O N E

Introduction
ANSWERS TO REVIEW QUESTIONS
1. Guided missiles, automatic gain control in radio receivers, satellite tracking antenna
2. Yes - power gain, remote control, parameter conversion; No - Expense, complexity
3. Motor, low pass filter, inertia supported between two bearings
4. Closed-loop systems compensate for disturbances by measuring the response, comparing it to
the input response (the desired output), and then correcting the output response.
5. Under the condition that the feedback element is other than unity
6. Actuating signal
7. Multiple subsystems can time share the controller. Any adjustments to the controller can be
implemented with simply software changes.
8. Stability, transient response, and steady-state error
9. Steady-state, transient
10. It follows a growing transient response until the steady-state response is no longer visible. The
system will either destroy itself, reach an equilibrium state because of saturation in driving
amplifiers, or hit limit stops.
11. Transient response
12. True
13. Transfer function, state-space, differential equations
14. Transfer function - the Laplace transform of the differential equation
State-space - representation of an nth order differential equation as n simultaneous first-order
differential equations
Differential equation - Modeling a system with its differential equation

SOLUTIONS TO PROBLEMS
50 volts
1. Five turns yields 50 v. Therefore K = = 1.59
5 x 2 rad
2 Chapter 1: Introduction

2.

Desired Temperature Voltage Actual

Fuel
temperature difference difference temperature
flow

+ Amplifier and
Thermostat Heater
valves
-

3.

Desired Input Error Aileron Roll Roll

roll voltage voltage position rate angle
angle
+ Aileron Aircraft
Pilot Integrate
position dynamics
controls
control
-

Gyro
Gyro voltage

4.
Input
Speed
Desired voltage Actual
Error Motor
speed speed
transducer
+ voltage and
Amplifier drive
system
-
Dancer
Dancer
position
Voltage dynamics
sensor
proportional
to actual speed

5.

Input Power Rod

voltage Error position
Desired voltage Motor Actual
power and power
Transducer
+ Amplifier drive Reactor
system
-

Sensor &
Voltage transducer
proportional
to actual power
 Solutions to Problems 3

6.
Graduating
and
drop-out
rate
Desired Actual
Desired Population student Actual
Net rate student
student error rate student - of influx population
population + rate +
Administration Admissions Integrate

7.
Voltage Voltage
proportional representing
to desired Volume actual volume Actual
Desired volume error volume
volume + Volume
Transducer Radio
control circuit
-
Effective
volume
+
Voltage
- proportional
to speed

Transducer
-

Speed
4 Chapter 1: Introduction

8.

a.
Fluid input

Valve
Actuator

Power
amplifier
+V
Differential Desired
amplifier R level
- + -V

+V
R
Float -V

Tank
Drain

b.
Flow Actual
Desired voltage level
in rate in
level + +
Potentiometer Amplifiers Actuator Integrate
and valve
- -

Drain
Flow
rate out

Displacement
voltage
out
Potentiometer Float
 Solutions to Problems 5

9.

Desired Actual
force + Current Displacement Displacement force
Transducer Amplifier Valve Actuator Tire
and load
-

Load cell

10.
Actual
Commanded Isoflurane blood
blood pressure + concentration pressure
Vaporizer Patient
-

11.

Desired
depth + Controller Force Feed rate Depth
& Grinder Integrator
motor
-

12.

Desired Coil Coil

position voltage + Coil current Force Armature Depth
Transducer Solenoid coil
circuit & actuator &
spool dynamics
-

LVDT

13.
di
a. L + Ri = u(t)
dt
6 Chapter 1: Introduction

b. Assume a steady-state solution iss = B. Substituting this into the differential equation yields RB =

1,
1 R
from which B = . The characteristic equation is LM + R = 0, from which M = - . Thus, the total
R L
1 1
solution is i(t) = Ae-(R/L)t + . Solving for the arbitrary constants, i(0) = A + = 0. Thus, A =
R R
1 1 1 -(R/L)t 1 ( R / L)t
- . The final solution is i(t) = -- e = (1 e ).
R R R R

c.

14.
di 1
dt C
a. Writing the loop equation, Ri + L + idt + vC (0) = v(t)
d 2i di
b. Differentiating and substituting values, 2 +2 + 30i = 0
dt dt
Writing the characteristic equation and factoring,
2
M + 2 M + 30 = M + 1 + 29 i M + 1 - 29 i .

The general form of the solution and its derivative is

-t -t
i = e cos 29 t A + B sin 29 t e

di = - A + 29 B e -t cos 29 t - 29 A + B e- t sin 29 t
dt
di v (0) 1
Using i(0) = 0; (0) = L = =2
dt L L
i 0 = A =0
di
(0) = A + 29 B =2
dt
2
Thus, A = 0 and B = .
29
The solution is
 Solutions to Problems 7

2 -t
i= 29 e sin 29 t
29

c.
i

15.
a. Assume a particular solution of

Substitute into the differential equation and obtain

Equating like coefficients,

35 10
From which, C = 53 and D = 53 .

The characteristic polynomial is

Thus, the total solution is

35 35
Solving for the arbitrary constants, x(0) = A +53 = 0. Therefore, A = - 53 . The final solution is

b. Assume a particular solution of

xp = Asin3t + Bcos3t
8 Chapter 1: Introduction

Substitute into the differential equation and obtain

(18A B)cos(3t) (A + 18B)sin(3t) = 5sin(3t)

Therefore, 18A B = 0 and (A + 18B) = 5. Solving for A and B we obtain

xp = (-1/65)sin3t + (-18/65)cos3t

The characteristic polynomial is

2
M +6 M+ 8 = M+ 4 M+ 2

Thus, the total solution is

-4t 18
-2t 1
x =C e + De + -
cos 3 t - sin 3 t
65 65
18
Solving for the arbitrary constants, x(0) = C + D =0.
65
Also, the derivative of the solution is

dx = - 3 cos 3 t + 54 sin 3 t -4t -2t

- 4 C e -2 D e
dt 65 65
. 3 3 15
Solving for the arbitrary constants, x(0) 4C 2D = 0 , or C = and D = .
65 10 26
The final solution is
18 1 3 - 4 t 15 - 2 t
x =- cos 3 t - sin 3 t - e + e
65 65 10 26

c. Assume a particular solution of

xp = A

Substitute into the differential equation and obtain 25A = 10, or A = 2/5.

The characteristic polynomial is

2
M + 8 M + 25 = M + 4 + 3 i M + 4 - 3 i

Thus, the total solution is

2 -4t
x= +e B sin 3 t + C cos 3 t
5

Solving for the arbitrary constants, x(0) = C + 2/5 = 0. Therefore, C = -2/5. Also, the derivative of the

solution is
dx -4t
dt = 3 B -4 C cos 3 t - 4 B + 3 C sin 3 t e
 Solutions to Problems 9

.
Solving for the arbitrary constants, x(0) = 3B 4C = 0. Therefore, B = -8/15. The final solution is

8
t ) + cos(3t )
2 2
x (t ) = e 4t sin(3
5 15 5
16.

a. Assume a particular solution of

Substitute into the differential equation and obtain

Equating like coefficients,

1 1
From which, C = - 5 and D = - 10 .

The characteristic polynomial is

Thus, the total solution is

1 11
Solving for the arbitrary constants, x(0) = A - 5 = 2. Therefore, A = . Also, the derivative of the
5
solution is
dx
dt
. 3
Solving for the arbitrary constants, x(0) = - A + B - 0.2 = -3. Therefore, B = . The final solution
5
is

t 11
t ) sin(t )
1 1 3
x (t ) = cos(2t ) sin(2 t ) + e cos(
5 10 5 5

b. Assume a particular solution of

xp = Ce-2t + Dt + E

Substitute into the differential equation and obtain

10 Chapter 1: Introduction

Equating like coefficients, C = 5, D = 1, and 2D + E = 0.

From which, C = 5, D = 1, and E = - 2.

The characteristic polynomial is

Thus, the total solution is

Solving for the arbitrary constants, x(0) = A + 5 - 2 = 2 Therefore, A = -1. Also, the derivative of the

solution is
dx
= ( A + B )e t Bte t 10e 2 t + 1
dt
.
Solving for the arbitrary constants, x(0) = B - 8 = 1. Therefore, B = 9. The final solution is

c. Assume a particular solution of

xp = Ct2 + Dt + E

Substitute into the differential equation and obtain

1
Equating like coefficients, C = 4 , D = 0, and 2C + 4E = 0.
1 1
From which, C = 4 , D = 0, and E = - 8 .

The characteristic polynomial is

Thus, the total solution is

1 9
Solving for the arbitrary constants, x(0) = A - 8 = 1 Therefore, A = 8 . Also, the derivative of the

solution is
dx
dt
.
Solving for the arbitrary constants, x(0) = 2B = 2. Therefore, B = 1. The final solution is
 Solutions to Problems 11

17.
Spring
displacement
Desired Input
F up
force Input voltage + Pantograph
F out
transducer Controller Actuator Spring
dynamics

Sensor