1 Kp s!0 14 18
which we obtain K 189.

7.4
s 2
System is stable. Since G1 s 1000, and G2 s ,
s 4

1 1
eD 1

9:98e
04
1 2 1000
lim lim G1 s
s!0 G2 s s!0

7.5
1
s
System is stable. Create a unity-feedback system, where He s
1 :
The system is as follows: s1 s1

R(s) + Ea(s) C(s)

100
s+4

s
s+1

Thus,
100
Gs s 4 100s 1
Ge s 2
1 GSHe s 100s S
95s 4
1

s 1s 4
Hence, the system is Type 0. Evaluating Kp yields
100
Kp 25
4
The steady-state error is given by
1 1
estep 1 3:846e
02
1 K p 1 25
 Chapter 8 Solutions to Skill-Assessment Exercises 21

7.6
Ks 7 1 1 10
Since Gs ; e1 :
s2 2s 10 1 Kp 7K 10 7K
1
10
Calculating the sensitivity, we get

K @e K
107 7K
Se:K   2


e @K 10 10 7K 10 7K
10 7K

7.7
Given
   
0 1 0 1
A ;B ; C 1 1 ; Rs :

3
6 1 s

Using the final value theorem,

"  
1  #

1 s
1 0
estep 1 lim sRs1
CsI
A B lim 1
1 1
s!0 s!0 3 s6 1
2 " 3 #
s6 1
6 " #7
6
3s s 0 7 2
lim 61
1 1  7 lim s 5s 2 2
s!064 s2 6s 3 1 7 2
5 s!0 s 6s 3 3

Using input substitution,

 
1  

1 0 1 0
step 1 1 CA B 1
1 1 

3
6 1
 

6
1 2 3
  1
3 0 0
2
1 1 1 1 1 1 4 3 5
3 1 3
0

CHAPTER 8
8.1
a.

7 j9 2
7 j9 40:0339
5 j9
3 j9

F
7 j9

7 j9
7 j9 3
7 j9 6
7 j9
4 j9
1 j9

66
j72

0:0339
j0:0899 0:096 <
110:7
944
j378
22 Solutions to Skill-Assessment Exercises

b. The arrangement of vectors is shown as follows:

jw

(7+j9)

s-plane

M1 M2 M3 M4 M5

X X X s
7 6 5 4 3 2 1 0

From the diagram,

M2 M4
3 j9
5 j9
66
j72

F
7 j9
M1 M3 M5
1 j9
4 j9
7 j9 944
j378

0:0339
j0:0899 0:096 <;
110:7
8.2
a. First draw the vectors.
jw

X
j3

j2

s-plane

j1

s
3 2 1 0

j1

j2

X j3
 Chapter 8 Solutions to Skill-Assessment Exercises 23

From the diagram,

   

3
3
angles 180
tan
1
tan
1 180
108:43 108:43 180 :

1 1

b. Since the angle is 1808, the point is on the root locus.

p p
P pole lengths 12 32 12 32
c. K 10
P zero lengths 1
8.3
First, find the asymptotes.

poles
zeros
2
4
6
0
sa
4
#poles
#zeros 3
0
2k 1p p 5p
ua ; p;
3 3 3
Next draw root locus following the rules for sketching.
5

1
Imag Axis

5
8 7 6 5 4 3 2 1 0 1 2 3
Real Axis

8.4
a. jw

j3 X
s-plane

O s
2 0 2

X
j3
24 Solutions to Skill-Assessment Exercises

b. Using the Routh-Hurwitz criteria, we first find the closed-loop transfer function.
Gs Ks 2
Ts 2
1 Gs s K
4s 2K 13

Using the denominator of Ts, make a Routh table.

s2 1 2K 13
s1 K
40 0
s0 2K 13 0

We get a row of zeros for K 4. From the s2 row p 2

K 4; s 21 0. From
with
which we evaluate the imaginary axis crossing at 21.
c. From part (b), K 4.
d. Searching for the minimum gain to the left of
2 on the real axis yields
7 at a gain of
18. Thus the break-in point is at
7.
e. First, draw vectors to a point e close to the complex pole.

jw
s-plane

j3 X

s
2 0 2

j3 X

At the point e close to the complex pole, the angles must add up to zero. Hence, angle
angle from pole in 4th quadrant angle from pole in 1st quadrant 180 ,
from zero 
3
or tan
1
90
u 180. Solving for the angle of departure, u
233:1.
4
 Chapter 8 Solutions to Skill-Assessment Exercises 25

8.5
a.
z = 0.5 jw

X j4
s-plane

o o s
3 0 2 4

X j4

b. Search along the imaginary axis and find the 1808 point at s  j4:06.
c. For the result in part (b), K 1.
d. Searching between 2 and 4 on the real axis for the minimum gain yields the break-in
at s 2:89.
e. Searching along z 0:5 for the 1808 point we find s
2:42 j4:18.
f. For the result in part (e), K 0:108.
g. Using the result from part (c) and the root locus, K < 1.

8.6
a.
jw
z = 0.591

s-plane

X X X s
6 4 2 0
26 Solutions to Skill-Assessment Exercises

b. Searching along the z 0:591 (10% overshoot) line for the 1808 point yields

2:028 j2:768 with K 45:55.
4 4 p p
c. Ts 1:97 s; T p 1:13 s; vn Tr 1:8346 from the
jRej 2:028 jImj 2:768
rise-time chart and graph in Chapter 4. Since vn is the radial distance to the pole,
p
vn 2:0282 2:7682 3:431. Thus, Tr 0:53 s; since the system is Type 0,
K 45:55
Kp   0:949. Thus,
2 4 6 48
1
estep 1 0:51:
1 Kp

d. Searching the real axis to the left of
6 for the point whose gain is 45.55, we find

7:94. Comparing this value to the real part of the dominant pole,
2:028, we find
that it is not five times further. The second-order approximation is not valid.

8.7
Find the closed-loop transfer function and put it the form that yields pi as the root locus
variable. Thus,

100
Gs 100 100 2
Ts s 100
1 Gs s2 pi s 100 s2 100 pi s 1 pi s
s2 100
pi s
Hence, KGsHs 2 . The following shows the root locus.
s 100
jw

s-plane
X j10

O s
0

X j10

8.8
Following the rules for plotting the root locus of positive-feedback systems, we obtain
the following root locus:
 Chapter 9 Solutions to Skill-Assessment Exercises 27
jw

s-plane

o X X X s
4 3 2 1 0

8.9
Ks 1
The closed-loop transfer function is Ts 2 . Differentiating the
denominator with respect to K yields s K 2s K

@s @s @s
2s K 2 s 1 2s K 2 s 1 0
@K @K @K
@s @s
s 1 K @s
Ks 1
Solving for , we get . Thus, Ss:K :
@K @K 2s K 2 s @K s2s K 2

10s 1
Substituting K 20 yields Ss:K .
ss 11
Now find the closed-loop poles when K 20. From the denominator of Ts; s1;2

21:05;
0:95, when K 20.
For the pole at
21:05,
 
DK
10
21:05 1
Ds sSs:K
21:05 0:05
0:9975:
K
21:05
21:05 11

For the pole at
0:95,

 
DK
10
0:95 1
Ds sSs:K 0:95 0:05
0:0025:
K
0:95
0:95 11

CHAPTER 9
9.1
a. Searching along the 15% overshoot line, we find the point on the root locus at
3:5
j5:8 at a gain of K 45:84. Thus, for the uncompensated system,
Kv lim sGs K=7 45:84=7 6:55.
s!0
Hence, eramp uncompensated 1 1=Kv 0:1527.
b. Compensator zero should be 20x further to the left than the compensator pole.
s 0:2
Arbitrarily select Gc s .
s 0:01
c. Insert compensator and search along the 15% overshoot line and find the root locus at

3:4 j5:63 with a gain, K 44:64. Thus, for the compensated system,
28 Solutions to Skill-Assessment Exercises

44:640:2 1
Kv 127:5 and eramp compensated 1 0:0078.
70:01 Kv
eramp uncompensated 0:1527
d. 19:58
eramp compensated 0:0078

9.2

a. Searching along the 15% overshoot line, we find the point on the root locus at
3:5
j5:8 at a gain of K 45:84. Thus, for the uncompensated system,
4 4
Ts 1:143 s:
jRej 3:5
b. The real part of the design point must be three times larger than the uncompensated
poles real part. Thus the design point is 3
3:5 j 35:8
10:5 j 17:4. The
angular contribution of the plants poles and compensator zero at the design point
is 130:8 . Thus, the compensator pole must contribute 180
130:8 49:2 .
Using the following diagram,
jw

j17.4
s-plane

49.2
s
pc 10.5

17:4
we find tan 49:2 , from which, pc 25:52. Adding this pole, we find
pc
10:5
the gain at the design point to be K 476:3. A higher- order closed-loop pole is
found to be at
11:54. This pole may not be close enough to the closed-loop zero at

10. Thus, we should simulate the system to be sure the design requirements have
been met.

9.3

a. Searching along the 20% overshoot line, we find the point on the root locus at
3:5
6:83 at a gain of K 58:9. Thus, for the uncompensated system,
4 4
Ts 1:143 s:
jRej 3:5

b. For the uncompensated system, Kv lim sGs K=7 58:9=7 8:41. Hence,
s!0
eramp uncompensated 1 1=Kv 0:1189.
c. In order to decrease the settling time by a factor of 2, the design point is twice the
uncompensated value, or
7 j 13:66. Adding the angles from the plants poles and
the compensators zero at
3 to the design point, we obtain
100:8 . Thus, the
compensator pole must contribute 180
100:8 79:2 . Using the following
 Chapter 9 Solutions to Skill-Assessment Exercises 29

diagram,
jw

j13.66

s-plane

79.2
s
pc 7

13:66
we find tan79:2 , from which, pc 9:61. Adding this pole, we find the gain
pc
7
at the design point to be K 204:9.
Evaluating Kv for the lead-compensated system:

Kv lim sGsGlead K3=79:61 204:93=79:61 9:138:

s!0
Kv for the uncompensated system was 8.41. For a 10x improvement in steady-
state error, Kv must be 8:4110 84:1. Since lead compensation gave us
Kv 9:138, we need an improvement of 84:1=9:138 9:2. Thus, the lag com-
pensator zero should be 9.2x further to the left than the compensator pole.
s 0:092
Arbitrarily select Gc s .
s 0:01
Using all plant and compensator poles, we nd the gain at the design point to
be K 205:4. Summarizing the forward path with plant, compensator, and gain
yields
205:4s 3s 0:092
Ge s :
ss 79:61s 0:01

Higher-order poles are found at
0:928 and
2:6. It would be advisable to simulate
the system to see if there is indeed pole-zero cancellation.

9.4
The configuration for the system is shown in the
figure below.

R(s) + + 1 C(s)
K
s(s+ 7)(s +10)

Kf s
30 Solutions to Skill-Assessment Exercises

Minor-Loop Design:
Kf
For the minor loop, GsHs . Using the following diagram, we find
s 7s 10
that the minor-loop root locus intersects the 0.7 damping ratio line at
8:5 j 8:67. The
Im
imaginary part was found as follows: u cos
1 z 45:57 . Hence, tan 45:57 ,
8:5
from which Im 8:67.
jw
z = 0.7
(-8.5 + j8.67)

Im
s-plane

q
X X s
10 8.5 7

The gain, Kf, is found from the vector lengths as

pp
K f 1:52 8:672 1:52 8:672 77:42

Major-Loop Design:
Using the closed-loop poles of the minor loop, we have an equivalent forward-path
transfer function of

K K
Ge s 2 :
ss 8:5 j8:67s 8:5
j8:67 ss 17s 147:4

Using the three poles of Ge(s) as open-loop poles to plot a root locus, we search along
z 0:5 and nd that the root locus intersects this damping ratio line at
4:34
j7:51 at a gain, K 626:3.

9.5

a. An active PID controller must be used. We use the circuit shown in the following
figure:
Z2(s)

I2(s)
Z1(s)
Vi (s) V1(s)
Vo(s)
Ia(s)
I1(s) +

where the impedances are shown below as follows:

 Chapter 9 Solutions to Skill-Assessment Exercises 31
C1
R2 C2

R1

Z1(s) Z2(s)

Matching the given transfer function with the transfer function of the PID controller
yields
s 0:1s 5 s2 5:1s 0:5 0:5
Gc s s 5:1
s s 8
"  1 #
R 2 C1 R C

R2 C1 s 1 2
R 1 C2 s

Equating coefficients
1
0:5 (1)
R1 C2

R2 C1 1 (2)
 
R2 C1
5:1 (3)
R1 C2
In Eq. (2) we arbitrarily let C1 10
5 . Thus, R2 105 . Using these values along with
Eqs. (1) and (3) we find C2 100 mF and R1 20 kV.
b. The lag-lead compensator can be implemented with the following passive network,
since the ratio of the lead pole-to-zero is the inverse of the ratio of the lag pole-to-
zero:

R1

+ +
R2
C1
vi (t) vo (t)

C2

Matching the given transfer function with the transfer function of the passive lag-lead
compensator yields
s 0:1s 2 s 0:1s 2
Gc s 2
s 0:01s 20 s 20:01s 0:2
  
1 1
s s
R1 C1 R2 C2
 
1 1 1 1
s2 s
R1 C1 R2 C2 R2 C1 R1 R2 C1 C2
32 Solutions to Skill-Assessment Exercises

Equating coefficients
1
0:1 (1)
R1 C1

1
0:1 (2)
R2 C2
 
1 1 1
20:01 (3)
R1 C1 R2 C2 R2 C1

Substituting Eqs. (1) and (2) in Eq. (3) yields

1
17:91 (4)
R 2 C1
Arbitrarily letting C1 100 mF in Eq. (1) yields R1 100 kV.
Substituting C1 100 mF into Eq. (4) yields R2 558 kV.
Substituting R2 558 kV into Eq. (2) yields C2 900 mF.

CHAPTER 10
10.1
a.
1 1
Gs
; G jv 2
s 2s 4 8 v j6v
q
Mv 8
v2 2 6v2
 
p
1 6v
For v < 8, fv
tan :
8
v2
  
p
1 6v
For v < 8, fv
p tan :
8
v2
b.
Bode Diagrams
0
20
40
Phase (deg); Magnitude (dB)

60
80
100
0
50
100

150
200
101 100 101 102
Frequency (rad/sec)
 Chapter 10 Solutions to Skill-Assessment Exercises 33

c.
Nyquist Diagrams

0.08

0.06

0.04

0.02
Imaginary Axis

0.02

0.04

0.06

0.08

0.05 0 0.05 0.1 0.15 0.2

Real Axis

10.2

Asymptotic

20 dB/dec
40 40 dB/dec
Actual 20 dB/dec
60
20 log M

80 40 dB/dec

100

120
0.1 1 10 100 1000
Frequency (rad/s)

45o/dec
50 90o/dec
Phase (degrees)

45o/dec
100 90o/dec
45o/dec Actual
150
45o/dec
Asymptotic
200
0.1 1 10 100 1000
Frequency (rad/s)
34 Solutions to Skill-Assessment Exercises

10.3
The frequency response is 1/8 at an angle of zero degrees at v 0. Each pole rotates 90
in going from v 0 to v 1. Thus, the resultant rotates
180 while its magnitude
goes to zero. The result is shown below.
Im

w= w=0
Re
0 1
8

10.4
a. The frequency response is 1/48 at an angle of zero degrees at v 0. Each pole rotates
90 in going from v 0 to v 1. Thus, the resultant rotates
270 while its
magnitude goes to zero. The result is shown below.
Im

w = 6.63 w =
w=0 Re
0 1
1 48
480

1 1
b. Substituting jv into Gs 3 2
and
s 2s 4s 6 s 12s 44s 48
48
12v2
j44v
v3
simplifying, we obtain G jv 6 . The Nyquist diagram
v 56v4 784v2 2304
crosses the real axis when the imaginary part of Gpjv is zero. Thus, the Nyquist
diagram crosses the real axis at v2 44; or v 44 6:63 rad=s. At this fre-
1
quency G jv
. Thus, the system is stable for K < 480.
480
 Chapter 10 Solutions to Skill-Assessment Exercises 35

10.5
If K 100, the Nyquist diagram will intersect the real axis at
100=480. Thus,
480
GM 20 log 13:62 dB. From Skill-Assessment Exercise Solution 10.4, the 180
100
frequency is 6.63 rad/s.

10.6
a.
60

80

100
20 log M

120

140

160

180
1 10 100 1000
Frequency (rad/s)

50
Phase (degrees)

100

150

200

250

300
1 10 100 1000

Frequency (rad/s)

b. The phase angle is 180 at a frequency of 36.74 rad/s. At this frequency the gain is

99:67 dB. Therefore, 20 logK 99:67, or K 96; 270. We conclude that the
system is stable for K < 96; 270.
c. For K 10; 000, the magnitude plot is moved up 20log10; 000 80 dB. Therefore,
the gain margin is 99:67
80 19:67 dB. The 180 frequency is 36.7 rad/s. The
gain curve crosses 0 dB at v 7:74 rad=s, where the phase is 87:1 . We calculate the
phase margin to be 180
87:1 92:9 .

10.7

ln%=100
Using z q, we find z 0:456, which corresponds to 20% over-
p2 ln2 %100
q
p
4
shoot. Using Ts 2; vBW 1
2z2 4z4
4z2 2 5:79 rad=s.
Ts z
36 Solutions to Skill-Assessment Exercises

10.8
160 6750000
101250v2 j1350v2
1350v
For both parts find that G jv  .
27 v6 2925v4 1072500v2 25000000
For a range of values for v, superimpose G jv on the a. M and N circles, and on the
b. Nichols chart.
a.
Im

G-plane

= 20
2 M = 1.3
M = 1.0 25
30
1.4
40 M = 0.7
1.5
50
1 1.6
1.8 70 0.6
2.0 0.5
0.4

Re

70
1
50
40
30
25
2
20

4 3 2 1 1 2

b.
Nichols Charts
0 dB
0.25 dB
0.5 dB
1 dB 1 dB
3 dB 3 dB
0 6 dB 6 dB
12 dB
20 dB
40 dB
Open-Loop Gain (dB)

50
60 dB
80 dB
100 100 dB
120 dB
140 dB
150
160 dB
180 dB
200 200 dB
220 dB
240 dB
350 300 250 200 150 100 50 0
Open-Loop Phase (deg)
 Chapter 10 Solutions to Skill-Assessment Exercises 37

Plotting the closed-loop frequency response from a. or b. yields the following plot:
0

20

40
20 log M

60

80

100

120
1 10 100 1000
Frequency (rad/s)

50

100
Phase (degrees)

150

200

250

300
1 10 100 1000

Frequency (rad/s)

10.9
The open-loop frequency response is shown in the following figure:
Bode Diagrams

40

20

0
Phase (deg); Magnitude (dB)

20

40

100

120

140

160

101 100 101 102

Frequency (rad/sec)
38 Solutions to Skill-Assessment Exercises

The open-loop frequency response is
7 at v 14:5 rad=s. Thus, the estimated

bandwidth is vWB 14:5 rad=s. The open-loop frequency response plot goes through
zero dB at a frequency of 9.4 rad/s, where the phase is 151:98 . Hence, the phase margin
is 180
151:98 28:02 . This phase margin corresponds to
 p2 
z 0:25: Therefore; %OS e
zp= 1
z
x100 44:4%;
q
p
4
Ts 1
2z2 4z4
4z2 2 1:64 s and
vBW z
q
p
p
Tp p 1
2z 4z4
4z2 2 0:33 s
2
vBW 1
z2

10.10
The initial slope is 40 dB/dec. Therefore, the system is Type 2. The initial slope
intersects 0 dB at v 9:5 rad=s. Thus, K a 9:52 90:25 and K p Kv 1.

10.11
10 10
a. Without delay, G jv , from which the zero dB fre-
jv jv 1 v
v j
10 p
quency is found as follows: M p 1. Solving for v; v v2 1 10, or
v v 12

after squaring both sides and rearranging, v4 v2
100 0. Solving for the roots,
v2
10:51; 9:51. Taking the square root of the positive root, we find the 0 dB
frequency to be 3.08 rad/s. At this frequency, the phase angle, f

v j


3:08 j
162 . Therefore the phase margin is 180
162 18 .
b. With a delay of 0.1 s,
f

v j
vT

3:08 j
3:080:1180=pi
162
17:65

179:65 :
Therefore the phase margin is 180
179:65 0:35 . Thus, the system is stable.
c. With a delay of 3 s,

f

v j
vT

3:08 j
3:083180=pi
162
529:41

691:41 28:59 deg:

Therefore the phase margin is 28:59
180
151:41 deg. Thus, the system is
unstable.

10.12
Drawing judicially selected slopes on the magnitude and phase plot as shown below
yields a first estimate.
 Chapter 10 Solutions to Skill-Assessment Exercises 39
Experimental
20

10

0
Gain(dB)

10

20

30

40

45
50
55
60
Phase(deg)

65
70
75
80
85
90
95
1 2 3 4 5 6 7 8 10 20 30 40 50 70 100 200 300 500 1000
Frequency (rad/sec)

We see an initial slope on the magnitude plot of
20 dB/dec. We also see a final
20 dB/
dec slope with a break frequency around 21 rad/s. Thus, an initial estimate is
1
G1 s . Subtracting G1(s) from the original frequency response yields
ss 21
the frequency response shown below.
Experimental Minus 1/s(s+21)
90

80
Gain(dB)

70

60

50

40

100

80
Phase(deg)

60

40

20

0
1 2 3 4 5 6 7 8 10 20 30 40 50 70 100 200 300 500 1000
Frequency (rad/sec)
40 Solutions to Skill-Assessment Exercises

Drawing judicially selected slopes on the magnitude and phase plot as shown yields a
final estimate. We see first-order zero behavior on the magnitude and phase plots with a
break frequency of about 5.7 rad/s and a dc gain of about 44 dB 20 log5:7K, or
K 27:8. Thus, we estimate G2 s 27:8s 7. Thus, Gs G1 sG2 s
27:8s 5:7
. It is interesting to note that the original problem was developed from
ss 21
30s 5
Gs .
ss 20

CHAPTER 11
11.1
The Bode plot for K 1 is shown below.

Bode Diagrams
60

80

100

120

140
Phase (deg); Magnitude (dB)

160

180

100

150

200

250

101 100 101 102 103

Frequency (rad/sec)

%

log 100
A 20% overshoot requires z q
 %  0:456. This damping ratio implies a
p2 log2 100
phase margin of 48.10, which is obtained when the phase angle
1800 48:10
131:9 . This phase angle occurs at v 27:6 rad=s. The magnitude at this frequency is
5:15  10
6 . Since the magnitude must be unity K 5:1510 1

6 194;200.

11.2
To meet the steady-state error requirement, K 1;942;000. The Bode plot for this gain
is shown below.
 Chapter 11 Solutions to Skill-Assessment Exercises 41
Bode Diagrams

60

40

20

0
Phase (deg); Magnitude (dB)

20

40

100

150

200

250

101 100 101 102 103

Frequency (rad/sec)

 
%

log
100
A 20% overshoot requires z s
  0:456: This damping ratio
%
p2 log2
100
implies a phase margin of 48:1 . Adding 10 to compensate for the phase angle
contribution of the lag, we use 58:1 . Thus, we look for a phase angle of
180
58:1
129:9 . The frequency at which this phase occurs is 20.4 rad/s. At this
frequency the magnitude plot must go through zero dB. Presently, the magnitude plot is
23.2 dB. Therefore draw the high frequency asymptote of the lag compensator at
23:2
dB. Insert a break at 0:120:4 2:04 rad=s. At this frequency, draw
23:2 dB/dec
slope until it intersects 0 dB. The frequency of intersection will be the low frequency
s 2:04
break or 0.141 rad/s. Hence the compensator is Gc s Kc , where the gain
s 0:141
is chosen to yield 0 dB at low frequencies, or Kc 0:141=2:04 0:0691. In summary,
s 2:04 1;942;000
Gc s 0:0691 and Gs
s 0:141 ss 50s 120
 
11.3 %

log
100
A 20% overshoot requires z s
  0:456. The required bandwidth is
%
p2 log2
100
q
p
4
then calculated as vBW 1
2z2 4z4
4z2 2 57:9 rad/s. In order to
Ts z K
meet the steady-state error requirement of Kv 50 , we calculate
50120
K 300;000. The uncompensated Bode plot for this gain is shown below.
42 Solutions to Skill-Assessment Exercises

Bode Plot for K = 300000

40

20

20

Phase (deg); Magnitude (dB)

40

60

100

150

200

250

101 100 101 102 103

Frequency (rad/sec)

The uncompensated systems phase margin measurement is taken where the magnitude
plot crosses 0 dB. We find that when the magnitude plot crosses 0 dB, the phase
angle is
144:8 . Therefore, the uncompensated systems phase margin is
180
144:8 35:2 . The required phase margin based on the required damping ratio is
2z 
FM tan
1 q 
p 48:1 . Adding a 10 correction factor, the
2

2z 1 4z 4
required phase margin is 58:1 . Hence, the compensator must contribute
1
b 1
sin fmax
fmax 58:1
35:2 22:9 . Using fmax sin
1 ,b 0:44.
1b 1 sin fmax
1
The compensators peak magnitude is calculated as Mmax p 1:51. Now find the
b
frequency at which the uncompensated system has a magnitude 1=Mmax , or
3:58 dB.
From the Bode plot, this magnitude occurs at vmax 50 rad=s. The compensators zero
1 1
is at zc . vmax p : Therefore, zc 33:2.
T T b 1 zc
The compensators pole is at pc 75:4. The compensator gain is chosen to
yield unity gain at dc. bT b
s 33:2
Hence, Kc 75:4=33:2 2:27. Summarizing, Gc s 2:27 , and
300;000 s 75:4
Gs .
ss 50s 120
 
11.4 %

log
100
A 10% overshoot requires z s
  0:591. The required bandwidth is
%
p2 log2
100
q
p
p
then calculated as vBW p 1
2z2 4z4
4z2 2 7:53 rad=s.
T p 1
z2
 Chapter 11 Solutions to Skill-Assessment Exercises 43
K
In order to meet the steady-state error requirement of Kv 10 , we calculate
830
K 2400. The uncompensated Bode plot for this gain is shown below.

Bode Diagrams
40
20
0
20
40
60
Phase (deg); Magnitude (dB)

80
100

100

150

200

250

101 100 101 102 103

Frequency (rad/sec)

Let us select a new phase-margin frequency at 0:8vBW 6:02 rad=s. The required
phase margin based on the required damping ratio is FM tan
1
2z  
q
p 58:6 . Adding a 5 correction factor, the required phase margin

2z2 1 4z4
is 63:6 . At 6.02 rad/s, the new phase-margin frequency, the phase angle is
which represents a phase margin of 180
138:3 41:7 . Thus, the lead comp-
ensator must contribute fmax 63:6
41:7 21:9 .
1
b 1
sinfmax
Using fmax sin
1 ,b 0:456.
1b 1 sinfmax
We now design the lag compensator by first choosing its higher break frequency one
decade below the new phase-margin frequency, that is, zlag 0:602 rad=s. The lag
compensators pole is plag bzlag 0:275. Finally, the lag compensators gain is
Klag b 0:456.
Now we design the lead
p compensator. The lead
p zero is the product of the new phase
zlead
margin frequency and b, or zlead 0:8 vBW b 4:07. Also, plead 8:93.
1 b
Finally, Klead 2:19. Summarizing,
b
s 0:602 s 4:07
Glag s 0:456 ; Glead s 2:19 ; and K 2400:
s 0:275 s 8:93
44 Solutions to Skill-Assessment Exercises

CHAPTER 12
12.1
We first find  the desired characteristic equation. A 5% overshoot requires
%

log
100 p
z s
  0:69. Also, vn p2 14:47 rad=s. Thus, the
% Tp 1
z
p2 log2
100
characteristic equation is s2 2zvn s v2n s2 19:97s 209:4. Adding a pole at

10 to cancel the zero at
10 yields the desired characteristic equa-
tion,s2 19:97s 209:4s 10 s3 29:97s2 409:1s 2094. The compen-
sated system matrix in phase-variable form is
2 3
0 1 0
A
BK 4 0 0 1 5. The characteristic equation for this

k1
36 k2
15 k3
system is jsI
A
BKj s3 15 k3 s2 36 k2 s k1 . Equating coeffi-
cients of this equation with the coefficients of the desired characteristic equation yields
the gains as
K k1 k2 k3  2094 373:1 14:97 :

12.2 2 3

2 1 1
The controllability matrix is CM B AB A2 B 4 1 4
9 5. Since
1
1 16
jCM j 80, CM is full rank, that is, rank 3. We conclude that the system is controllable.

12.3

First check controllability. The controllability matrix is CMz B AB A2 B

2 3
0 0 1
4 0 1
17 5. Since jCMz j
1, CMz is full rank, that is, rank 3. We conclude that
1
9 81
the system is controllable. We now find the desired characteristic equation. A 20%
 
%

log
100 4
overshoot requires z s
  0:456. Also, vn zT 4:386 rad=s.
% s
p2 log2
100
Thus, the characteristic equation is s2 2zvn s v2n s2 4s 19:24. Adding a pole
at
6 to cancel the zero at
6 yields the resulting desired characteristic equation,

s2 4s 19:24s 6 s3 10s2 43:24s 115:45:

s 6 s6
Since Gs 3 2
, we can write the
s 7s 8s 9 s 24s 191s 504
2 3 2 3
0 1 0 0
phase-variable representation as Ap 4 0 0 1 5 ; Bp 4 0 5; Cp

504
191
24 1
 Chapter 12 Solutions to Skill-Assessment Exercises 45

6 1
2 0 . The compensated system matrix3in phase-variable form is Ap
Bp Kp
0 1 0
4 0 0 1 5. The characteristic equation for this

504 k1
191 k2
24 k3
system is jsI
Ap
Bp Kp j s3 24 k3 s2 191 k2 s504 k1 . Equat-
ing coefficients of this equation with the coefficients of the desired characteristic
equation yields the gains as Kp k1 k2 k3 
388:55
147:76
14 . We
now develop the transformation matrix to transform back to the z-system.
2 3
h i 0 0 1
CMz Bz Az Bz A2z B z 4 0 1
17 5 and
1
9 81
2 3
h i 0 0 1
CMp Bp Ap Bp A2p Bp 4 0 1
24 5:
1
24 385
Therefore,
2 32 3 2 3
0 0 1 191 24 1 1 0 0
P CMz C
1
Mx 40 1
17 54 24 1 0 5 4 7 1 0 5
1
9 81 1 0 0 56 15 1
2 3
1 0 0
Hence; Kz Kp P
1
388:55
147:76
14 4
7 1 05
49
15 1

40:23 62:24
14 :

12.4 2 3

24 l1 1 0
For the given system ex_ A
LCex 4
191 l2 0 1 5ex . The characteristic

504 l3 0 0
polynomial is given by jsI
A
LCj s3 24 l1 s2 191l2 s504 l3 .
Now we find the desired characteristic equation. The dominant poles from Skill-Assess-
ment Exercise 12.3 come from s2 4s 19:24. Factoring yields
2 j3:9 and

2
j3:9. Increasing these poles by a factor of 10 and adding a third pole 10 times
the real part of the dominant second-order poles yields the desired characteristic poly-
nomial, s 20 j39s 20
j39s 200 s3 240s2 9921s 384200. Equ-
ating coefficients of the desired characteristic equation to the systems characteristic
2 3
216
equation yields L 4 9730 5.
383696
12.5 2 3 2 3
C 4 6 8
The observability matrix is OM 4 CA 5 4
64
80
78 5, where
2 3 CA2 674 848 814
25 28 32
A2 4
7
4
11 5. The matrix is of full rank, that is, rank 3, since
77 95 94
jOM j
1576. Therefore the system is observable.
46 Solutions to Skill-Assessment Exercises

12.6
The system is represented in cascade form by the following state and output equations:
2 3 2 3

7 1 0 0
6 7 6 7
z_ 4 0
8 1 5z 4 0 5u
0 0
9 1
y 1 0 0 z
2 3 2 3
Cz 1 0 0
The observability matrix is OMz 4 Cz Az 5 4
7 1 0 5, where A2z
2
2 3 Cz Az 49
15 1
49
15 1
4 0 64 1 1

17 5. Since Gs ,
s 7s 8s 9 s3 24s2 191s 504
0 0 81
we can write the observable canonical form as
2 3 2 3

24 1 0 0
x_ 4
191 0 1 5x 4 0 5u

504 0 0 1
y 1 0 0 x
2 3 2 3
Cx 1 0 0
The observability matrix for this form is OMx 4 Cx Ax 5 4
24 1 0 5,
2
Cx Ax 385
24 1
2 3
385
24 1
where A2x 4 4080
191 0 5:
12096 504 0

We next find  the desired characteristic equation. A 10% overshoot requires

%

log
100 4
z s
  0:591. Also, vn zT 67:66 rad=s. Thus, the character-
% s
p2 log2
100
istic equation is s2 2zvn s v2n s2 80s 4578:42. Adding a pole at
400, or 10
times the real part of the dominant second-order poles, yields the resulting desired
characteristic equation, s2 80s 4578:42s 400 s3 480s2 36580s
1:831x106 . For the 2 system represented 3 in observable canonical form ex_

24 l1 1 0
Ax
Lx Cx ex 4
191 l2 0 1 5ex . The characteristic polynomial is given

504 l3 0 0
by jsI
Ax
Lx Cx j s3 24 l1 s2 191 l2 s 504 l3 . Equating
coefficients of the desired characteristic equation to the systems characteristic equation
2 3
456
yields Lx 4 36; 389 5:
1; 830; 496
 Chapter 12 Solutions to Skill-Assessment Exercises 47

Now, develop the transformation matrix between the observer canonical and cascade
forms.
2 3
1 2 3
1 0 0 1 0 0
6 7 6 7
P O
1
Mz OMx 4
7 1 0 5 4
24 1 05

15 1
49 385
24 1
2 32 3 2 3
1 0 0 1 0 0 1 0 0
6 76 7 6 7
4 7 1 0 54
24 1 0 5 4
17 1 0 5:
56 15 1 385
24 1 81
9 1

Finally, 2 32 3 2 3 2 3
1 0 0 456 456 456
Lz PLx 4
17 1 0 54 36; 389 5 4 28; 637 5  4 28; 640 5.
81
9 1 1; 830; 496 1; 539; 931 1; 540; 000

12.7
We first find the desired characteristic equation. A 10% overshoot requires
 
%

log
100
z s
  0:591
2 %
p2 log
100
p
Also, vn p 1:948 rad=s. Thus, the characteristic equation is s2
T p 1
z2
2zvn s vn s2 2:3s 3:79. Adding a pole at
4, which corresponds to the
2
original systems zero location, yields the resulting desired characteristic equation,
s2 2:3s 3:79s 4 s3 6:3s2 13s 15:16.
        
x_ A
BK BKe x 0 x
Now, r; and y C 0  ,
x_ N
C 0 xN 1 xN
where
       
0 1 0 0 1 0 0
A
BK
k1 k2 


7
9 1
7
9 k1 k2
 
0 1


7 k1
9 k2
C 4 1
   
0 0
Bke k
1 e ke
Thus,
2 3 2 32 3 2 3
x_ 1 0 1 0 x1   x1
6 7 6 76 7 0 6 7
4 x_ 2 5 4
7 k1
9 k2 ke 54 x2 5 r; y 4 1 0 4 x2 5.
1
x_ N
4
1 0 xN xN
48 Solutions to Skill-Assessment Exercises

Finding the characteristic equation of this system yields

2 3 2 3


 

s 0 0 0 1 0



A
BK BK



sI
e


4 0 s 0 5
4
7 k1
9 k2 ke 5




C 0



0 0 s
4
1 0


2 3


s
1 0






4 7 k1 s 9 k2
ke 5

s3 9 k2 s2 7 k1 ke s 4ke

4 1 s

Equating this polynomial to the desired characteristic equation,

s3 6:3s2 13s 15:16 s3 9 k2 s2 7 k1 ke s 4ke

Solving for the ks,
K 2:21
2:7  and ke 3:79:

CHAPTER 13
13.1
1
f t sinvkT; f  t sinvkTdt
kT;
k0
 
1 1 e jvkT
e
jvkT e
kTs

kTs
F s sinvkTe
k0 k0 2j
1 1  
k  
k
eTs
jv
eTs jv
1
2 j k0
1
But, x
k
k0 1
x
1
Thus,
   
1 1 1 1 e
Ts e jvT
e
Ts e jvT
F  s

2 j 1
e
Ts
jv 1
e
Ts jv 2 j 1
e
Ts e jvT
e
Ts e jvT e
2Ts
 
sinvT z
1 sinvT
e
Ts
1
e
Ts 2cosvT e
2Ts 1
2z
1 cosvT z
2

13.2
zz 1z 2
Fz
z
0:5z
0:7z
0:9

Fz z 1z 2

z z
0:5z
0:7z
0:9

z z z
46:875
114:75 68:875
z
0:5 z
0:7 z
0:9
z z z
Fz 46:875
114:75 68:875 ;
z
0:5 z
0:7 z
0:9

f kT 46:8750:5k
114:750:7k 68:8750:9k

 Chapter 13 Solutions to Skill-Assessment Exercises 49

13.3
  8
Since Gs 1
e
Ts ,
ss 4
     

1
 8 z
1 A B z
1 2 2
Gz 1
z z z z :
ss 4 z s s4 z s s4
2 2
Let G2 s . Therefore, g2 t 2
2e
4t , or g2 kT 2
2e
4kT .
s s4

2z 2z 2z1
e
4T
Hence, G2 z
.
z
1 z
e
4T z
1z
e
4T

z
1 21
e
4T
Therefore, Gz G2 z .
z z
e
4T

1 1:264
For T s, Gz .
4 z
0:3679
13.4
Add phantom samplers to the input, feedback after H(s), and to the output. Push
G1(s)G2(s), along with its input sampler, to the right past the pickoff point and
obtain the block diagram shown below.

R(s) + C(s)
G1(s)G2(s)

H(s)G1(s)G2(s)

G1 G2 z
Hence, Tz .
1 HG1 G2 z
13.5
20 Gs 20 4 4
Let Gs . Let G2 s
. Taking the inverse
s5 s ss 5 s s 5
Laplace transform and letting t kT, g2 kT 4
4e
5kT . Taking the z-transform
4z 4z 4z1
e
5T
yields G2 z
.
z
1 z
e
5T z
1z
e
5T

z
1 41
e
5T Gz 41
e
5T

Now, Gz G2 z
5T
. Finally, Tz .
z z
e 1 Gz z
5e
5T 4
The pole of the closed-loop system is at 5e
5T
4. Substituting values of T, we find that
the pole is greater than 1 if T > 0:1022 s. Hence, the system is stable for
0 < T < 0:1022 s.

13.6
s1
Substituting z into Dz z3
z2
0:5z 0:3, we obtain Ds
s
1
s3
8s2
27s
6. The Routh table for this polynomial is shown below.
50 Solutions to Skill-Assessment Exercises

s3 1
27
s2
8
6
s1
27:75 0
s0
6 0

Since there is one sign change, we conclude that the system has one pole outside the unit
circle and two poles inside the unit circle. The table did not produce a row of zeros and thus,
there are no jv poles. The system is unstable because of the pole outside the unit circle.

13.7
Defining G(s) as G1(s) in cascade with a zero-order-hold,
   
s 3 3=20 1=4 2=5
Gs 201
e
Ts 201
e
Ts
:
ss 4s 5 s s 4 s 5
Taking the z-transform yields
 

1 3=20z 1=4z 2=5z 5z
1 8z
1
Gz 201
z
4T


5T
3
4T

:
z
1 z
e z
e 1 z
e z
e
5T
Hence for T 0:1 second, K p lim Gz 3, and K v lim z
1Gz 0, and
z!1 T z!1
1 2
K a 2 lim z
1 Gz 0. Checking for stability, we find that the system is stable
T z!1
Gz 1:5z
1:109
for T 0:1 second, since Tz has poles inside the
1 Gz z2 0:222z
0:703
unit circle at
0:957 and 0:735. Again, checking for stability, we find that the system
Gz 3:02z
0:6383
is unstable for T 0:5 second, since Tz has
1 Gz z2 2:802z
0:6272
poles inside and outside the unit circle at 0:208 and
3:01, respectively.

13.8
Draw the root locus superimposed over the z 0:5 curve shown below. Searching along
a 54:3 line, which intersects the root locus and the z 0:5 curve, we find the point
0:58754:3 0:348 j0:468 and K 0:31.
z-Plane Root Locus

1.5

0.5 (0.348 + j0.468)

K = 0.31
Imag Axis

54.3
0

0.5

1.5

3 2.5 2 1.5 1 0.5 0 0.5 1 1.5 2

Real Axis
 Chapter 13 Solutions to Skill-Assessment Exercises 51

13.9
Let
100K 2:38s 25:3
Ge s GsGc s
ss 36s 100 s 60:2
342720s 25:3
:
ss 36s 100s 60:2
The following shows the frequency response of Ge jv.
Bode Diagrams

40

20

20
Phase (deg); Magnitude (dB)

40

60

100

150

200

250

101 100 101 102 103

Frequency (rad/sec)

We find that the zero dB frequency, vFM , for Ge jv is 39 rad/s. Using Astroms
guideline the value of T should be in the range, 0:15=vFM 0:0038 second to
0:5=vFM 0:0128 second. Let us use T 0:001 second. Now find the Tustin
2z
1
transformation for the compensator. Substituting s into Gc s
2:38s 25:3 Tz 1
with T 0:001 second yields
s 60:2
z
0:975
Gc z 2:34 :
z
0:9416

13.10
Xz 1899z2
3761z 1861
Gc z 2 . Cross-multiply and obtain z2
1:908z
Ez z
1:908z 0:9075
0:9075Xz 1899z2
3761z 1861Ez. Solve for the highest power of z oper-
ating on the output, X(z), and obtain z2 Xz 1899z2
3761z 1861
52 Solutions to Skill-Assessment Exercises

Ez

1:908z 0:9075Xz. Solving for X(z) on the left-hand side yields

Xz 1899
3761z
1 1861z
2 Ez

1:908z
1 0:9075z
2 Xz. Finally,
we implement this last equation with the following ow chart:

e*(t) x*(t)
1899

Delay Delay
0.1 second 0.1 second
+
e*(t-0.1) x*(t-0.1)
3761 1.9.08
+ +
+
Delay Delay
0.1 second 0.1 second

e*(t-0.2) x*(t-0.2)
1861 0.9075