Solution of Skill Assesment Exercise of Control System Engineering by Norman S Nise PDF

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
FðsÞ ¼ .
ðs þ 5Þ2
2.2
Expanding FðsÞ by partial fractions yields:
A B C D
FðsÞ ¼ þ þ þ
s s þ 2 ðs þ 3Þ2 ðs þ 3Þ
where,
10 5 10

A¼ ¼ B¼ ¼ 5
ðs þ 2Þðs þ 3Þ2 S!0 9 sðs þ 3Þ2 S!2

10 10 dFðsÞ
40
C¼ ¼ ; and D ¼ ðs þ 3Þ2 ¼
sðs þ 2Þ 3 ds 9
S!3 s!3
Taking the inverse Laplace transform yields,
5 10 40
f ðtÞ ¼ 5e2t þ te3t þ e3t
9 3 9
2.3
Taking the Laplace transform of the differential equation assuming zero initial con-
ditions yields:
s3 CðsÞ þ 3s2 CðsÞ þ 7sCðsÞ þ 5CðsÞ ¼ s2 RðsÞ þ 4sRðsÞ þ 3RðsÞ
1
2 Solutions to Skill-Assessment Exercises
Collecting terms,
ðs3 þ 3s2 þ 7s þ 5ÞCðsÞ ¼ ðs2 þ 4s þ 3ÞRðsÞ

Thus,
CðsÞ s2 þ 4s þ 3
¼ 3
RðsÞ s þ 3s2 þ 7s þ 5
2.4
CðsÞ 2s þ 1
GðsÞ ¼ ¼ 2
RðsÞ s þ 6s þ 2
Cross multiplying yields,
d2 c dc dr
þ 6 þ 2c ¼ 2 þ r
dt2 dt dt
2.5
1 s 1 A B C
CðsÞ ¼ RðsÞGðsÞ ¼ ¼ ¼ þ þ
s2 ðs þ 4Þðs þ 8Þ sðs þ 4Þðs þ 8Þ s ðs þ 4Þ ðs þ 8Þ
where

1 1 1 1
A¼ ¼ B¼ ¼ ; and

ðs þ 4Þðs þ 8Þ S!0 32
sðs þ 8Þ S!4 16

1
C¼
sðs þ 4Þ S!8 ¼ 1
32
Thus,
1 1 1
cðtÞ ¼ e4t þ e8t
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,

ðs þ 1ÞI1 ðsÞ sI2 ðsÞ I3 ðsÞ ¼ VðsÞ
sI1 ðsÞ þ ð2s þ 1ÞI2 ðsÞ I3 ðsÞ ¼ 0
I1 ðsÞ I2 ðsÞ þ ðs þ 2ÞI3 ðsÞ ¼ 0
Solving the mesh equations for I2(s),

ðs þ 1Þ VðsÞ 1

s 0 1

1 0 ðs þ 2Þ ðs2 þ 2s þ 1ÞVðsÞ
I2 ðsÞ ¼ ¼
ðs þ 1Þ s 1 sðs2 þ 5s þ 2Þ
s ð2s þ 1Þ 1

1 1 ðs þ 2Þ
But, VL ðsÞ ¼ sI2 ðsÞ
Hence,
ðs2 þ 2s þ 1ÞVðsÞ
VL ðsÞ ¼
ðs2 þ 5s þ 2Þ
or
VL ðsÞ s2 þ 2s þ 1
¼ 2
VðsÞ s þ 5s þ 2
Nodal Analysis
Writing the nodal equations,

1
þ 2 V1 ðsÞ VL ðsÞ ¼ VðsÞ
s

2 1
V1 ðsÞ þ þ 1 VL ðsÞ ¼ VðsÞ
s s
Solving for VL(s),

1
þ2 VðsÞ
s

1
1 VðsÞ ðs2 þ 2s þ 1ÞVðsÞ
VL ðsÞ ¼ s ¼
1 ðs2 þ 5s þ 2Þ
þ 2 1
s

2
1 þ 1
s
or
VL ðsÞ s2 þ 2s þ 1
¼ 2
VðsÞ s þ 5s þ 2
2.7
Inverting
Z2 ðsÞ 100000
GðsÞ ¼ ¼ ¼ s
Z1 ðsÞ ð105 =sÞ
Noninverting

105
þ 105
½Z1 ðsÞ þ Z2 ðsÞ s
GðsÞ ¼ ¼ 5 ¼sþ1
Z1 ðsÞ 10
s
2.8
Writing the equations of motion,
ðs2 þ 3s þ 1ÞX1 ðsÞ ð3s þ 1ÞX2 ðsÞ ¼ FðsÞ
ð3s þ 1ÞX1 ðsÞ þ ðs2 þ 4s þ 1ÞX2 ðsÞ ¼ 0
Solving for X2(s),

ðs2 þ 3s þ 1Þ FðsÞ

ð3s þ 1Þ 0 ð3s þ 1ÞFðsÞ
X2 ðsÞ ¼ ¼
3 2
ðs þ 3s þ 1Þ ð3s þ 1Þ sðs þ 7s þ 5s þ 1Þ
2

ð3s þ 1Þ ðs2 þ 4s þ 1Þ
Hence,
X2 ðsÞ ð3s þ 1Þ
¼ 3
FðsÞ sðs þ 7s2 þ 5s þ 1Þ
2.9
ðs2 þ s þ 1Þu1 ðsÞ ðs þ 1Þu2 ðsÞ ¼ TðsÞ
ðs þ 1Þu1 ðsÞ þ ð2s þ 2Þu2 ðsÞ ¼ 0
where u1 ðsÞ is the angular displacement of the inertia.
Solving for u2 ðsÞ,

ðs2 þ s þ 1Þ TðsÞ

ðs þ 1Þ 0 ðs þ 1ÞFðsÞ
u2 ðsÞ ¼ ¼
3 2
ðs þ s þ 1Þ ðs þ 1Þ 2s þ 3s þ 2s þ 1
2

ðs þ 1Þ ð2s þ 2Þ
From which, after simplification,

1
u2 ðsÞ ¼
2s2 þsþ1
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

ðs2 þ sÞu1 ðsÞ sua ðsÞ ¼ TðsÞ
su1 ðsÞ þ ðs þ 1Þua ðsÞ ¼ 0
where u1 ðsÞ is the angular displacement of the 1-kg inertia.
Solving for ua ðsÞ,

ðs2 þ sÞ TðsÞ

s 0 sTðsÞ
ua ðsÞ ¼ 2 ¼
ðs þ sÞ s s þ s2 þ s
3
s ðs þ 1Þ
From which,
ua ðsÞ 1
¼
TðsÞ s2 þ s þ 1
1
But, u2 ðsÞ ¼ ua ðsÞ:
Thus, 2
u2 ðsÞ 1=2
¼ 2
TðsÞ s þ s þ 1
2.11
First find the mechanical constants.

1 1 2 1
Jm ¼ Ja þ JL ¼ 1 þ 400 ¼2
5 4 400

1 1 2 1
Dm ¼ Da þ DL ¼ 5 þ 800 ¼7
5 4 400
Now find the electrical constants. From the torque-speed equation, set vm ¼ 0 to find
stall torque and set Tm ¼ 0 to find no-load speed. Hence,
Tstall ¼ 200
vnoload ¼ 25
which,
Kt Tstall 200
¼ ¼ ¼2
Ra Ea 100
Ea 100
Kb ¼ ¼ ¼4
vnoload 25
Substituting all values into the motor transfer function,
KT
um ðsÞ 1
¼ a Jm
R ¼
Ea ðsÞ 1 KT Kb 15
s sþ Dm þ s sþ
Jm Ra 2
where um ðsÞ is the angular displacement of the armature.
1
Now uL ðsÞ ¼ um ðsÞ. Thus,
20
uL ðsÞ 1=20
¼
Ea ðsÞ 15
s sþ
2
2.12
Letting
u1 ðsÞ ¼ v1 ðsÞ=s
u2 ðsÞ ¼ v2 ðsÞ=s
in Eqs. 2.127, we obtain

K K
J1 s þ D1 þ v1 ðsÞ v2 ðsÞ ¼ TðsÞ
s s

K K
v1 ðsÞ þ J2 s þ D2 þ v2 ðsÞ
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 þ ir 2 ¼ iðtÞ
dt
But,
C¼1
v ¼ vo þ dv
ir ¼ evr ¼ ev ¼ evo þdv
Substituting these relationships into the differential equation,
dðvo þ dvÞ
þ evo þdv 2 ¼ iðtÞ (1)
dt
We now linearize ev.
The general form is

d f
f ðvÞ f ðvo Þ dv
dv vo
Substituting the function, f ðvÞ ¼ ev , with v ¼ vo þ dv yields,

vo þdv vo dev
e e dv
dv vo
Solving for evo þdv,

vo þdv vodev
e ¼e þ dv ¼ evo þ evo dv
dv vo
Substituting into Eq. (1)
ddv
þ evo þ evo dv 2 ¼ iðtÞ (2)
dt
Setting iðtÞ ¼ 0 and letting the circuit reach steady state, the capacitor acts like an open
circuit. Thus, vo ¼ vr with ir ¼ 2. But, ir ¼ evr or vr ¼ ln ir.
Hence, vo ¼ ln 2 ¼ 0:693. Substituting this value of vo into Eq. (2) yields
ddv
þ 2dv ¼ iðtÞ
dt
Taking the Laplace transform,
ðs þ 2ÞdvðsÞ ¼ IðsÞ
Solving for the transfer function, we obtain
dvðsÞ 1
¼
IðsÞ sþ2
or
VðsÞ 1
¼ about equilibrium.
IðsÞ s þ 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 ¼ iC1
dt
diL
L ¼ vL (1)
dt
dvC2
C2 ¼ iC2
dt
Using Kirchhoff’s current and voltage laws,

1
iC1 ¼ iL þ iR ¼ iL þ ðvL vC2 Þ
R
vL ¼ vC1 þ vi
1
iC2 ¼ iR ¼ ðvL vC2 Þ
R
Substituting these relationships into Eqs. (1) and simplifying yields the state equations as
dvC1 1 1 1 1
¼ vC1 þ iL vC2 þ vi
dt RC1 C1 RC1 RC1
diL 1 1
¼ vC1 þ vi
dt L L
dvC2 1 1 1
¼ vC vC vi
dt RC2 1 RC2 2 RC2
where the output equation is
vo ¼ 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_ ¼ 6 0 0 7x þ 6 7vi ðtÞ
6 L 7 6 L 7
6 7 6 7
4 1 1 5 4 1 5
0
RC2 RC2 RC2
y ¼ ½0 0 1 x
3.2
Writing the equations of motion
ðs2 þ s þ 1ÞX1 ðsÞ sX2 ðsÞ ¼ FðsÞ
2
sX1 ðsÞ þ ðs þ s þ 1ÞX2 ðsÞ X3 ðsÞ ¼ 0
2
X2 ðsÞ þ ðs þ s þ 1ÞX3 ðsÞ ¼ 0
Taking the inverse Laplace transform and simplifying,
€x1 ¼ _x1 x1 þ x_ 2 þ f
€x2 ¼ x_ 1 x_ 2 x2 þ x3
€x3 ¼ _x3 x3 þ x2
Defining state variables, zi,
z1 ¼ x1 ; z2 ¼ x_ 1 ; z3 ¼ x2 ; z4 ¼ x_ 2 ; z5 ¼ x3 ; z6 ¼ x_ 3
Writing the state equations using the definition of the state variables and the inverse
transform of the differential equation,
z_ 1 ¼ z2
z_ 2 ¼ €x1 ¼ _x1 x1 þ x_ 2 þ f ¼ z2 z1 þ z4 þ f
z_ 3 ¼ x_ 2 ¼ z4
z_ 4 ¼ €x2 ¼ x_ 1 x_ 2 x2 þ x3 ¼ z2 z4 z3 þ z5
z_ 5 ¼ x_ 3 ¼ z6
z_ 6 ¼ €x3 ¼ _x3 x3 þ x2 ¼ z6 z5 þ z3
The output is z5. Hence, y ¼ 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_ ¼ 6 7 6 7
0 1 1 1 1 0 7z þ 6 0 7 f ðtÞ; y ¼ ½ 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.
XðsÞ 1
¼ 2
RðsÞ s þ 7s þ 9
Cross multiplying yields
ðs2 þ 7s þ 9ÞXðsÞ ¼ RðsÞ
Taking the inverse Laplace transform assuming zero initial conditions, we get
€x þ 7_x þ 9x ¼ r
Defining the state variables as,
x1 ¼ x
x2 ¼ x_
Hence,
x_ 1 ¼ x2
x_ 2 ¼ €x ¼ 7_x 9x þ r ¼ 9x1 7x2 þ r
Using the zeros of the transfer function, we find the output equation to be,
c ¼ 2_x þ x ¼ x1 þ 2x2
Putting all equation in vector-matrix form yields,

0 1 0
x_ ¼ xþ r
9 7 1
c ¼ ½1 2 x
3.4
The state equation is converted to a transfer function using
GðsÞ ¼ CðsI AÞ1 B ð1Þ
where

4 1:5 2
A¼ ;B ¼ ; and C ¼ ½ 1:5 0:625 :
4 0 0
Evaluating ðsI AÞ yields

sþ4 1:5
ðsI AÞ ¼
4 s
Taking the inverse we obtain

1 1 s 1:5
ðsI AÞ ¼ 2
s þ 4s þ 6 4 sþ4
Substituting all expressions into Eq. (1) yields
3s þ 5
GðsÞ ¼
s2 þ 4s þ 6
3.5
Writing the differential equation we obtain
d2 x
þ 2x2 ¼ 10 þ df ðtÞ (1)
dt2
Letting x ¼ xo þ dx and substituting into Eq. (1) yields
d 2 ðxo þ dxÞ
þ 2ðxo þ dxÞ2 ¼ 10 þ df ðtÞ (2)
dt2
Now, linearize x2.

2 dðx2 Þ
ðxo þ dxÞ x2o ¼ dx ¼ 2xo dx
dx xo
from which
ðxo þ dxÞ2 ¼ x2o þ 2xo dx (3)
Substituting Eq. (3) into Eq. (1) and performing the indicated differentiation gives us the
linearized intermediate differential equation,
d 2 dx
þ 4xo dx ¼ 2x2o þ 10 þ df ðtÞ (4)
dt2
The force of the spring at equilibrium is 10 N. Thus, since F ¼ 2x2 ; 10 ¼ 2x2o from
which
pffiffiffi
xo ¼ 5
Substituting this value of xo into Eq. (4) gives us the final linearized differential
equation.
d 2 dx pffiffiffi
þ 4 5 dx ¼ df ðtÞ
dt2
Selecting the state variables,
x1 ¼ dx
x2 ¼ d_ x
Writing the state and output equations
x_ 1 ¼ x2
pffiffiffi
x_ 2 ¼ €d x ¼ 4 5x1 þ df ðtÞ
y ¼ x1
Converting to vector-matrix form yields the final result as

0pffiffiffi 1 0
x_ ¼ xþ df ðtÞ
4 5 0 1
y ¼ ½1 0 x
CHAPTER 4
4.1
For a step input
10ðs þ 4Þðs þ 6Þ A B C D E
CðsÞ ¼ ¼ þ þ þ þ
sðs þ 1Þðs þ 7Þðs þ 8Þðs þ 10Þ s s þ 1 s þ 7 s þ 8 s þ 10
Taking the inverse Laplace transform,
cðtÞ ¼ A þ Bet þ Ce7t þ De8t þ Ee10t
4.2
1 1 4 4 2:2 2:2
Since a ¼ 50; Tc ¼ ¼ ¼ 0:02 s; Ts ¼ ¼ ¼ 0:08 s; and Tr ¼ ¼ ¼
0:044 s. a 50 a 50 a 50
4.3
a. Since poles are at 6 j19:08; cðtÞ ¼ A þ Be6t cosð19:08t þ fÞ.

b. Since poles are at 78:54 and 11:46; cðtÞ ¼ A þ Be78:54t þ Ce11:4t .
c. Since poles are double on the real axis at 15 cðtÞ ¼ A þ Be15t þ Cte15t :
d. Since poles are at j25; cðtÞ ¼ A þ B cosð25t þ fÞ.
4.4
pffiffiffiffiffiffiffiffi
a. vn ¼ 400 ¼ 20 and 2zvn ¼ 12; ; z ¼ 0:3 and system is underdamped .
b. vn ¼ 900 ¼ 30 and 2zvn ¼ 90; ; z ¼ 1:5 and system is overdamped .
c. vn ¼ 225 ¼ 15 and 2zvn ¼ 30; ; z ¼ 1 and system is critically damped .
d. vn ¼ 625 ¼ 25 and 2zvn ¼ 0; ; z ¼ 0 and system is undamped .
4.5
vn ¼ 361 ¼ 19 and 2zvn ¼ 16; ; z ¼ 0:421:
4 p
Now, T s ¼ ¼ 0:5 s and T p ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 0:182 s.
zvn vn 1 z2
From Figure 4.16, vn T r ¼ 1:4998. Therefore, Tr ¼ 0:079 s.
ffi
pzp
Finally, %os ¼ e 1z2 100 ¼ 23:3%
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 GðsÞ ¼ þ .
s s þ 20 s þ 10 s þ 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 GðsÞ ¼ þ .
s s þ 20 s þ 10 s þ 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 sþ5 2
a. Since sI A ¼ ; ðsI AÞ ¼ 2 : Also,
3 s þ 5 s þ 5s þ 6 3 s
0
BUðsÞ ¼ .
1=ðs þ 1Þ
The state vector is XðsÞ ¼ ðsI AÞ1 ½xð0Þ þ BUðsÞ ¼ 1

ðs þ 1Þðs þ 2Þðs þ 3Þ
2
2ðs þ 7s þ 7Þ
. The output is YðsÞ ¼ ½ 1 3 XðsÞ ¼ 5s2 þ 2s 4 ¼
2 ðs þ 1Þðs þ 2Þðs þ 3Þ
s 4s 6
0:5 12 17:5
þ . Taking the inverse Laplace transform yields yðtÞ ¼
sþ1 sþ2 sþ3
0:5et 12e2t þ17:5e3t .
b. The eigenvalues are given by the roots of jsI Aj ¼ s2 þ 5s þ 6, or 2 and 3.
4.10
s 2 1 sþ5 2
a. Since ðsI AÞ ¼ ; ðsI AÞ1 ¼ 2 . Taking the
2 sþ5 s þ 5s þ 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
FðtÞ ¼ 6
4 2
7:
5
2 1 4
et þ e4t et þ e4t
3 3 3 3
2 3
4 ðttÞ 1 4ðttÞ 2 ðttÞ 2 4ðttÞ
63 e e e e 7
3 3 3
b. Since Fðt tÞ ¼ 6
4 2
7 and
ðttÞ 2 4ðttÞ 1 ðttÞ 4 4ðttÞ 5
e þ e e þ e
3 3 3 3
2 3
2 t t 2 2t 4t

0 63e e 3e e 7
BuðtÞ ¼ 2t ; Fðt tÞBuðtÞ ¼ 6
4
7:
e 1 t t 4 2t 4t 5
e e þ e e
3 3
Zt
Thus, xðtÞ ¼ FðtÞxð0Þ þ Fðt tÞ

0 2 10 4 3
et e2t e4t
6 3 3 7
BUðtÞdt ¼ 6
4
7:
5
5 8
et þ e2t þ e4t
3 3
c. yðtÞ ¼ ½ 2 1 x ¼ 5et e2t
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 þ 1
simplify, and get, TðsÞ ¼ 4 .
2s þ s2 þ 2s
5.2
GðsÞ 16
Find the closed-loop transfer function, TðsÞ ¼ ¼ 2 , where
1 þ GðsÞHðsÞ s þ as þ 16
16 a
and GðsÞ ¼ and HðsÞ ¼ 1. Thus, vn ¼ 4 and 2zvn ¼ a, from which z ¼ .
sðs þ aÞ 8
%
ln
100 a
But, for 5% overshoot, z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
¼ 0:69. Since, z ¼ 8; a ¼ 5:52.
%
p2 þ ln2
100
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
5.4
Forward-path gains are G1G2G3 and G1G3.
Loop gains are G1 G2 H1 ; G2 H2 ; and G3 H3 .
Nontouching loops are ½G1 G2 H1 ½G3 H3 ¼ G1 G2 G3 H1 H3 and
½G2 H2 ½G3 H3 ¼ G2 G3 H2 H3 .
Also, D ¼ 1 þ G1 G2 H1 þ G2 H2 þ G3 H3 þ G1 G2 G3 H1 H3 þ G2 G3 H2 H3 :
Finally, D1 ¼ 1 and D2 ¼ 1.
å T k Dk
CðsÞ
Substituting these values into TðsÞ ¼ ¼ k yields
RðsÞ D
G1 ðsÞG3 ðsÞ½1 þ G2 ðsÞ
TðsÞ ¼
½1 þ G2 ðsÞH2 ðsÞ þ G1 ðsÞG2 ðsÞH1 ðsÞ½1 þ G3 ðsÞH3 ðsÞ
5.5
The state equations are,
x_ 1 ¼ 2x1 þ x2
x_ 2 ¼ 3x2 þ x3
x_ 3 ¼ 3x1 4x2 5x3 þ r
y ¼ 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
–4
–3
5.6
100ðs þ 5Þ
From GðsÞ ¼ we draw the signal-flow graph in controller canonical form
s2 þ 5s þ 6
and add the feedback.
100
1 1 1
r s x1 s x2 500
y
–5
–6
–1
Writing the state equations from the signal-flow diagram, we obtain

105 506 1
x¼ xþ r
1 0 0
y ¼ ½ 100 500 x
5.7
From the transformation equations,

3 2
P1 ¼
1 4
Taking the inverse,

0:4 0:2
P¼
0:1 0:3
Now,

3 2 1 3 0:4 0:2 6:5 8:5
P1 AP ¼ ¼
1 4 4 6 0:1 0:3 9:5 11:5

3 2 1 3
P1 B ¼ ¼
1 4 3 11

0:4 0:2
CP ¼ ½ 1 4 ¼ ½ 0:8 1:4
0:1 0:3
Therefore,

6:5 8:5 3
z_ ¼ zþ u
9:5 11:5 11
y ¼ ½ 0:8 1:4 z
5.8
First find the eigenvalues.

l 0 1 3 l 1 3
jlI Aj ¼ ¼ ¼ l2 þ 5l þ 6
0 l 4 6 4 l þ 6
From which the eigenvalues are 2 and 3.
Now use Axi ¼ lxi for each eigenvalue, l.
Thus,

1 3 x1 x
¼l 1
4 6 x2 x2
For l ¼ 2,
3x1 þ 3x2 ¼ 0
4x1 4x2 ¼ 0
Thus x1 ¼ x2
For l ¼ 3
4x1 þ 3x2 ¼ 0
4x1 3x2 ¼ 0
Thus x1 ¼ x2 and x1 ¼ 0:75x2 ; from which we let

0:707 0:6
P¼
0:707 0:8
Taking the inverse yields

1 5:6577 4:2433
P ¼
5 5
Hence,

1 5:6577 4:2433 1 3 0:707 0:6 2 0
D ¼ P AP ¼ ¼
5 5 4 6 0:707 0:8 0 3

5:6577 4:2433 1 18:39
P1 B ¼ ¼
5 5 3 20

0:707 0:6
CP ¼ ½ 1 4 ¼ ½ 2:121 2:6
0:707 0:8
Finally,

2 0 18:39
z_ ¼ zþ u
0 3 20
y ¼ ½ 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 þ 0s2 þ 6. Taking the derivative yields
24s3 þ 0s. Replacing the row of zeros with the coefficients of the derivative yields the s3
row. We also encounter a zero in the first column at the s2 row. We replace the zero
with e and continue the table. The final 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
Kðs þ 20Þ GðsÞ Kðs þ 20Þ
Since GðsÞ ¼ ; TðsÞ ¼ ¼ 3 2
sðs þ 2Þðs þ 3Þ 1 þ GðsÞ s þ 5s þ ð6 þ KÞs þ 20K
Form the Routh table.
s3 1 ð6 þ KÞ
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 ðs 2Þ 1 1

jsI Aj ¼ 4 0 s 05 4 1 7 1 5 ¼ 1 ðs 7Þ 1
0 0 s 3 4 5 3 4 ðs þ 5Þ
¼ s3 4s2 33s þ 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
7.1
a. First check stability.
GðsÞ 10s2 þ 500s þ 6000 10ðs þ 30Þðs þ 20Þ

TðsÞ ¼ ¼ 3 2
¼
1 þ GðsÞ s þ 70s þ 1375s þ 6000 ðs þ 26:03Þðs þ 37:89Þðs þ 6:085Þ
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
15uðtÞ : estep ð1Þ ¼ ¼ ¼0
1 þ lim GðsÞ 1 þ 1
s!0
15 15
15tuðtÞ : eramp ð1Þ ¼ ¼ ¼ 2:1875
lim sGðsÞ 10 20 30
s!0
25 35
15 30 30
15t2 uðtÞ : e parabola ð1Þ ¼ 2
¼ ¼ 1; since L½15t2 ¼ 3
lim s GðsÞ 0 s
s!0
b. First check stability.

GðsÞ 10s2 þ 500s þ 6000
TðsÞ ¼ ¼ 5
1 þ GðsÞ s þ 110s4 þ 3875s3 þ 4:37e04s2 þ 500s þ 6000
10ðs þ 30Þðs þ 20Þ
¼
ðs þ 50:01Þðs þ 35Þðs þ 25Þðs2 7:189e 04s þ 0:1372Þ
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
GðsÞ 1000ðs þ 8Þ 1000ðs þ 8Þ

TðsÞ ¼ ¼ ¼ 2
1 þ GðsÞ ðs þ 9Þðs þ 7Þ þ 1000ðs þ 8Þ s þ 1016s þ 8063
and is of Type 0. Therefore,
1000 8
K p ¼ lim GðsÞ ¼ ¼ 127; Kv ¼ lim sGðsÞ ¼ 0;
s!0 7 9 s!0
and Ka ¼ lim s2 GðsÞ ¼ 0

s!0
b.
1 1
estep ð1Þ ¼ ¼ ¼ 7:8e 03
1 þ lim GðsÞ 1 þ 127
s!0
1 1
eramp ð1Þ ¼ ¼ ¼1
lim sGðsÞ 0
s!0
1 1
e parabola ð1Þ ¼ 2
¼ ¼1
lim s GðsÞ 0
s!0
7.3
System is stable for positive K. System is Type 0. Therefore, for a step input
1 12K
estep ð1Þ ¼ ¼ 0:1. Solving for Kp yields K p ¼ 9 ¼ lim GðsÞ ¼ ; from
1 þ Kp s!0 14 18
which we obtain K ¼ 189.
7.4
ðs þ 2Þ
System is stable. Since G1 ðsÞ ¼ 1000, and G2 ðsÞ ¼ ,
ðs þ 4Þ
1 1
eD ð1Þ ¼ ¼ ¼ 9:98e 04
1 2 þ 1000
lim þ lim G1 ðsÞ
s!0 G2 ðsÞ s!0
7.5
1 s
System is stable. Create a unity-feedback system, where He ðsÞ ¼ 1 ¼ :
The system is as follows: sþ1 sþ1
R(s) + Ea(s) C(s)

100
s+4
–
–
−s
s+1
Thus,
100
GðsÞ ðs þ 4Þ 100ðs þ 1Þ
Ge ðsÞ ¼ ¼ ¼ 2
1 þ GðSÞHe ðsÞ 100s S 95s þ 4
1
ðs þ 1Þðs þ 4Þ
Hence, the system is Type 0. Evaluating Kp yields
100
Kp ¼ ¼ 25
4
The steady-state error is given by
1 1
estep ð1Þ ¼ ¼ ¼ 3:846e 02
1 þ K p 1 þ 25
7.6
Kðs þ 7Þ 1 1 10
Since GðsÞ ¼ ; eð1Þ ¼ ¼ ¼ :
s2 þ 2s þ 10 1 þ Kp 7K 10 þ 7K
1þ
10
Calculating the sensitivity, we get
K @e K ð10Þ7 7K
Se:K ¼ ¼ 2
¼
e @K 10 ð10 þ 7KÞ 10 þ 7K
10 þ 7K
7.7
Given

0 1 0 1
A¼ ;B¼ ; C ¼ ½ 1 1 ; RðsÞ ¼ :
3 6 1 s
Using the final value theorem,

" 1 #
1 s 1 0
estep ð1Þ ¼ lim sRðsÞ½1 CðsI AÞ B ¼ lim 1 ½ 1 1
s!0 s!0 3 sþ6 1
2 " 3 #
sþ6 1
6 " #7
6 3s s 0 7 2
¼ lim 61 ½ 1 1 7 ¼ lim s þ 5s þ 2 ¼ 2
s!064 s2 þ 6s þ 3 1 7 2
5 s!0 s þ 6s þ 3 3
Using input substitution,

1
1 0 1 0
step ð1Þ ¼ 1 þ CA B ¼ 1 ½ 1 1
3 6 1

6 1 2 3
1
3 0 0 2
¼ 1 þ ½1 1 ¼ 1 þ ½1 1 4 3 5 ¼
3 1 3
0
CHAPTER 8
8.1
a.
ð7 þ j9 þ 2Þð7 þ j9 þ 4Þ0:0339 ð5 þ j9Þð3 þ j9Þ

Fð7 þ j9Þ ¼ ¼
ð7 þ j9Þð7 þ j9 þ 3Þð7 þ j9 þ 6Þ ð7 þ j9Þð4 þ j9Þð1 þ j9Þ
ð66 j72Þ
¼ ¼ 0:0339 j0:0899 ¼ 0:096 < 110:7
ð944 j378Þ
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 ð3 þ j9Þð5 þ j9Þ ð66 j72Þ

Fð7 þ j9Þ ¼ ¼ ¼
M1 M3 M5 ð1 þ j9Þð4 þ j9Þð7 þ j9Þ ð944 j378Þ
¼ 0:0339 j0:0899 ¼ 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
From the diagram,

3 3
å angles ¼ 180 tan1 tan1 ¼ 180 108:43 þ 108:43 ¼ 180 :
1 1
b. Since the angle is 1808, the point is on the root locus.

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
P pole lengths ð 12 þ 32 Þð 12 þ 32 Þ
c. K ¼ ¼ ¼ 10
P zero lengths 1
8.3
First, find the asymptotes.
åpoles åzeros ð2 4 6Þ ð0Þ

sa ¼ ¼ ¼ 4
#poles #zeros 30
ð2k þ 1Þp p 5p
ua ¼ ¼ ; p;
3 3 3
Next draw root locus following the rules for sketching.
5
1
Imag Axis
–1
–2
–3
–4
–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
b. Using the Routh-Hurwitz criteria, we first find the closed-loop transfer function.
GðsÞ Kðs þ 2Þ
TðsÞ ¼ ¼ 2
1 þ GðsÞ s þ ðK 4Þs þ ð2K þ 13Þ
Using the denominator of TðsÞ, make a Routh table.
s2 1 2K þ 13
s1 K 40 0
s0 2K þ 13 0
We get a row of zeros for K ¼ 4. From the s2 row p 2

ffiffiffiffiffi K ¼ 4; s þ 21 ¼ 0. From
with
which we evaluate the imaginary axis crossing at 21.
c. From part (b), K ¼ 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 ¼ 180 ,
from zero–
3
or tan1 90 u ¼ 180. Solving for the angle of departure, u ¼ 233:1.
4
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 ¼ j4:06.
c. For the result in part (b), K ¼ 1.
d. Searching between 2 and 4 on the real axis for the minimum gain yields the break-in
at s ¼ 2:89.
e. Searching along z ¼ 0:5 for the 1808 point we find s ¼ 2:42 þ j4:18.
f. For the result in part (e), K ¼ 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
b. Searching along the z ¼ 0:591 (10% overshoot) line for the 1808 point yields
2:028 þ j2:768 with K ¼ 45:55.
4 4 p p
c. Ts ¼ ¼ ¼ 1:97 s; T p ¼ ¼ ¼ 1:13 s; vn Tr ¼ 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,
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
vn ¼ 2:0282 þ 2:7682 ¼ 3:431. Thus, Tr ¼ 0:53 s; since the system is Type 0,
K 45:55
Kp ¼ ¼ ¼ 0:949. Thus,
2 4 6 48
1
estep ð1Þ ¼ ¼ 0:51:
1 þ 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
GðsÞ 100 100 2
TðsÞ ¼ ¼ ¼ ¼ s þ 100
1 þ GðsÞ s2 þ pi s þ 100 ðs2 þ 100Þ þ pi s 1 þ pi s
s2 þ 100
pi s
Hence, KGðsÞHðsÞ ¼ 2 . The following shows the root locus.
s þ 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:
jw
s-plane
o X X X s
–4 –3 –2 –1 0
8.9
Kðs þ 1Þ
The closed-loop transfer function is TðsÞ ¼ 2 . Differentiating the
denominator with respect to K yields s þ ðK þ 2Þs þ K
@s @s @s
2s þ ðK þ 2Þ þ ðs þ 1Þ ¼ ð2s þ K þ 2Þ þ ðs þ 1Þ ¼ 0
@K @K @K
@s @s ðs þ 1Þ K @s Kðs þ 1Þ
Solving for , we get ¼ . Thus, Ss:K ¼ ¼ :
@K @K ð2s þ K þ 2Þ s @K sð2s þ K þ 2Þ
10ðs þ 1Þ
Substituting K ¼ 20 yields Ss:K ¼ .
sðs þ 11Þ
Now find the closed-loop poles when K ¼ 20. From the denominator of TðsÞ; s1;2 ¼
21:05; 0:95, when K ¼ 20.
For the pole at 21:05,

DK 10ð21:05 þ 1Þ
Ds ¼ sðSs:K Þ ¼ 21:05 0:05 ¼ 0:9975:
K 21:05ð21:05 þ 11Þ
For the pole at 0:95,

DK 10ð0:95 þ 1Þ
Ds ¼ sðSs:K Þ ¼ 0:95 0:05 ¼ 0:0025:
K 0:95ð0:95 þ 11Þ
CHAPTER 9
9.1
a. Searching along the 15% overshoot line, we find the point on the root locus at 3:5 þ
j5:8 at a gain of K ¼ 45:84. Thus, for the uncompensated system,
Kv ¼ lim sGðsÞ ¼ K=7 ¼ 45:84=7 ¼ 6:55.
s!0
Hence, eramp uncompensated ð1Þ ¼ 1=Kv ¼ 0:1527.
b. Compensator zero should be 20x further to the left than the compensator pole.
ðs þ 0:2Þ
Arbitrarily select Gc ðsÞ ¼ .
ðs þ 0:01Þ
c. Insert compensator and search along the 15% overshoot line and find the root locus at
3:4 þ j5:63 with a gain, K ¼ 44:64. Thus, for the compensated system,
44:64ð0:2Þ 1
Kv ¼ ¼ 127:5 and eramp compensated ð1Þ ¼ ¼ 0:0078.
ð7Þð0:01Þ Kv
eramp uncompensated 0:1527
d. ¼ ¼ 19:58
eramp compensated 0:0078
9.2
j5:8 at a gain of K ¼ 45:84. Thus, for the uncompensated system,
4 4
Ts ¼ ¼ ¼ 1:143 s:
jRej 3:5
b. The real part of the design point must be three times larger than the uncompensated
pole’s real part. Thus the design point is 3ð3:5Þ þ j 3ð5:8Þ ¼ 10:5 þ j 17:4. The
angular contribution of the plant’s poles and compensator zero at the design point
is 130:8 . Thus, the compensator pole must contribute 180 130:8 ¼ 49:2 .
Using the following diagram,
jw
j17.4
s-plane
49.2°
s
–pc –10.5
17:4
we find ¼ tan 49:2 , from which, pc ¼ 25:52. Adding this pole, we find
pc 10:5
the gain at the design point to be K ¼ 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
6:83 at a gain of K ¼ 58:9. Thus, for the uncompensated system,
4 4
Ts ¼ ¼ ¼ 1:143 s:
jRej 3:5
b. For the uncompensated system, Kv ¼ lim sGðsÞ ¼ K=7 ¼ 58:9=7 ¼ 8:41. Hence,
s!0
eramp uncompensated ð1Þ ¼ 1=Kv ¼ 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 þ j 13:66. Adding the angles from the plant’s poles and
the compensator’s zero at 3 to the design point, we obtain 100:8 . Thus, the
compensator pole must contribute 180 100:8 ¼ 79:2 . Using the following
diagram,
jw
j13.66
s-plane
79.2°
s
–pc –7
13:66
we find ¼ tan79:2 , from which, pc ¼ 9:61. Adding this pole, we find the gain
pc 7
at the design point to be K ¼ 204:9.
Evaluating Kv for the lead-compensated system:
Kv ¼ lim sGðsÞGlead ¼ Kð3Þ=½ð7Þð9:61Þ ¼ ð204:9Þð3Þ=½ð7Þð9:61Þ ¼ 9:138:

s!0
Kv for the uncompensated system was 8.41. For a 10x improvement in steady-
state error, Kv must be ð8:41Þð10Þ ¼ 84:1. Since lead compensation gave us
Kv ¼ 9:138, we need an improvement of 84:1=9:138 ¼ 9:2. Thus, the lag com-
pensator zero should be 9.2x further to the left than the compensator pole.
ðs þ 0:092Þ
Arbitrarily select Gc ðsÞ ¼ .
ðs þ 0:01Þ
Using all plant and compensator poles, we find the gain at the design point to
be K ¼ 205:4. Summarizing the forward path with plant, compensator, and gain
yields
205:4ðs þ 3Þðs þ 0:092Þ
Ge ðsÞ ¼ :
sðs þ 7Þð9:61Þðs þ 0:01Þ
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
Minor-Loop Design:
Kf
For the minor loop, GðsÞHðsÞ ¼ . Using the following diagram, we find
ðs þ 7Þðs þ 10Þ
that the minor-loop root locus intersects the 0.7 damping ratio line at 8:5 þ j 8:67. The
Im
imaginary part was found as follows: u ¼ cos1 z ¼ 45:57 . Hence, ¼ tan 45:57 ,
8:5
from which Im ¼ 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

pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffipffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
K f ¼ 1:52 þ 8:672 1:52 þ 8:672 ¼ 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 ðsÞ ¼ ¼ 2 :
sðs þ 8:5 þ j8:67Þðs þ 8:5 j8:67Þ sðs þ 17s þ 147:4Þ
Using the three poles of Ge(s) as open-loop poles to plot a root locus, we search along
z ¼ 0:5 and find that the root locus intersects this damping ratio line at 4:34 þ
j7:51 at a gain, K ¼ 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:

C1
R2 C2
R1
Z1(s) Z2(s)
Matching the given transfer function with the transfer function of the PID controller
yields
ðs þ 0:1Þðs þ 5Þ s2 þ 5:1s þ 0:5 0:5
Gc ðsÞ ¼ ¼ ¼ s þ 5:1 þ
s s 8
" 1 #
R 2 C1 R C
¼ þ þ R2 C1 s þ 1 2
R 1 C2 s
Equating coefficients
1
¼ 0:5 (1)
R1 C2
R2 C1 ¼ 1 (2)

R2 C1
þ ¼ 5:1 (3)
R1 C2
In Eq. (2) we arbitrarily let C1 ¼ 105 . Thus, R2 ¼ 105 . Using these values along with
Eqs. (1) and (3) we find C2 ¼ 100 mF and R1 ¼ 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
ðs þ 0:1Þðs þ 2Þ ðs þ 0:1Þðs þ 2Þ
Gc ðsÞ ¼ ¼ 2
ðs þ 0:01Þðs þ 20Þ s þ 20:01s þ 0:2

1 1
sþ sþ
R1 C1 R2 C2
¼
1 1 1 1
s2 þ þ þ sþ
R1 C1 R2 C2 R2 C1 R1 R2 C1 C2
Equating coefficients
1
¼ 0:1 (1)
R1 C1
1
¼ 0:1 (2)
R2 C2

1 1 1
þ þ ¼ 20:01 (3)
R1 C1 R2 C2 R2 C1
Substituting Eqs. (1) and (2) in Eq. (3) yields

1
¼ 17:91 (4)
R 2 C1
Arbitrarily letting C1 ¼ 100 mF in Eq. (1) yields R1 ¼ 100 kV.
Substituting C1 ¼ 100 mF into Eq. (4) yields R2 ¼ 558 kV.
Substituting R2 ¼ 558 kV into Eq. (2) yields C2 ¼ 900 mF.
CHAPTER 10
10.1
a.
1 1
GðsÞ ¼
; Gð jvÞ ¼ 2
ðs þ 2Þðs þ 4Þ ð8 þ v Þ þ j6v
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
MðvÞ ¼ ð8 v2 Þ2 þ ð6vÞ2

pffiffiffi 1 6v
For v < 8, fðvÞ ¼ tan :
8 v2

pffiffiffi 1 6v
For v < 8, fðvÞ ¼ p þ tan :
8 v2
b.
Bode Diagrams
0
–20
–40
Phase (deg); Magnitude (dB)
–60
–80
–100
0
–50
–100
–150
–200
10–1 100 101 102
Frequency (rad/sec)
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)
10.3
The frequency response is 1/8 at an angle of zero degrees at v ¼ 0. Each pole rotates 90
in going from v ¼ 0 to v ¼ 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 ¼ 0. Each pole rotates
90 in going from v ¼ 0 to v ¼ 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 GðsÞ ¼ ¼ 3 2
and
ðs þ 2Þðs þ 4Þðs þ 6Þ s þ 12s þ 44s þ 48
ð48 12v2 Þ jð44v v3 Þ
simplifying, we obtain Gð jvÞ ¼ 6 . The Nyquist diagram
v þ 56v4 þ 784v2 þ 2304
crosses the real axis when the imaginary part of GðpjvÞffiffiffiffiffi is zero. Thus, the Nyquist
diagram crosses the real axis at v2 ¼ 44; or v ¼ 44 ¼ 6:63 rad=s. At this fre-
1
quency Gð jvÞ ¼ . Thus, the system is stable for K < 480.
480
10.5
If K ¼ 100, the Nyquist diagram will intersect the real axis at 100=480. Thus,
480
GM ¼ 20 log ¼ 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 ¼ 99:67, or K ¼ 96; 270. We conclude that the
system is stable for K < 96; 270.
c. For K ¼ 10; 000, the magnitude plot is moved up 20log10; 000 ¼ 80 dB. Therefore,
the gain margin is 99:67 80 ¼ 19:67 dB. The 180 frequency is 36.7 rad/s. The
gain curve crosses 0 dB at v ¼ 7:74 rad=s, where the phase is 87:1 . We calculate the
phase margin to be 180 87:1 ¼ 92:9 .
10.7
lnð%=100Þ
Using z ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi, we find z ¼ 0:456, which corresponds to 20% over-
p2 þ ln2 ð%100Þ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi
4
shoot. Using Ts ¼ 2; vBW ¼ ð1 2z2 Þ þ 4z4 4z2 þ 2 ¼ 5:79 rad=s.
Ts z
10.8
160 ð6750000 101250v2 Þ þ j1350ðv2 1350Þv
For both parts find that Gð jvÞ ¼ .
27 v6 þ 2925v4 þ 1072500v2 þ 25000000
For a range of values for v, superimpose Gð jvÞ on the a. M and N circles, and on the
b. Nichols chart.
a.
Im
G-plane
Φ = 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°
–3
–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)
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
–20
–40
–100
–120
–140
–160
10–1 100 101 102

Frequency (rad/sec)
The open-loop frequency response is 7 at v ¼ 14:5 rad=s. Thus, the estimated

bandwidth is vWB ¼ 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 ¼ 28:02 . This phase margin corresponds to
pffiffiffiffiffiffiffiffi2
z ¼ 0:25: Therefore; %OS ¼ e zp= 1z
x100 ¼ 44:4%;
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
4
Ts ¼ ð1 2z2 Þ þ 4z4 4z2 þ 2 ¼ 1:64 s and
vBW z
p
Tp ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ð1 2z Þ þ 4z4 4z2 þ 2 ¼ 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 ¼ 9:5 rad=s. Thus, K a ¼ 9:52 ¼ 90:25 and K p ¼ Kv ¼ 1.
10.11
10 10
a. Without delay, Gð jvÞ ¼ ¼ , from which the zero dB fre-
jvð jv þ 1Þ vðv þ jÞ
10 pffiffiffiffiffiffiffiffiffiffiffiffiffiffi
quency is found as follows: M ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 1. Solving for v; v v2 þ 1 ¼ 10, or
v v þ12
after squaring both sides and rearranging, v4 þ v2 100 ¼ 0. Solving for the roots,
v2 ¼ 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 ¼ ffðv þ jÞ ¼
ffð3:08 þ jÞ ¼ 162 . Therefore the phase margin is 180 162 ¼ 18 .
b. With a delay of 0.1 s,
f ¼ ffðv þ jÞ vT ¼ ffð3:08 þ jÞ ð3:08Þð0:1Þð180=piÞ ¼ 162 17:65
¼ 179:65 :
Therefore the phase margin is 180 179:65 ¼ 0:35 . Thus, the system is stable.
c. With a delay of 3 s,
f ¼ ffðv þ jÞ vT ¼ ffð3:08 þ jÞ ð3:08Þð3Þð180=piÞ ¼ 162 529:41

¼ 691:41 ¼ 28:59 deg:
Therefore the phase margin is 28:59 180 ¼ 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.
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 ðsÞ ¼ . Subtracting G1(s) from the original frequency response yields
sðs þ 21Þ
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)
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 ¼ 20 logð5:7KÞ, or
K ¼ 27:8. Thus, we estimate G2 ðsÞ ¼ 27:8ðs þ 7Þ. Thus, GðsÞ ¼ G1 ðsÞG2 ðsÞ ¼
27:8ðs þ 5:7Þ
. It is interesting to note that the original problem was developed from
sðs þ 21Þ
30ðs þ 5Þ
GðsÞ ¼ .
sðs þ 20Þ
CHAPTER 11
11.1
The Bode plot for K ¼ 1 is shown below.
Bode Diagrams
–60
–80
–100
–120
–140
–160
–180
–100
–150
–200
–250
10–1 100 101 102 103

Frequency (rad/sec)
%
log 100
A 20% overshoot requires z ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
% ¼ 0:456. This damping ratio implies a
p2 þ log2 100
phase margin of 48.10, which is obtained when the phase angle ¼ 1800 þ 48:10 ¼
131:9 . This phase angle occurs at v ¼ 27:6 rad=s. The magnitude at this frequency is
5:15 106 . Since the magnitude must be unity K ¼ 5:1510 1
6 ¼ 194;200.
11.2
To meet the steady-state error requirement, K ¼ 1;942;000. The Bode plot for this gain
is shown below.
Bode Diagrams
60
40
20
0
–20
–40
–100
–150
–200
–250
10–1 100 101 102 103

Frequency (rad/sec)

%
log
100
A 20% overshoot requires z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi ¼ 0:456: This damping ratio
%
p2 þ 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
þ58:1 ¼ 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 0:1ð20:4Þ ¼ 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
ðs þ 2:04Þ
break or 0.141 rad/s. Hence the compensator is Gc ðsÞ ¼ Kc , where the gain
ðs þ 0:141Þ
is chosen to yield 0 dB at low frequencies, or Kc ¼ 0:141=2:04 ¼ 0:0691. In summary,
ðs þ 2:04Þ 1;942;000
Gc ðsÞ ¼ 0:0691 and GðsÞ ¼
ðs þ 0:141Þ sðs þ 50Þðs þ 120Þ

11.3 %
log
100
ffi ¼ 0:456. The required bandwidth is
%
p2 þ log2
100
4
then calculated as vBW ¼ ð1 2z2 Þ þ 4z4 4z2 þ 2 ¼ 57:9 rad/s. In order to
Ts z K
meet the steady-state error requirement of Kv ¼ 50 ¼ , we calculate
ð50Þð120Þ
K ¼ 300;000. The uncompensated Bode plot for this gain is shown below.
Bode Plot for K = 300000
40
20
–20

–40
–60
–100
–150
–200
–250
10–1 100 101 102 103

Frequency (rad/sec)
The uncompensated system’s 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 system’s phase margin is 180 þ
144:8 ¼ 35:2 . The required phase margin based on the required damping ratio is
2z
FM ¼ tan1 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 48:1 . Adding a 10 correction factor, the
2
2z þ 1 þ 4z 4
required phase margin is 58:1 . Hence, the compensator must contribute
1b 1 sin fmax
fmax ¼ 58:1 35:2 ¼ 22:9 . Using fmax ¼ sin1 ,b¼ ¼ 0:44.
1þb 1 þ sin fmax
1
The compensator’s peak magnitude is calculated as Mmax ¼ pffiffiffi ¼ 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 ¼ 50 rad=s. The compensator’s zero
1 1
is at zc ¼ . vmax ¼ pffiffiffi : Therefore, zc ¼ 33:2.
T T b 1 zc
The compensator’s pole is at pc ¼ ¼ ¼ 75:4. The compensator gain is chosen to
yield unity gain at dc. bT b
ðs þ 33:2Þ
Hence, Kc ¼ 75:4=33:2 ¼ 2:27. Summarizing, Gc ðsÞ ¼ 2:27 , and
300;000 ðs þ 75:4Þ
GðsÞ .
sðs þ 50Þðs þ 120Þ

11.4 %
log
100
ffi ¼ 0:591. The required bandwidth is
%
p2 þ log2
100
p
then calculated as vBW ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ð1 2z2 Þ þ 4z4 4z2 þ 2 ¼ 7:53 rad=s.
T p 1 z2
K
In order to meet the steady-state error requirement of Kv ¼ 10 ¼ , we calculate
ð8Þð30Þ
K ¼ 2400. The uncompensated Bode plot for this gain is shown below.
Bode Diagrams
40
20
0
–20
–40
–60
–80
–100
–100
–150
–200
–250
10–1 100 101 102 103

Frequency (rad/sec)
Let us select a new phase-margin frequency at 0:8vBW ¼ 6:02 rad=s. The required
phase margin based on the required damping ratio is FM ¼ tan1
2z
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 58:6 . Adding a 5 correction factor, the required phase margin
2z2 þ 1 þ 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 ¼ 41:7 . Thus, the lead comp-
ensator must contribute fmax ¼ 63:6 41:7 ¼ 21:9 .
1b 1 sinfmax
Using fmax ¼ sin1 ,b¼ ¼ 0:456.
1þb 1 þ 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 ¼ 0:602 rad=s. The lag
compensator’s pole is plag ¼ bzlag ¼ 0:275. Finally, the lag compensator’s gain is
Klag ¼ b ¼ 0:456.
Now we design the lead
pffiffiffi compensator. The lead
pffiffiffi zero is the product of the new phase
zlead
margin frequency and b, or zlead ¼ 0:8 vBW b ¼ 4:07. Also, plead ¼ ¼ 8:93.
1 b
Finally, Klead ¼ ¼ 2:19. Summarizing,
b
ðs þ 0:602Þ ðs þ 4:07Þ
Glag ¼ ðsÞ ¼ 0:456 ; Glead ðsÞ ¼ 2:19 ; and K ¼ 2400:
ðs þ 0:275Þ ðs þ 8:93Þ
CHAPTER 12
12.1
We first find the desired characteristic equation. A 5% overshoot requires
%
log
100 p
z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi ¼ 0:69. Also, vn ¼ pffiffiffiffiffiffiffiffiffiffiffiffi2ffi ¼ 14:47 rad=s. Thus, the
% Tp 1 z
p2 þ log2
100
characteristic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 19:97s þ 209:4. Adding a pole at
10 to cancel the zero at 10 yields the desired characteristic equa-
tion,ðs2 þ 19:97s þ 209:4Þðs þ 10Þ ¼ s3 þ 29:97s2 þ 409:1s þ 2094. The compen-
sated system matrix in phase-variable form is
2 3
0 1 0
A BK ¼ 4 0 0 1 5. The characteristic equation for this
ðk1 Þ ð36 þ k2 Þ ð15 þ k3 Þ
system is jsI ðA BKÞj ¼ s3 þ ð15 þ k3 Þs2 þ ð36 þ k2 Þs þ ðk1 Þ. Equating coeffi-
cients of this equation with the coefficients of the desired characteristic equation yields
the gains as
K ¼ ½ k1 k2 k3 ¼ ½ 2094 373:1 14:97 :
12.2 2 3

2 1 1
The controllability matrix is CM ¼ B AB A2 B ¼ 4 1 4 9 5. Since
1 1 16
jCM j ¼ 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 ¼ B AB A2 B ¼

2 3
0 0 1
4 0 1 17 5. Since jCMz j ¼ 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 ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi ¼ 0:456. Also, vn ¼ zT ¼ 4:386 rad=s.
% s
p2 þ log2
100
Thus, the characteristic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 4s þ 19:24. Adding a pole
at 6 to cancel the zero at 6 yields the resulting desired characteristic equation,
ðs2 þ 4s þ 19:24Þðs þ 6Þ ¼ s3 þ 10s2 þ 43:24s þ 115:45:

ðs þ 6Þ sþ6
Since GðsÞ ¼ ¼ 3 2
, we can write the
ðs þ 7Þðs þ 8Þðs þ 9Þ s þ 24s þ 191s þ 504
2 3 2 3
0 1 0 0
phase-variable representation as Ap ¼ 4 0 0 1 5 ; Bp ¼ 4 0 5; Cp ¼
504 191 24 1
½6 1
2 0 . The compensated system matrix3in phase-variable form is Ap Bp Kp ¼
0 1 0
4 0 0 1 5. The characteristic equation for this
ð504 þ k1 Þ ð191 þ k2 Þ ð24 þ k3 Þ
system is jsI ðAp Bp Kp Þj ¼ s3 þ ð24 þ k3 Þs2 þ ð191 þ k2 Þsþð504 þ k1 Þ. Equat-
ing coefficients of this equation with the coefficients of the desired characteristic
equation yields the gains as Kp ¼ ½ k1 k2 k3 ¼ ½ 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 ¼ Bz Az Bz A2z B z ¼ 4 0 1 17 5 and
1 9 81
2 3
h i 0 0 1
CMp ¼ Bp Ap Bp A2p Bp ¼ 4 0 1 24 5:
1 24 385
Therefore,
2 32 3 2 3
0 0 1 191 24 1 1 0 0
P ¼ CMz C1
Mx ¼ 40 1 17 54 24 1 0 5 ¼ 4 7 1 0 5
19 81 1 0 0 56 15 1
2 3
1 0 0
Hence; Kz ¼ Kp P1 ¼ ½ 388:55 147:76 14 4 7 1 05
49 15 1
¼ ½ 40:23 62:24 14 :
12.4 2 3
ð24 þ l1 Þ 1 0
For the given system ex_ ¼ ðA LCÞex ¼ 4 ð191 þ l2 Þ 0 1 5ex . The characteristic
ð504 þ l3 Þ 0 0
polynomial is given by j½sI ðA LCÞj ¼ s3 þ ð24 þ l1 Þs2 þð191þl2 Þsþð504 þ l3 Þ.
Now we find the desired characteristic equation. The dominant poles from Skill-Assess-
ment Exercise 12.3 come from ðs2 þ 4s þ 19:24Þ. Factoring yields ð2 þ j3:9Þ and
ð2 j3:9Þ. 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, ðs þ 20 þ j39Þðs þ 20 j39Þðs þ 200Þ ¼ s3 þ 240s2 þ 9921s þ 384200. Equ-
ating coefficients of the desired characteristic equation to the system’s characteristic
2 3
216
equation yields L ¼ 4 9730 5.
383696
12.5 2 3 2 3
C 4 6 8
The observability matrix is OM ¼ 4 CA 5 ¼ 4 64 80 78 5, where
2 3 CA2 674 848 814
25 28 32
A2 ¼ 4 7 4 11 5. The matrix is of full rank, that is, rank 3, since
77 95 94
jOM j ¼ 1576. Therefore the system is observable.
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_ ¼ 4 0 8 1 5z þ 4 0 5u
0 0 9 1
y ¼ ½1 0 0 z
2 3 2 3
Cz 1 0 0
The observability matrix is OMz ¼ 4 Cz Az 5 ¼ 4 7 1 0 5, where A2z ¼
2
2 3 Cz Az 49 15 1
49 15 1
4 0 64 1 1
17 5. Since GðsÞ ¼ ¼ ,
ðs þ 7Þðs þ 8Þðs þ 9Þ s3 þ 24s2 þ 191s þ 504
0 0 81
we can write the observable canonical form as
2 3 2 3
24 1 0 0
x_ ¼ 4 191 0 1 5x þ 4 0 5u
504 0 0 1
y ¼ ½1 0 0 x
2 3 2 3
Cx 1 0 0
The observability matrix for this form is OMx ¼ 4 Cx Ax 5 ¼ 4 24 1 0 5,
2
Cx Ax 385 24 1
2 3
385 24 1
where A2x ¼ 4 4080 191 0 5:
12096 504 0
We next find the desired characteristic equation. A 10% overshoot requires

%
log
100 4
ffi ¼ 0:591. Also, vn ¼ zT ¼ 67:66 rad=s. Thus, the character-
% s
p2 þ log2
100
istic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 80s þ 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, ðs2 þ 80s þ 4578:42Þðs þ 400Þ ¼ s3 þ 480s2 þ 36580s þ
1:831x106 . For the 2 system represented 3 in observable canonical form ex_ ¼
ð24 þ l1 Þ 1 0
ðAx Lx Cx Þex ¼ 4 ð191 þ l2 Þ 0 1 5ex . The characteristic polynomial is given
ð504 þ l3 Þ 0 0
by j½sI ðAx Lx Cx Þj ¼ s3 þ ð24 þ l1 Þs2 þ ð191 þ l2 Þs þ ð504 þ l3 Þ. Equating
coefficients of the desired characteristic equation to the system’s characteristic equation
2 3
456
yields Lx ¼ 4 36; 389 5:
1; 830; 496
Now, develop the transformation matrix between the observer canonical and cascade
forms.
2 31 2 3
1 0 0 1 0 0
6 7 6 7
P ¼ O1
Mz OMx ¼ 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
¼ 4 7 1 0 54 24 1 0 5 ¼ 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 ¼ PLx ¼ 4 17 1 0 54 36; 389 5 ¼ 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
ffi ¼ 0:591
2 %
p2 þ log
100
p
Also, vn ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 1:948 rad=s. Thus, the characteristic equation is s2 þ
T p 1 z2
2zvn s þ vn ¼ s2 þ 2:3s þ 3:79. Adding a pole at 4, which corresponds to the
2
original system’s zero location, yields the resulting desired characteristic equation,
ðs2 þ 2:3s þ 3:79Þðs þ 4Þ ¼ s3 þ 6:3s2 þ 13s þ 15:16.

x_ ðA BKÞ BKe x 0 x
Now, ¼ þ r; and y ¼ ½ C 0 ,
x_ N C 0 xN 1 xN
where

0 1 0 0 1 0 0
A BK ¼ ½ k1 k2 ¼
7 9 1 7 9 k1 k2

0 1
¼
ð7 þ k1 Þ ð9 þ k2 Þ
C ¼ ½4 1

0 0
Bke ¼ k ¼
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 ¼ 4 ð7 þ k1 Þ ð9 þ k2 Þ ke 54 x2 5 þ r; y ¼ ½ 4 1 0 4 x2 5.
1
x_ N 4 1 0 xN xN
Finding the characteristic equation of this system yields

2 3 2 3
s 0 0 0 1 0
ðA BKÞ BK
sI e
¼ 4 0 s 0 5 4 ð7 þ k1 Þ ð9 þ k2 Þ ke 5
C 0
0 0 s 4 1 0
2 3
s 1 0

¼ 4 ð7 þ k1 Þ s þ ð9 þ k2 Þ ke 5 ¼ s3 þ ð9 þ k2 Þs2 þ ð7 þ k1 þ ke Þs þ 4ke
4 1 s
Equating this polynomial to the desired characteristic equation,
s3 þ 6:3s2 þ 13s þ 15:16 ¼ s3 þ ð9 þ k2 Þs2 þ ð7 þ k1 þ ke Þs þ 4ke

Solving for the k’s,
K ¼ ½ 2:21 2:7 and ke ¼ 3:79:
CHAPTER 13
13.1
1
f ðtÞ ¼ sinðvkTÞ; f ðtÞ ¼ å sinðvkTÞdðt kTÞ;
k¼0

1 1 e jvkT e jvkT ekTs
kTs
F ðsÞ ¼ å sinðvkTÞe ¼ å
k¼0 k¼0 2j
1 1 k k
¼ å eTðs jvÞ eTðsþ jvÞ
1
2 j k¼0
1
But, å xk ¼
k¼0 1 x1
Thus,

1 1 1 1 eTs e jvT eTs e jvT
F ðsÞ ¼ ¼
2 j 1 eTðs jvÞ 1 eTðsþ jvÞ 2 j 1 ðeTs e jvT eTs e jvT Þ þ e2Ts

sinðvTÞ z1 sinðvTÞ
¼ eTs ¼
1 eTs 2cosðvTÞ þ e2Ts 1 2z1 cosðvTÞ þ z2
13.2
zðz þ 1Þðz þ 2Þ
FðzÞ ¼
ðz 0:5Þðz 0:7Þðz 0:9Þ
FðzÞ ðz þ 1Þðz þ 2Þ
¼
z ðz 0:5Þðz 0:7Þðz 0:9Þ
z z z
¼ 46:875 114:75 þ 68:875
z 0:5 z 0:7 z 0:9
z z z
FðzÞ ¼ 46:875 114:75 þ 68:875 ;
z 0:5 z 0:7 z 0:9
f ðkTÞ ¼ 46:875ð0:5Þk 114:75ð0:7Þk þ 68:875ð0:9Þk

13.3
8
Since GðsÞ ¼ 1 eTs ,
sðs þ 4Þ

1
8 z1 A B z1 2 2
GðzÞ ¼ 1 z z ¼ z þ ¼ z þ :
sðs þ 4Þ z s sþ4 z s sþ4
2 2
Let G2 ðsÞ ¼ þ . Therefore, g2 ðtÞ ¼ 2 2e4t , or g2 ðkTÞ ¼ 2 2e4kT .
s sþ4
2z 2z 2zð1 e4T Þ
Hence, G2 ðzÞ ¼ ¼ .
z 1 z e4T ðz 1Þðz e4T Þ
z1 2ð1 e4T Þ

Therefore, GðzÞ ¼ G2 ðzÞ ¼ .
z ðz e4T Þ
1 1:264
For T ¼ s, GðzÞ ¼ .
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 ðzÞ
Hence, TðzÞ ¼ .
1 þ HG1 G2 ðzÞ
13.5
20 GðsÞ 20 4 4
Let GðsÞ ¼ . Let G2 ðsÞ ¼ ¼ ¼ . Taking the inverse
sþ5 s sðs þ 5Þ s s þ 5
Laplace transform and letting t ¼ kT, g2 ðkTÞ ¼ 4 4e5kT . Taking the z-transform
4z 4z 4zð1 e5T Þ
yields G2 ðzÞ ¼ ¼ .
z 1 z e5T ðz 1Þðz e5T Þ
z1 4ð1 e5T Þ GðzÞ 4ð1 e5T Þ

Now, GðzÞ ¼ G2 ðzÞ ¼ 5T
. Finally, TðzÞ ¼ ¼ .
z ðz e Þ 1 þ GðzÞ z 5e5T þ 4
The pole of the closed-loop system is at 5e5T 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
sþ1
Substituting z ¼ into DðzÞ ¼ z3 z2 0:5z þ 0:3, we obtain DðsÞ ¼
s1
s3 8s2 27s 6. The Routh table for this polynomial is shown below.
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,

ðs þ 3Þ 3=20 1=4 2=5
GðsÞ ¼ 20ð1 eTs Þ ¼ 20ð1 eTs Þ þ :
sðs þ 4Þðs þ 5Þ s ðs þ 4Þ ðs þ 5Þ
Taking the z-transform yields

1 ð3=20Þz ð1=4Þz ð2=5Þz 5ðz 1Þ 8ðz 1Þ
GðzÞ ¼ 20ð1 z Þ þ 4T
5T
¼3þ 4T
:
z1 ze ze 1 ze z e5T
Hence for T ¼ 0:1 second, K p ¼ lim GðzÞ ¼ 3, and K v ¼ lim ðz 1ÞGðzÞ ¼ 0, and
z!1 T z!1
1 2
K a ¼ 2 lim ðz 1Þ GðzÞ ¼ 0. Checking for stability, we find that the system is stable
T z!1
GðzÞ 1:5z 1:109
for T ¼ 0:1 second, since TðzÞ ¼ ¼ has poles inside the
1 þ GðzÞ z2 þ 0:222z 0:703
unit circle at 0:957 and þ0:735. Again, checking for stability, we find that the system
GðzÞ 3:02z 0:6383
is unstable for T ¼ 0:5 second, since TðzÞ ¼ ¼ has
1 þ GðzÞ z2 þ 2:802z 0:6272
poles inside and outside the unit circle at þ0:208 and 3:01, respectively.
13.8
Draw the root locus superimposed over the z ¼ 0:5 curve shown below. Searching along
a 54:3 line, which intersects the root locus and the z ¼ 0:5 curve, we find the point
0:587ff54:3 ¼ ð0:348 þ j0:468Þ and K ¼ 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
–1.5
–3 –2.5 –2 –1.5 –1 –0.5 0 0.5 1 1.5 2

Real Axis
13.9
Let
100K 2:38ðs þ 25:3Þ
Ge ðsÞ ¼ GðsÞGc ðsÞ ¼
sðs þ 36Þðs þ 100Þ ðs þ 60:2Þ
342720ðs þ 25:3Þ
¼ :
sðs þ 36Þðs þ 100Þðs þ 60:2Þ
The following shows the frequency response of Ge ð jvÞ.
Bode Diagrams
40
20
–20
–40
–60
–100
–150
–200
–250
10–1 100 101 102 103

Frequency (rad/sec)
We find that the zero dB frequency, vFM , for Ge ð jvÞ is 39 rad/s. Using Astrom’s
guideline the value of T should be in the range, 0:15=vFM ¼ 0:0038 second to
0:5=vFM ¼ 0:0128 second. Let us use T ¼ 0:001 second. Now find the Tustin
2ðz 1Þ
transformation for the compensator. Substituting s ¼ into Gc ðsÞ ¼
2:38ðs þ 25:3Þ Tðz þ 1Þ
with T ¼ 0:001 second yields
ðs þ 60:2Þ
ðz 0:975Þ
Gc ðzÞ ¼ 2:34 :
ðz 0:9416Þ
13.10
XðzÞ 1899z2 3761z þ 1861
Gc ðzÞ ¼ ¼ 2 . Cross-multiply and obtain ðz2 1:908z þ
EðzÞ z 1:908z þ 0:9075
0:9075ÞXðzÞ ¼ ð1899z2 3761z þ 1861ÞEðzÞ. Solve for the highest power of z oper-
ating on the output, X(z), and obtain z2 XðzÞ ¼ ð1899z2 3761z þ 1861Þ
EðzÞ ð1:908z þ 0:9075ÞXðzÞ. Solving for X(z) on the left-hand side yields
XðzÞ ¼ ð1899 3761z1 þ 1861z2 ÞEðzÞ ð1:908z1 þ 0:9075z2 ÞXðzÞ. Finally,
we implement this last equation with the following flow 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

Solution of Skill Assesment Exercise of Control System Engineering by Norman S Nise PDF

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SOLUTIONS TO

ðs3 þ 3s2 þ 7s þ 5ÞCðsÞ ¼ ðs2 þ 4s þ 3ÞRðsÞ

Transforming the network yields,

Now, writing the mesh equations,

Solving the mesh equations for I2(s),

From which, after simplification,

Writing the equations of motion,

Substituting the function, f ðvÞ ¼ ev , with v ¼ vo þ dv yields,

Writing the derivative relations

Using Kirchhoff’s current and voltage laws,

The output is z5. Hence, y ¼ z5 . In vector-matrix form,

Evaluating ðsI AÞ yields

Taking the inverse we obtain

Converting to vector-matrix form yields the final result as

a. Since poles are at 6  j19:08; cðtÞ ¼ A þ Be6t cosð19:08t þ fÞ.

The state vector is XðsÞ ¼ ðsI AÞ1 ½xð0Þ þ BUðsÞ ¼ 1 

Thus, xðtÞ ¼ FðtÞxð0Þ þ Fðt tÞ

c. yðtÞ ¼ ½ 2 1 x ¼ 5et e2t

Connect nodes and label subsystems.

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

Eliminate unnecessary nodes.

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

Thus x1 ¼ x2 and x1 ¼ 0:75x2 ; from which we let

Now form the Routh table.

GðsÞ 10s2 þ 500s þ 6000 10ðs þ 30Þðs þ 20Þ

b. First check stability.

GðsÞ 1000ðs þ 8Þ 1000ðs þ 8Þ

and Ka ¼ lim s2 GðsÞ ¼ 0

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

Using the final value theorem,

Using input substitution,

ð7 þ j9 þ 2Þð7 þ j9 þ 4Þ0:0339 ð5 þ j9Þð3 þ j9Þ

b. The arrangement of vectors is shown as follows:

From the diagram,

M2 M4 ð3 þ j9Þð5 þ j9Þ ð66 j72Þ

From the diagram,

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

åpoles åzeros ð2 4 6Þ ð0Þ

Using the denominator of TðsÞ, make a Routh table.

We get a row of zeros for K ¼ 4. From the s2 row p 2

For the pole at 0:95,

Kv ¼ lim sGðsÞGlead ¼ Kð3Þ=½ð7Þð9:61Þ ¼ ð204:9Þð3Þ=½ð7Þð9:61Þ ¼ 9:138:

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

where the impedances are shown below as follows:

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

–0.05 0 0.05 0.1 0.15 0.2

–80 –40 dB/dec

10–1 100 101 102

The open-loop frequency response is 7 at v ¼ 14:5 rad=s. Thus, the estimated

f ¼ ﬀðv þ jÞ vT ¼ ﬀð3:08 þ jÞ ð3:08Þð3Þð180=piÞ ¼ 162 529:41

10–1 100 101 102 103

10–1 100 101 102 103

Bode Plot for K = 300000

Phase (deg); Magnitude (dB)

10–1 100 101 102 103

10–1 100 101 102 103

First check controllability. The controllability matrix is CMz ¼ B AB A2 B ¼

ðs2 þ 4s þ 19:24Þðs þ 6Þ ¼ s3 þ 10s2 þ 43:24s þ 115:45:

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

Finding the characteristic equation of this system yields

s3 þ 6:3s2 þ 13s þ 15:16 ¼ s3 þ ð9 þ k2 Þs2 þ ð7 þ k1 þ ke Þs þ 4ke

f ðkTÞ ¼ 46:875ð0:5Þk 114:75ð0:7Þk þ 68:875ð0:9Þk

z1 2ð1 e4T Þ

a. Since poles are at 6 j19:08; cðtÞ ¼ A þ Be6t cosð19:08t þ fÞ.

The state vector is XðsÞ ¼ ðsI AÞ1 ½xð0Þ þ BUðsÞ ¼ 1

f ¼ ﬀðv þ jÞ vT ¼ ﬀð3:08 þ jÞ ð3:08Þð3Þð180=piÞ ¼ 162 529:41