Solution Automatic Control Systems 8ed - Kuo and Golnaraghi - Solutions Manual PDF

Chapter 2 MATHEMATICAL FOUNDATION
2-1 (a) Poles: s = 0, 0, −1, −10; (b) Poles: s = −2, −2;

Zeros: s = −2, ∞, ∞, ∞. Zeros: s = 0.
The pole and zero at s = −1 cancel each other.
(c) Poles: s = 0, −1 + j, −1 − j; (d) Poles: s = 0, −1, −2, ∞.

Zeros: s = −2.
2-2 (a) (b) (c)

5 4s 1 4
G (s) = G ( s) = + G (s) =
( s + 5) 2
(s 2
+4 ) s+ 2 s
2
+ 4s +8
(d) (e)
∞
∑e kT ( s + 5 )
1 1
G ( s) = G (s) = = −T ( s+5 )
+4 −e
2
s 1
k =0
2-3 (a)
g ( t ) = u s ( t ) − 2u s (t − 1) + 2 u s( t − 2) − 2 u s ( t − 3) + L
−s
1−e
(1 − 2e − s + 2e−2 s − 2e −3s + L ) =
1
G (s ) =
s (
s 1+ e
−s
)
gT (t ) = u s (t ) − 2us (t − 1) + us (t − 2) 0≤ t ≤ 2
(1 − 2e − s + e −2s ) = ( 1 − e − s )
1 1 2
GT (s ) =
s s
1
∞ ∞ −s
1− e
∑ ∑s −s −2 ks
1
= − 2k )us (t − 2k ) = −e =
2
g(t ) g (t G (s) (1 ) e
T −s
s (1 + e )
k =0 k =0
(b)
g ( t) = 2tu s ( t ) − 4(t − 0.5) u s (t − 0.5) + 4(t − 1) us (t − 1) − 4(t − 1.5)us (t − 1.5) + L
( − 0.5 s
)
2 1−e
(1 − 2e + L) = 2
2 −0.5 s −s −1.5 s
G ( s) = + 2e − 2e
s (1 + e )
2 −0.5 s
s
g
T
(t ) = 2 tu s ( t ) − 4 ( t − 0 . 5) u s ( t − 0 . 5) + 2( t − 1 ) u s ( t − 1 ) 0 ≤ t ≤1
(1 − 2e−0.5 s + e− s ) = s 2 (1 − e−0.5 s )
2 2 2
GT ( s ) = 2
s
∞ ∞
( −0.5 s )
2 1−e
∑ s2 ( )
2
∑ −0.5 s 2 − ks
g (t ) = g T ( t − k )us ( t − k ) G(s ) = 1 −e =
s (1 + e )
e 2 −0.5s
k=0 k=0
2-4
g(t ) = ( t + 1 ) u s ( t ) − ( t − 1 ) u s ( t − 1 ) − 2 u s ( t − 1 ) − ( t − 2 ) u s ( t − 2 ) + ( t − 3) u s ( t − 3) + u s ( t − 3)
(1 − e − s − e −2 s + e −3 s ) + s (1 −2e − s + e −3 s )
1 1
G ( s) = 2
s
2-5 (a) Taking the Laplace transform of the differential equation, we get
1 1 1 1 1
( s + 5s + 4) F ( s) = F (s) = = + −
2
s +2 ( s + 1)( s + 2 )( s +4) 6( s + 4) 3( s + 1) 2( s + 2)
1 −4 t 1 −t 1 −2 t
f (t ) = e + e − e t ≥0
6 3 2
1
(b) sX ( s )
1
− x1( 0 ) = X (s)
2
x (0)
1
=1 sX
2
(s) − x 2 ( 0 ) = −2 X 1 ( s ) − 3 X 2 ( s ) + x (0)
2
=0
s
Solving for X1 (s) and X2 (s), we have

+ 3 s +1
2
s 1 1 1
X 1 ( s) = = + −
s( s + 1 )( s + 2 ) 2s s +1 2( s + 2)
−1 −1 1
X (s) = = +
+ 1 )( s + 2 ) +1 +2
2
(s s s
Taking the inverse Laplace transform on both sides of the last equation, we get
−t −2 t −t −2 t
x (t )
1
= 0 .5 + e − 0 .5 e t ≥0 x (t )
2
= −e +e t ≥0
2
2-6 (a)
1 1 1 1 1 −2 t 1 −3 t
G (s) = − + g (t ) = − e + e t ≥0
3s 2( s + 2) 3( s + 3) 3 2 3
(b)
−2 . 5 5 2 .5 −t −t −3 t
G (s) = + + g(t ) = −2 . 5 e + 5 te + 2 .5 e t ≥0
+1 + 1) +3
2
s (s s
(c)
G (s ) = ( 50
s
−
20
s +1
−
30s + 20
s +4
2 ) e
−s
[
g (t ) = 50 − 20e
− (t −1)
− 30cos2(t − 1) − 5sin2(t − 1) ] us (t − 1)
(d)
1 s −1 1 1 s
G (s) = − = + − Taking the inverse Laplace transform,
+s+2 +s +2 +s+2
2 2 2
s s s s s
g (t ) = 1 + 1.069e
−0.5 t
[ sin1.323t + sin (1.323t − 69.3o ) ] = 1 + e−0.5 t (1.447sin1.323t − cos1.323t ) t≥0
−t
(e) = 0 .5 t ≥0
2
g(t ) e t
2-7
 −1 2 0  0 0 
 u1( t) 
A =  0 −2 3  B = 1 0  u (t ) =  u ( t) 
     2 
 −1 −3 −1  0 1 
2-8 (a) (b)

Y (s ) 3s + 1 Y (s) 5
= 3 2
= 4 2
R (s ) s + 2 s +5s + 6 R (s ) s + 10 s + s + 5
(c) (d)
−s
Y (s ) s ( s + 2) Y (s ) 1+ 2e
= 4 3 2
= 2
R (s ) s + 10 s + 2 s + s + 2 R (s ) 2s + s + 5
3
4
5
6
7
8
9
10
11
12
13
Chapter 4 MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
4-1 (a) Force equations:

 dy1 − dy 2  + K ( y − y )
2
d y1 dy1
f ( t) = M 1 + B1 + B3  
 dt dt 
2 1 2
dt dt
 dy1 dy2 
2
d y2 dy2
B3  −  + K ( y 1 − y 2 ) + M 2 2 + B2
 dt dt  dt dt
Rearrange the equations as follows:

d y1
2
(B + B 3 ) dy1 B3 dy2 K f
2
=−
1
+ − (y 1
− y2 ) +
dt M1 dt M 1 dt M1 M1
d y2
2
B3 dy1 (B + B3 ) dy2 K
2
= − 2
+ (y 1
− y2 )
dt M 2 dt M 2
dt M2
(i) State diagram: Since y

1
− y2 appears as one unit, the minimum number of integrators is three.
dy dy
State equations: Define the state variables as x = y − y , x = 2
, x = 1
.
1 1 2 2 3
dt dt
dx1 dx2 K (B + B3 ) B3 dx3 K B3 (B + B3 ) 1

= − x2 + x3 = x1 − 2
x2 + x3 =− x1 + x2 − 1
x3 + f
dt dt M2 M2 M2 dt M1 M1 M1 M
dy dy
(ii) State variables: x
1
= y ,
2
x
2
= 2
, x
3
= y ,
1
x
4
= 1
.
dt dt
State equations:
dx dx K B + B3 K B
1
= x2 2
=− x
1
− 2
x
2
+ x
3
+ 3
x
4
dt dt M M M M
2 2 2 2
dx dx K B K B + B3 1
3
= x
4
4
= x
1
+ 3
x
2
− x
3
− 1
x
4
+ f
dt dt M M M M M
1 1 1 1 1
State diagram:
14
Transfer functions:
M 2 s + ( B2 + B3 ) s + K
2
Y1 ( s )
=
F (s ) {
s M 1 M 2 s + [( B1 + B 3 ) M 2 + ( B2 + B3 ) M 1 ] s + [K ( M 1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B 1 + B2 ) K
3 2
}
Y2 ( s ) B3 s + K
=
F ( s) {
s M1 M 2 s + [( B1 + B3 ) M 2 + ( B2 + B3 ) M1 ] s + [ K ( M1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B1 + B2 ) K
3 2
}
(b) Force equations:
d y1
2
(B + B2 ) dy1 B2 dy2 1 dy2 dy1 K
2
=− 1
+ + f = − y2
dt M dt M dt M dt dt B2
(i) State diagram:
dy
Define the outputs of the integrators as state variables, x
1
= y ,
2
x
2
= 1
.
dt
State equations:
dx K dx K B 1
1
=− x
1
+ x2 2
=− x
1
− 1
x
2
+ f
dt B dt M M M
2
dy
(ii) State equations: State variables: x
1
= y ,
2
x
2
= y ,
1
x
3
= 1
.
dt
dx K dx dx K B 1
1
=− x
1
+ x3 2
= x3 3
=− x
1
− 1
x
3
+ f
dt B dt dt M M M
2
Transfer functions:
15
Y1 ( s ) B2 s + K Y2 ( s) B2
= =
F (s ) s  MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K 
2
F ( s) M B2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
2
(c) Force equations:

dy1 dy2 1 d y2
2
(B + B2 ) dy2 B1 dy2 B1 dy1 K
= + f 2
=− 1
+ + − y2
dt dt B1 dt M dt M dt M dt M
(i) State diagram:
State equations: Define the outputs of integrators as state variables.

dx dx K B 1
1
= x2 2
=− x
1
− 2
x
2
+ f
dt dt M M M
dy
(ii) State equations: state variables: x
1
= y ,
1
x
2
= y ,
2
x
3
= 2
.
dt
dx 1 dx dx K B 1
1
= x3 + f 2
= x3 3
=− x
2
− 2
x
3
+ f
dt B dt dt M M M
1
State diagram:
Transfer functions:
Ms + ( B1 + B 2 ) s + K
2
Y1 ( s ) Y2 ( s ) 1
= =
F (s ) (
B1 s Ms + B2 s + K
2
) F (s ) Ms + B 2 s + K
2
16
+ K2
2
1 d y B dy K K
y
1
= ( f + Mg ) + y 2 2
2
=− 2
− 1
y
2
+ 2
y
1
K dt M dt M M
2
State diagram:
dy
State equations: Define the state variables as: x = y , x = 2
.
1 2 2
dt
dx dx K B 1
1
= x2 2
=− 1
x
1
− x
2
+ ( f + Mg )
dt dt M M M
Transfer functions:
+ Bs + K 1 + K 2
2
Y (s) s Y (s) 1
1
= 2
=
+ Bs + K 1 ) + Bs + K 1
2 2
F ( s) K ( Ms F (s) Ms
2
(b) Force equations:
B 1  dy 1
dy  K
2
dy1 1 dy2 K1 d y2 B B dy
= [ f ( t) + Mg] + − (y − y2 ) =  −  + ( y − y ) − ( y − y )−
2 1 2 2 2
M  dt dt  M
1 2 1 2 1 2
dt B1 dt B1 dt M M dt
State diagram: (With minimum number of integrators)
To obtain the transfer functions Y ( s ) / F ( s ) and Y ( s ) / F ( s ), we need to redefine the state variables as:
1 2
x
1
= y ,
2
x
2
= dy 2 / dt , and x
3
= y .
1
State diagram:
17
Transfer functions:
Ms + ( B1 + B 2 ) s + K 1 Bs + K 1
2
Y1 ( s ) Y2 ( s )
= =
F (s ) s
2
[MBs + ( B B 1 1 2
+ MK1 )] F (s ) s [M B1 s + ( B1 B2 + MK1 ) ]
2
4-3 (a) Torque equation: State diagram:

d θ B dθ
2
1
2
=− + T (t )
dt J dt J
State equations:
dx dx B 1
1
= x2 2
=− x
2
+ T
dt dt J J
Transfer function:
Θ( s ) 1
=
T (s) s ( Js + B)
(b) Torque equations:
d θ1 dθ 2
2
K 1
2
=− (θ 1
−θ 2 ) + T K (θ 1 − θ 2 ) = B
dt J J dt
State diagram: (minimum number of integrators)
State equations:
dx K dx K 1
1
=− x
1
+ x2 2
=− x
1
+ T
dt B dt J J
dθ
State equations: Let x = θ , x = θ1, and x = 1
.
1 2 2 3
dt
dx K K dx dx K K 1
1
=− x
1
+ x
2
2
= x
3
3
= x
1
− x
2
+ T
dt B B dt dt J J J
State diagram:
18
Transfer functions:
Θ1 ( s ) Bs + K Θ2 (s ) K
= =
T ( s) (
s BJs + JKs + BK
2
) T ( s) (
s BJs + JKs + BK
2
)
(c) Torque equations:
d θ1 d θ2
2 2
T ( t ) = J1 2
+ K (θ 1 − θ 2 ) K (θ 1 − θ 2 ) = J 2 2
dt dt
State diagram:
dθ dθ
State equations: state variables: x
1
=θ2, x
2
= 2
, x
3
= θ1, x
4
= 1
.
dt dt
dx dx K K dx dx K K 1
1
= x2 2
=− x
1
+ x
3
3
= x
4
4
= x
1
− x
3
+ T
dt dt J J dt dt J J J
2 2 1 1 1
Transfer functions:
Θ1 ( s ) J 2s + K Θ 2 (s )
2
K
= =
 J1 J2 s + K ( J1 + J 2 )   J1 J 2 s + K ( J1 + J 2 ) 
2 2 2 2
T ( s) s T ( s) s
(d) Torque equations:
d θm d θ1 d θ2
2 2 2
T ( t) = J m 2
+ K 1 (θ m − θ 1 ) + K 2 (θ m − θ 2 ) K 1 (θ m − θ 1 ) = J 1 2
K2 (θm − θ2 ) = J2 2
dt dt dt
19
State diagram:
dθ dθ dθ
State equations: x = θ − θ1, x = 1
, x = m
, x = θm −θ2 , x = 2
.
1 m 2 3 4 5
dt dt dt
dx dx K dx K K 1 dx dx K
1
= −x2 + x3 2
= 1
x
1
3
=− 1
x
1
− 2
x
4
+ T 4
= x
3
− x5 5
= 2
x
4
dt dt J dt J J J dt dt J
1 m m m 2
Transfer functions:
Θ1 ( s ) K 1 (J 2 s + K 2 )
2
=
 s 4 + ( K1 J2 J m + K2 J 1 J m + K1 J 1 J 2 + K 2 J 1 J 2 ) s 2 + K1 K 2 ( J m + J 1 + J 2 ) 
2
T ( s) s
Θ 2 ( s) K2 ( J1 s + K1 )
2
=
 s 4 + ( K1 J2 J m + K 2 J 1 J m + K1 J 1J 2 + K 2J 1J 2 ) s 2 + K1 K 2 ( J m + J 1 + J 2 ) 
2
T (s ) s
(e) Torque equations:
d 2θ m K1 K2 1 d θ1
2
K1 B1 d θ1 d 2θ 2 K2 B 2 dθ 2
2
=− ( θ m − θ1 ) − ( θ m − θ2 ) + T 2
= (θ m
− θ1 ) − 2
= (θ m
−θ 1 ) −
dt Jm Jm Jm dt J1 J1 dt dt J2 J 2 dt
State diagram:
20
dθ dθ dθ
State variables: x
1
= θ m − θ1, x
2
= 1
, x
3
= m
, x
4
= θm −θ2 , x
5
= 2
.
dt dt dt
State equations:
dx 1 dx K1 B1 dx 3 K1 K 1 dx dx K2 B2
= −x 2 + x 3 2
= x
1
− x
2
=− x
1
− 2
x
4
+ T 4
= x3 − x5 5
= x
4
− x
5
dt dt J J dt J J J dt dt J J
1 1 m m m 2 2
Transfer functions:
Θ1 ( s )
=
(
K1 J 2 s + B2 s + K 2
2
) Θ2 ( s )
=
(
K 2 J1 s + B1 s + K1
2
)
T ( s) ∆( s ) T (s ) ∆( s )
∆ ( s ) = s { J 1 J2 Jm s + J
2 4
(B + B ) s + [ ( K J + K J ) J + ( K + K ) J J + B B J ] s
m 1 2
3
1 2 2 1 m 1 2 1 2 1 2 m
2
+ [( B1K 2 + B K ) J + B K J + B K J ] s + K K ( J + J + J )}
2 1 m 1 2 2 2 1 1 1 2 m 1 2
4-4 System equations:

d θm dθ m d θL dθ L
2 2
Tm ( t) = Jm 2
+ Bm + K (θ m − θ L ) K ( θm − θ L ) = J L 2
+ Bp
dt dt dt dt
Eθ
Output equation: e
o
= L
20 π
State diagram:
Transfer function:
Θ L (s ) K
=
Tm ( s) (
s J m J L s + Bm J L + Bp J m s + Jm K + J L K + Bm B p s + Bm K 
3
) 2
( )
Eo ( s ) KE / 2 0π
=
Tm ( s) (
s J m J L s + Bm J L + Bp J m s + Jm K + J L K + Bm B p s + Bm K 
3
) 2
( )
4-5 (a)
d θ1 d θ3
2 2
N1 N3 N1
Tm ( t) = Jm 2
+ T1 T1 = T2 T3 = T4 T4 = J L 2
T2 = T3 θ2 = θ1
dt N2 N4 dt N2
  N1 N3   d 2θ1
2
d θ3 d θ1
2 2
N1 N3 N3 N3 N1 N 3
θ3 = θ1 T2 = T4 = JL Tm = J m 2 + T4 =  J m +   JL  2
  N 2 N 4   dt
2
N2N4 N4 N4 dt dt N 2N 4
21
(b)
d θ1 d θ2 d θ3
2 2 2
N1 N3
Tm = Jm 2
+ T1 T2 = J2 2
+ T3 T4 = ( J3 + J L ) 2
T1 = T2 T3 = T4
dt dt dt N2 N4
d θ2 d θ2 d θ3
2 2 2
N1 N 1N 3 N3 N3
θ2 = θ1 θ3 = θ1 T2 = J 2 2
+ T4 = J 2 2
+ (J 3
+ JL ) 2
N2 N2N4 dt N4 dt N4 dt
 d 2θ 2 N3 d θ3    N1   N1 N3   d 2θ1
2 2
d θ1
2 2
N1
Tm ( t) = Jm +  J 2 dt 2 + N ( J3 + J 4 ) dt 2  =  Jm +  J2 +  N N  ( J3 + J L )  dt 2
N2     N2   2 4 
2
dt 4

 dy1 − dy 2   dy1 − dy 2  = M d y 2 + B dy 2
2
f ( t) = K h ( y1 − y2 ) + Bh   K h ( y1 − y2 ) + Bh  
 dt dt   dt dt  2 t
dt dt
dy
(b) State variables: x
1
= y
1
− y2, x
2
= 2
dt
State equations:
dx K 1 dx B 1
1
=− h
x
1
+ f (t ) 2
=− t
x
2
+ f (t )
dt B B dt M M
h h
4-7 (a)
θm θL
2 2
d d N
T
m
= Jm 2
+T1 T
2
=JL 2
+TL T
1
= 1
T
2
= nT 2 θm N 1 = θ L N 2
dt dt N
2
d θm d θL  J m + nJ  α + nT nTm − n TL
2 2 2
Tm = Jm + nJL + nTL =  L 
Thus, α L =
 n 
L L
Jm + n JL
2 2 2
dt dt
∂α L J T J
Set = 0. (T m (
− 2 nTL ) J m + n J L − 2nJL nTm − n J L = 0
2
) ( 2
) Or, n
2
+ m L
n − m
=0
∂n J T
L m
J
L
+ 4 J m J LT m
2 2 2
J T J mTL
∗
Optimal gear ratio: n =− m L
+ where the + sign has been chosen.
2J T 2J T
L m L m
(b) When T
L
= 0 , the optimal gear ratio is
∗
n = Jm / J L
4-8 (a) Torque equation about the motor shaft: Relation between linear and rotational displacements:
22
θm θm dθ
2 2
d d
= Jm + Mr + Bm m
= r θm
2
T y
m 2 2
dt dt dt
(b) Taking the Laplace transform of the equations in part (a), with zero initial conditions, we have
Tm ( s) = Jm + Mr ( 2
)sΘ 2
m
( s) + Bm sΘ m (s ) Y ( s) = rΘ m ( s)
Transfer function:
Y ( s) r
=
Tm ( s) (
s  J m + Mr
r
)s + B m 
4-9 (a)
d θm
2
Tm = Jm 2
+ r ( T1 − T2 ) (
T1 = K2 rθ m − rθ p = K 2 ( rθ m − y ) ) T2 = K1 ( y − rθ m )
dt
d θm
2 2 2
d y d y
T1 − T2 = M 2
Thus, Tm = J m 2
+ r ( K1 + K2 )( rθ m − y ) M 2
= ( K1 + K2 )( rθ m − y )
dt dt dt
(c) State equations:

dx1 dx2 K1 + K 2 dx3 − r ( K1 + K 2 ) 1
= rx3 − x2 = x1 = x1 + Tm
dt dt M dt Jm Jm
(d) Transfer function:

Y ( s) r ( K1 + K 2 )
=
 Jm Ms + ( K1 + K2 ) ( Jm + rM )
2 2
Tm ( s) s
(e) Characteristic equation:

s  J m Ms + ( K1 + K2 ) ( Jm + rM )  = 0
2 2
4-10 (a) Torque equations:

d θm dθ m d θL dθ L
2 2
Tm ( t) = Jm 2
+ Bm + K (θ m − θ L ) K ( θm − θ L ) = J L 2
+ BL
dt dt dt dt
State diagram:
23
(b) Transfer functions:
Θ L ( s) K Θ m ( s) J L s2 + BL s + K
= = ∆ ( s) = s J mJ L s3 + ( Bm J L + BL J m ) s 2 + ( KJ m + KJ L + Bm BL ) s + Bm K 
Tm ( s) ∆ ( s) Tm ( s) ∆ (s )
(c) Characteristic equation: ∆( s ) = 0

T
(d) Steady -state performance: T (t )
m
= T m = consta nt. T (s)
m
= m
.
s
J L s + BL s + K
2
1
lim ω m ( t) = lim sΩ m ( s) = lim =
J m J L s + ( Bm J L + BL J m ) s + ( KJ m + KJ L + Bm BL ) s + Bm K
3 2
t →∞ s →0 s →0
Bm
Thus, in the steady state, ω m = ω L.
(e) The steady-state values of ωm and ωL do not depend on J
m
and J .
L
4-11 (a) State equations:

dθ dω K K dθ dω K K
L
=ωL L
= 2
θm − 2
θL t
= ωt t
= 1
θm − 1
θt
dt dt J J dt dt J J
L L t t
dθ m dω m Bm (K + K2 ) K1 K2 1
= ωm =− ωm − 1
θm + θt + θL + Tm
dt dt Jm Jm Jm Jm Jm
(b) State diagram:
(c) Transfer functions:
24
ΘL ( s ) (
K 2 J t s + K1
2
) Θ t(s ) (
K1 J L s + K 2
2
) Θ m (s ) J t J L s + ( K1 J L + K 2 J t ) s + K1 K 2
4 2
= = =
Tm ( s) ∆ ( s) T m( s) ∆ ( s) Tm ( s ) ∆ ( s)
∆ ( s ) = s [ J mJ Ls + B mJ LJ t s + ( K1 J L J t + K 2J L J t + K 1Jm J L + K 2J m J t ) s
5 4 3
+ Bm J L ( K1 + K 2 ) s + K1 K2 ( J L + J t + J m ) s + BmK 1K 2 ] = 0
2
(d) Characteristic equation: ∆ ( s ) = 0 .
4-12 (a)
 −1 K H (s )  −K 1  H i (s ) 
 1 + K1 H e ( s ) + 1 i   H e (s) + 
Ω m (s ) B + Js  Ra + L a s  B + Js  Ra + La s 
= ≅ =0
TL ( s) ωr = 0
∆( s) ∆( s)
Thus,
H i (s ) H i (s)
H e (s ) = − = − ( Ra + L a s )
Ra + La s H e (s)
K1 K i
Ω m (s ) (R + La s ) ( B + Js )
(b) = a
Ω r ( s) TL =0
∆( s)
K1 K b K1 H i ( s) K1 K i K b H e( s)
∆ ( s ) = 1 + K1 H e ( s ) + + +
(R a
+ La s )( B + Js ) R a + La s (R a
+ La s ) ( ( B + Js )
K1 K b K 1 Ki
= 1+ +
(R a
+ La s )( B + Js ) (R a
+ La s ) ( B + Js )
Ω m (s ) K1 K i 1
= ≅
Ω r ( s) TL =0
(R a
+ La s ) ( B + Js ) + Ki Kb + K1 Ki Kb H e ( s) Kb H e ( s)
4-13 (a) Torque equation: (About the center of gravity C)

d θ
2
J
2
= T s d 2 sin δ + F d d 1 F d
a 1
= J α α1 = K
F
d
1
θ sin δ≅δ
dt
θ θ
2 2
d d
Thus, J
2
= T s d 2 δ + K F d 1θ J
2
− K F d 1θ = T s d 2δ
dt dt
(b) Θ( s ) − K F d 1 Θ( s ) = T s d 2 ∆ ( s )
2
Js
(c) With C and P interchanged, the torque equation about C is:
d θ d θ
2 2
Ts ( d1 + d 2 ) δ + Fα d 2 = J 2
Ts ( d 1 + d 2 ) δ + K F d 2θ = J 2
dt dt
Θ( s ) Ts ( d1 + d 2 )
Js Θ(s ) − K F d 2 Θ( s ) = Ts ( d1 + d 2 ) ∆( s ) =
2
∆ (s ) Js − K F d 2
2
25
4-14 (a) Cause-and-effe ct equations: θe = θr −θo e = K sθ e e
a
= Ke
dia Ra 1
=− ia + (e a
− eb ) Tm = K ii a
dt La La
d θm Bm dθ m
2
1 nKL Tm
2
=− + Tm − ( nθ m
− θo ) T2 = θ 2 = nθ m
dt J m dt J Jm n
d θo
2
KL
2
= (θ 2
− θo )
dt JL
State variables: x
1
= θo, x
2
= ωo , x
3
=θm, x
4
= ωm, x
5
= ia
State equations:
dx dx K nK dx
L L
1
= x2 2
=− x
1
+ x
3
3
= x
4
dt dt J J dt
L L
2
dx nK n KL Bm Ki dx KK Kb Ra KK
L s s
4
=− x
1
− x
3
− x
4
+ x
5
5
=− x
1
− x
4
− x
5
+ θr
dt J J J J dt L L L L
m m m m a a a a
(b) State diagram:
(c) Forward-path transfer function:

Θ o ( s) KK s K i nK L
=
Θe ( s ) s J mJ L La s + J L ( Ra J m + Bm J m + Bm La ) s + n K LL a J L + K L J m La + Bm R a J L s +
4 3 2 2
( )
(n R K J
2
a L L )
+ R a KL J m + B mK L L a s + K i K bK L + R a B mK L
Closed-loop transfer function:

Θo ( s) KK s K i nK L
=
Θr ( s ) J mJ LL a s + J
5
L
(R J a m
4
(
+ Bm J m + B m La ) s + n K LL a J L + K L J m L a + B mR a J L s +
2
) 3
(n R K J
2
a L L )
+ Ra KL J m + Bm KL L a s + ( K i K b K L + Ra BmK L ) s + nKK s K i K L
2
(d) = ∞, θ o = θ 2 = n θ m . = +n
2
K J is re flecte d to m otor s ide so J J J .
L L T m L
State equations:
26
dω B K dθ di R KK KK K
m
=− m
ωm + i
i
a
m
= ωm a
=− a
i
a
+ s
θr − s
nθ
m
− b
ωm
dt J J dt dt L L L L
T T a a a a
State diagram:
Forward-path transfer function:

Θ o ( s) KKs K i n
=
Θe ( s ) s  J TL a s + ( Ra J T + Bm L a ) s + Ra Bm + K i K b 
2

Θo ( s) KK sK in
=
Θr ( s ) JT L a s + ( R a J T + Bm La ) s + ( Ra Bm + Ki Kb ) s + KK s K i n
3 2
From part (c), when

K
L
= ∞, all t he ter ms wit hout K
L
in Θo (s ) / Θe ( s ) and Θ o ( s ) / Θr ( s ) can b e negl ected.
The same results as above are obtained.
4-15 (a) System equations:
dv dia di s di s di a
f = K ii a = M T + B Tv ea = Ra ia + ( La + Las ) − Las + eb 0 = Rsis + ( L s + L as ) − L as
dt dt dt dt dt
(b) Take the Laplace transform on both sides of the last three equations, with zero initial conditions, we have
Ki I a ( s ) = ( MT s + BT ) V ( s ) Ea ( s ) = [ Ra + ( La + Las ) s ] I a ( s) − Las sI s ( s ) + K b V( s)
0 = − Las sI a ( s) + [ Rs + s ( Ls + Las ) ] I s ( s )
Rearranging these equations, we get

Ki V (s ) Ki
V (s ) = I a (s ) Y (s ) = = Ia (s)
M T s + BT s s ( M T s + BT )
[E ( s ) + Las sI s ( s ) − KbV ( s ) ]
1 L as s
Ia (s ) = Is (s ) = I a ( s)
Ra + ( La + L as ) s Ra + ( L a + L as ) s
a
Block diagram:
27
(c) Transfer function:
Y ( s) K i [R s + ( L s + L as ) s ]
=
s [R a + ( L a + L as ) s ][ R s + ( L s + L as ) s ]( M T s + BT ) + K i K b [R s + ( L a + L as ) s] − Lass (M s + BT )
2 2
E a (s ) T
4-16 (a) Cause-and-effect equations:
ea − eb
θe = θ r − θ L e = K sθ e K s = 1 V/rad ea = Ke ia =
Ra
dω m 1 Bm KL dω L KL
Tm = K i ia = Tm − ω− (θ m
−θ L ) = (θ m
−θ L ) eb = Kbω m
dt Jm Jm Jm dt JL
15 . 5
K
b
= 15 . 5 V / KRPM = = 0 .148 V / rad / sec
1000 × 2 π / 60
State equations:
d θL d ωL KL KL d θm d ωm Bm KL 1 Ki
= ωL = θm − θL = ωm =− ωm − θL+ ( KK θ s e
− K bω m )
dt dt JL JL dt dt Jm Jm Jm Ra
(b) State diagram:

K i K Ks KL
G ( s) =
s J mJ L Ra s + ( Bm Ra + K i K b ) J L s + R a K L ( J L + J )s + K L ( Bm Ra + K i K b )
3 2
m
J m Ra J L = 0 .03 × 1 .15 × 0 . 05 = 0 . 001725 Bm Ra J L = 10 × 1 .15 × 0 .05 = 0 . 575 Ki K bJ L = 21 × 0 .148 × 0 . 05 = 0 .1554
28
R K J
a L L
= 1.15 × 50000 × 0 . 05 = 2875 R K J
a L m
= 1 .15 × 50000 × 0 . 03 = 1725 K KK K
i s L
= 21 × 1 × 50000 K = 105000 0K
K L ( Bm Ra + K i K b ) = 50000(10 × 1.15 + 21 × 0.148) = 730400
608.7 × 10 K
6
G ( s) =
(
s s + 423.42 s + 2.6667 × 10 s + 4.2342 × 10
3 2 6 8
)
(d) Closed-loop transfer function:
Θ L ( s) G( s) K i K Ks K L
M (s ) = = =
Θ r ( s) 1 + G ( s) J mJ LR a s + ( B m R a + K i K b ) J L s + R a K L ( J L + J m ) s2 + K L ( Bm Ra + K iK b ) s + K i K Ks K L
4 3
× 10
8
6 . 087 K
M (s) =
+ 423 + 2 .6667 × 10 + 4.2342 × 10 + 6 . 087 × 10
4 3 6 2 8 8
s .42 s s s K
Characteristic equation roots:

K =1 K = 2738 K = 5476
s = − 1.45 s = ± j 1000 s = 405 ± j1223 .4
s = − 159 . 88 s = −211 . 7 ± j 1273 . 5 s = −617 .22 ± j 1275
s = − 131 . 05 ± j 1614. 6
4-17 (a) Block diagram:
(b) Transfer function:

TAO ( s ) KM KR 3.51
= =
Tr ( s ) ( 1 + τ s ) (1 + τ s ) + K
c s m
KR 20 s + 12 s + 4.51
2
29
−τ D s
Ω( s ) K1 K 4 e
=
Js + ( JK L + B ) s + K 2 B + K3 K 4 e
− τ Ds
α ( s)
2
(c) Characteristic equation:

Js + ( JK L + B ) s + K 2 B + K 3 K 4e =0
2 − τD s
(d) Transfer function:

Ω( s ) K1 K 4 ( 2 − τ D s )
≅
α ( s) ∆ ( s)
Characteristic equation:
∆ ( s ) ≅ J τ D s + ( 2 J + JK 2τ D + Bτ D ) s + ( 2 JK 2 + 2B − τ D K 2 B − τ D K 3 K4 ) s + 2 ( K 2 B + K 3 K 4 ) = 0
3 2
4-19 (a) Transfer function:

Ec ( s) 1 + R2C s
G ( s) = =
E (s ) 1 + ( R1 + R 2 ) Cs
(b) Block diagram:

Ωm ( s) K (1 + R2C s )
=
E (s ) [1 + ( R 1
+ R 2 ) Cs ] ( K b Ki + Ra JL s )
(d) Closed-loop transfer function:

Ωm ( s) Kφ K (1 + R2C s )
=
Fr ( s ) [1 + ( R 1
+ R2 ) Cs] ( K b K i + Ra J L s ) + Kφ KK e N (1 + R2C s )
E c ( s) (1 + R C s )
(e) Gc ( s) = = 2
E (s ) RCs
1
Forward-path transfer function:

Ωm ( s) K (1 + R2C s )
=
E (s ) RCs
1
( K b K i + Ra J L s )
30
Ωm ( s) K φ K (1 + R2C s )
=
Fr ( s ) R1C s (K b K i + Ra J L s ) + Kφ KKe N (1 + R2C s )
Ke = 36 pulse s / rev = 36 / 2 π pulse s / rad = 5 . 73 pul ses / rad.
(f) f
r
= 120 pulse s / sec ωm = 200 RPM = 200( 2 π / 60 ) rad / sec
f
ω
= NK
e
ω m = 120 pulse s / sec = N ( 36 / 2 π ) 200( 2 π / 60 ) = 120 N pulse s / sec
Thus, N = 1. For ω m = 1800 RPM, 120 = N ( 36 / 2 π ) 1800( 2 π / 60 ) = 1080 N. Thus, N = 9.
4-20 (a) Differential equations:

d θm  dθ m − dθ L 
dθ m
2
Ki ia = Jm + Bm + K ( θm − θ L ) + B 

 dt dt 
2
dt dt
 dθ dθ L  =  J d θ L + B dθ L  + T
2
K (θ m − θ L ) + B  m −   L 2  L
 dt dt   dt 
L
dt
(b) Take the Laplace transform of the differential equations with zero initial conditions, we get
( )
Ki I a ( s ) = J m s + Bm s + Bs + K Θm ( s ) + ( Bs + K ) Θ L ( s )
2
( Bs + K ) Θ m ( )
( s ) − ( Bs + K ) Θ L ( s ) = J L s + BL sΘ L (s ) + TL ( s)
2
Solving for Θm ( s ) and ΘL ( s ) from the last two equations, we have
Ki Bs + K
Θ m (s ) = I a (s ) + Θ L (s )
J m s + ( Bm + B ) s + K J m s + ( Bm + B ) s + K
2 2
Bs + K TL ( s )
Θ L (s ) = Θ m (s ) −
J L s + ( BL + B ) s + K J L s + ( BL + B ) s + K
2 2
Signal flow graph:
(c) Transfer matrix:

Θ m ( s )  1  Ki  J L s + ( BL + B ) s + K  Bs + K   Ia ( s ) 
2
=
Θ (s )  ∆ (s )   
 L   Ki ( Bs + K ) Jm s + (B m + B ) s + K  −TL ( s ) 
2
o
31
∆ o ( s ) = J L Jm s + [ J L (B + B) + J m ( BL + B ) ] s + [ BL Bm + ( BL + BM ) B + (J +J ) K]s + K ( BL + B ) s
3 3 2
m m L
4-21 (a) Nonlinear differential equations:

dx ( t ) dv ( t )
= v(t ) = −k ( v ) − g ( x ) + f (t ) = − Bv (t ) + f (t )
dt dt
e(t ) e(t 0
With R
a
= 0, φ (t ) = =K f
i (t )
f
= K i (t )
f f
= K i (t )
f a
Then, i (t )
a
=
K v(t ) K K v (t )
b b f
2
K e (t ) dv ( t ) K
= φ ( t ) ia ( t ) = i
= − Bv + i 2
f (t ) K . Thus, (t ) e (t )
i 2 2 2 2
K K v (t ) dt K K v (t )
b f b f
(b) State equations: i ( t ) as input.

a
dx ( t ) dv ( t )
= v (t ) = − Bv (t ) + K K
2
i (t )
i f a
dt dt
(c) State equati ons: φ ( t ) as input.

φ( t )
= K iK = if =
2
f (t ) i (t ) ia ( t ) (t )
f a
K f
dx ( t ) dv ( t ) K
= v (t ) = − Bv (t ) + i
φ
2
(t )
dt dt K
f
4-22 (a) Force and torque equations:

θ)
2
d ( L cos
Broom: vertical direction: f
v
− M bg = M
b
dt
+ L sin θ
2
d x (t )
horizontal direction: f
x
= M
b 2
dt
θ
2
d
rotation about CG: J
b 2
= f L sin
y
θ− f L cos
x
θ
dt
2 2
d x (t ) M L
Car: horizontal direction: u(t ) = f
x
+ Mc 2
J
b
= b
dt 3
dθ dx
(b) State equations: Define the state variables as x
1
= θ, x
2
= , x
3
= x , and x
4
= .
dt dt
Eliminating f
x
and f y from the equations above, and sin x
1
≅ x and
1
cos x
1
≅ 1.
dx1 dx2 (M + M b ) gx1 − M b Lx2 x1 − u ( t )

2
= x2 = c
dt dt L [ 4 (M b + M c ) / 3 − M b ]
u ( t) + M b Lx2 x1 − 3 M b gx1 / 4
2
dx3 dx4
= x4 =
dt dt (M b
+ M c ) − 3M b / 4
(c) Linearization:
32
∂ f1 ∂ f1 ∂ f1 ∂ f1 ∂ f1
=0 =1 =0 =0 =0
∂ x1 ∂ x2 ∂ x3 ∂ x4 ∂u
∂ f2 (M + M ) g − M x = 0 2
∂ f2 −2 M b x1 x2 ∂ f2
= b c b 2
= =0 =0
∂ x1 L ( M + M − 3M / 4)
b c b
∂ x2 L ( M b + M c − 3M b / 4 ) ∂ x3
∂ f2 ∂ f2 −1
=0 =
∂ x4 ∂u L [ 4 (M b + M c ) / 3 − M b ]
∂f 3 ∂f 3 ∂f 3 ∂f 3 ∂f 3
=0 =0 =0 =0 =0
∂x 1 ∂x 2 ∂x 3 ∂x 4 ∂u
∂ f4 M b Lx2 − 3 M b g / 4 ∂ f4
2
2 M b Lx1 x2
= =
∂ x1 (M b
+ M c ) − 3M b / 4 ∂ x2 (M b
+ M c ) − 3M b / 4
∂ f4 ∂ f4 ∂ f4 1
=0 =0 =
∂ x3 ∂ x4 ∂u (M b
+ M c ) − 3M b / 4
Linearized state equations:

 0 1 0  0
0 

 ∆x& 1   3 ( M b + M c ) g   ∆x   −3 
0 0 0  
1
 ∆x&   L ( M + 4 M )   ∆x2   L ( M b + 4 M c ) 
 2 =  b c
+
 ∆x& 3   0

0 0 1  ∆x 3  0
 ∆u
 &      
 ∆x 4  − 3M b g   ∆x 4   4 
 M + 4M 0 0 0  M + 4M 
 b c   b c 
L( y) = L 
 y 
d L ( y ) i( t ) dL ( y ) dy ( t ) L di ( t ) L dy ( t ) L di ( t )
e(t ) = Ri ( t ) + = Ri ( t ) + i ( t ) + = Ri ( t ) − 2
i( t ) +
dt dy dt y dt y dt y dt
2 2
Ki (t ) di ( t ) dy ( t ) d y (t )
My ( t ) = Mg − 2
At equili brium, = 0, = 0, 2
=0
y (t ) dt dt dt
E dy E K
eq eq eq
Thus, i
eq
= =0 y
eq
=
R dt R Mg
dy
(b) Define the state variables as x
1
= i, x
2
= y , and x
3
= .
dt
E E K
eq eq
Then, x
1 eq
= x
2 eq
= x
3 eq
=0
R R Mg
The differential equations are written in state equation form:

2
dx R x x x dx dx K x1
1
=− x x
1 2
+ 1 3
+ 2
e = f
1
2
= x
3
= f
2
3
= g − 2
= f
3
dt L x L dt dt M x
2 2
(c) Linearization:
33
∂f 1 R x
3 eq
E
eq K ∂f 1 R x x E
eq ∂f 1 x
1 eq Mg
=− x
2 eq
+ =− =− x
1 eq
− 1 3
+ =0 = =
∂x 1 ∂x 2 ∂x 3
2
L x L Mg L x L x K
2 eq 2 2 eq
∂f 1 x
2 eq 1 K E
eq ∂f 2 ∂f 2 ∂f 2 ∂f 2
= = =0 =0 =1 =0
∂e L L Mg R ∂x 1 ∂x 2 ∂x 3 ∂e
2
∂f 3 2 K x 1 eq 2 Rg ∂f 3 2 K x 1 eq 2 Rg Mg ∂f 3
=− =− = = =0
∂x 1 ∂x 2 ∂e
2 3
M x E M x E K
2 eq eq 2 eq eq
∆x& = A ∆x + B ∆e
∗ ∗
The linearized state equations about the equilibrium point are written as:
 Eeq K Mg  Eeq K 

− 0   RL Mg 
 L Mg K
  
A = 0   
∗ ∗
0 0 B = 0
   
 2 Rg 2 Rg Mg   0 
 − E 0   
 eq
Eeq K   

2 2
d y1 (t ) dy 1 ( t ) Ki (t ) 1
= −B − + Ki
2
M1 M 1g (t )
2 2 2
dt dt y1 ( t ) y2 (t ) − y1 ( t )
2 2
d y 2 (t ) dy (t ) Ki (t )
= −B −
2 2
M M 2g
2 2 2
dt dt y2 (t ) − y1 (t )
dy dy
Define the state variables as x
1
= y ,
1
x
2
= 1
, x
3
= y ,
2
x
4
= 2
.
dt dt
The state equations are:
2 2 2
dx1 dx2 Ki Ki dx3 dx4 Ki
= x2 M1 = M 1 g − Bx2 − + = x4 M2 = M 2 g − Bx4 −
(x − x1 ) (x − x1 )
2 2 2
dt dt x1 3
dt dt 3
dx dx dx dx
At equilibrium, 1
= 0, 2
= 0, 3
= 0, 4
= 0. Thus , x
2 eq
=0 and x
4 eq
= 0.
dt dt dt dt
2 2 2
KI KI KI
M 1g − + =0 M 2g − =0
(X − X 1) (X − X1)
2 2 2
X1 3 3
Solving for I, with X

1
= 1 , we have
 M + M2   ( M1 + M 2) g 
1/2 1/2
Y2 = X 3 = 1 +  1  I= 
 M2   K 
(b) Nonlinear state equations:
34
2 2
dx1 dx2 B K Ki dx3 dx4 B Ki
= x2 = g− x2 − i + = x4 = g− x4 −
2
M 1 ( x 3 − x1 ) M 2 ( x3 − x1 )
2 2 2
dt dt M1 M 1x1 dt dt M2
(c) Linearization:
∂ f1 ∂ f1 ∂ f1 ∂ f1 ∂ f1
=0 =0 =0 =0 =0
∂ x1 ∂ x2 ∂ x3 ∂ x4 ∂i
∂ f2 ∂ f2 ∂ f2 −2 KI ∂ f2
2 2 2
2 KI 2 KI B
= + =− = =0
∂ x1 M1 ( X 3 − X 1 ) ∂ x2 ∂ x3 M1 ( X3 − X1 ) ∂ x4
3 3 3
M 1 x1 M1
∂ f2 2 KI −1 1  ∂ f3 ∂ f3 ∂ f3 ∂ f3 ∂ f3
=  2+ 2 
=0 =0 = 0 = 1 = 0
∂i M 1  X1 ( X 3 − X 1 )  ∂ x1 ∂ x2 ∂ x3 ∂ x4 ∂i
∂ f4 −2 KI ∂ f4 ∂ f4 ∂ f4 ∂ f4 −2 KI
2 2
2 KI B
= =0 = =− =
∂ x1 M2 ( X3 − X1 ) ∂ x2 ∂ x3 M 2 ( X 3 − X1 ) ∂ x4 ∂i M2 ( X3 − X1)
3 3 2
M2
Linearized state equations: M

1
= 2, M
2
= 1, g = 32 .2, B = 0 .1, K = 1.
 32.2(1 + 2)  X = 96.6 X = 9.8285X

1/2
1
I =  X1 = =1
 
1 1 1
1 9.8285
( )
X 3 = 1 + 1 + 2 X 1 = 2.732 X 1 = Y2 = 2.732 X 3 − X 1 = 1.732
 0 1 0 0 
 
 2 KI  1 +  −B −2 KI  0 
2 2
0 
1 1 0 0
3 
 M1  X1 ( X 3 − X 1 ) 
3
M1 M 1 ( X 3 − X1 )
3
  115.2 −0.05 −18.59 0 
A = = 
∗
 0 0 0 1   0 0 0 1 
  
−2 KI − B   − 37.18 37.18 − 0.1
2 2
2 KI 0
 0 
 M 2 ( X 3 − X1 ) M 2 ( X 3 − X 1) M 2 
3 3
 0 
 
 2 KI  −1 + 1   0 
 M 1  X 12 ( X 3 − X 1 ) 2    − 6.552 
= 
∗
B =
 0   0 
 −2 KI   − 6.552 

 
 M 2 ( X 3 − X 1) 
2
4-25 (a) System equations:
35
dω m dia
Tm = K i ia = ( J m + JL ) + B mω m ea = Ra ia + La + K b ωm y = nθ m y = y ( t − TD )
dt dt
d
T
D
= (sec) e = r −b b = Ksy E ( s)
a
= KG ( s ) E ( s )
c
V
Block diagram:
(b) Forward-path transfer function:

− TD s
Y (s ) K Kin G c ( s ) e
=
E (s ) s {( Ra + La s ) [( Jm + J L ) s + Bm ] + K b Ki }

− TD s
Y (s ) K Kin G c ( s ) e
=
s ( Ra + La s ) [( Jm + J L ) s + Bm ] + K bK i s + KG c ( s )K i ne
− TD s
R (s )
36
Chapter 5 STATE VARIABLE ANALYSIS OF LINEAR
DYNAMIC SYSTEMS
dy
5-1 (a) State variables: x
1
= y, x
2
=
dt
State equations: Output equation:
 dx1 
 dt   0 1   x1  0   x1 
 = y = [1 0] 
  +  r  = x1
 dx2   −1 −4   x2  5   x2 
 dt 
2
dy d y
1
= y, x
2
= , x
3
= 2
dt dt

 dx1 
 dt 
  0 1 0   x1  0   x1 
 = 0
dx 2  0 1   x2  +  0 r y = [1 0 0 ]  x2  = x1
 dt        
 dx   −1 −2.5 −1.5   x3  0.5   x3 
 3
 dt 
2
dx1 dy d y
∫
t
(c) State variables: x1 = y (τ ) d τ , x2 = , x3 = , x4 = 2
0
dt dt dt
State equations: Output equaton:
 x&1  0 1 0 0   x1   0  x1 
 x&   0 0 1 0   x   0 x 
 2 =   2+  r y = [1 0 0 0]   = x1
2
 x&3   0 0 0 1   x3   0   3
x
 x&  − 1 − 1 − 3 −5   x   1  x 
 4   4    4
2 3
dy d y d y
(d) State variables: x
1
= y, x
2
= , x
3
= 2
, x
4
= 3
dt dt dt

 x&1  0 1 0 0   x1   0  x1 
 x&  0 0 1 0   x2   0  x 
 2 =   +  r y = [1 0 0 0]   = x1
2
 x&3  0 0 0 1   x3   0   3
x
 x&   −1 −2.5 0 −1.5   x   1  x 
 4   4    4
5-2 We shall first show that

2
I A 1 A
Φ ( s ) = ( sI − A ) = +L
−1
+ 2 + 2
s s 2! s
We multiply both sides of the equation by ( sI − A ) , and we get I = I. Taking the inverse Laplace transform
37
on both sides of the equation gives the desired relationship for φ( t ) .
5-3 (a) Characteristic equation: ∆( s ) = sI − A = s2 + s + 2 = 0

Eigenvalues: s = −0 . 5 + j 1. 323 , − 0 .5 − j 1. 323
State transition matrix:

 cos1.323t + 0.378sin1.323t 0.756sin1.323t −0.5t
φ ( t) = 
−1.069sin (1.323t − 69.3 ) 
e
−1.512sin1.323 t
o

(b) Characteristic equation: ∆( s ) = sI − A = s 2 + 5s + 4 = 0 Eigenvalues: s = − 4, −1

 1.333 e− t − 0.333e−4 t 
−t −4 t
0.333 e − 0.333e
φ ( t) =  −t −4 t −t  −4 t
 −1.333 e − 1.333 e −0.333e + 1.333e 
∆ ( s ) = ( s + 3) = 0
2
(c) Characteristic equation: Eigenvalues: s = −3, − 3

 e −3 t  0
φ ( t) =   −3 t
0 e 
(d) Characteristic equation: ∆( s ) = − 9 = 0 Eigenvalues: = −3 ,

2
s s 3

 e3 t  0
φ ( t) =   −3 t
0 e 
(e) Characteristic equation: ∆ ( s ) = s + 4 = 0 Eigenvalues: = −

2
s j2, j2

 cos2 t s i n 2t 
φ ( t) =
 − sin2 t cos2t 
(f) Characteristic equation: ∆( s ) = + 5 s + 8 s + 4 = 0 Eigenvalues: = − 1, − 2 , −2
3 2
s s

 e− t 0 0 
 −2 t 
−2 t
φ ( t) = 0
 e te

 0 0 e 
−2t
(g) Characteristic equation: ∆( s ) = + 15 + 75 s + 125 = 0 = − 5, − 5, −5

3 2
s s Eigenvalues: s
e 
−5 t −5 t
te 0
 −5 t 
−5 t
φ ( t) = 0
 e te

 0 0 e 
−5 t
∫ φ (t − τ )Br (τ )d τ
t
5-4 State transition equation: x (t ) = φ (t )x( t ) + φ (t ) for each part is given in Problem 5-3.
0
(a)
38
 ( sI − A) −1 BR( s )  = L−1 
1  s + 1 1  0 1  1  1 
∫
t
−1
φ ( t − τ ) Br (τ ) d τ = L    
 ∆ ( s )  −2 s   1 0  1 s 
0
 s+2 
s(s + s + 2)
2
=
1 + 0.378sin1.323 t − cos1.323t 
=L 
−1
t≥0
 s−2   −1 + 1.134sin1.323 t + cos1.323t 

 s s2 + s + 2 
 ( )
(b)
 1  s + 5 1  1  1  1 
∫ φ ( t − τ ) Br (τ ) dτ = L ( sI − A) BR ( s )  = L
t −1 −1 −1
 
0
 ∆( s)  −4 s  1  1  s 
 s+6   1.5 − 1.67 + 0.167 
 + +     1.5 − 1.67 e− t + 0.167e −4 t 
 = L−1  s s + 1 s + 4  = 
s( s 1)( s 2)
=L 
−1
 t≥0
 s−4   −1 + 1.67 − 0.667   −1 + 1.67 e − 0.667 e − 4t 
−t
 s( s + 1)( s + 4)   s s + 1 s + 4 
(c)
 1 0
 

−1  s + 3
  0  1 
∫0 φ ( t − τ ) Br (τ ) dτ = L ( sI − A) BR( s)  = L 
t −1

−1

 0 1  1  s 
 s + 3  
 0 
=L
−1  = 0 
t≥

1  −3t 
  0.333 (1 − e ) 
0
 s ( s + 3 ) 
(d)
 1 0
 

−1  s − 3
  0  1 
∫0 ( ) 
t −1
 
−1
φ − τ τ τ = L  −  = L 
1  1  s 
( t ) B r ( ) d sI A BR ( s )
 0

 s + 3  
 0 
 
=L  =
−1
0
1  0.333 (1 − e −3t )  t≥ 0
   
 s ( s + 3 ) 
(e)
39
 1 2
 
 2
−1  s + 4
  0  1 
∫0 ( ) 
t −1
 
−1
φ − τ τ τ = L  −  = L 
s   1  s 
( t ) B r ( ) d sI A BR ( s )
 −2
 s 2 + 4 s + 4 
2 
 2 
 s   2 
=L  =
−1
t ≥0

 1   0.5sin2t 
 ( s 2 + 4 ) 
(f)
 1  
 s + 1 0 0  
  0  
−1   1 1  1  1 
∫0 φ ( t − τ ) Br (τ ) dτ = L ( sI − A) BR( s)  = L   0
t −1
−1
2  
 s+ 2 (s + 2 )    s 
0 
 1  
 0 0  
 s +2  
 0 
   0 
=L 
−1 1  −2 t 
 = 0.5 (1 − e ) t≥0
 s( s + 2)   
   0 
 0 
(g)
 1 1
0
 
 s + 5 ( s + 5) 2  
   0 
−1  1 1    1
∫0 φ ( t − τ ) Br (τ ) dτ = L  ( sI − A) BR (s )  = L   0
t −1 −1
2 
0 
 s +5 ( s + 5)   s 
 1 
 1  
 0 0  
 s+5  
   
   
 0
 
0
  0 
−1
 1  −1  0.04 0.04 0.2   −5 t −5 t 
=L  2 
=L
 s − s + 5 − ( s + 5 ) 2  =  0.04 − 0.04 e − 0.2 te  u s ( t)
 s ( s + 5)     0.2 − 0.2 e
−5t

 1   0.2 0.2 
   − 
 s ( s + 5 )  s s +5
5-5 (a) Not a state transition matrix, since φ( 0 ) ≠ I (identity matrix).
(b) Not a state transition matrix, since φ( 0 ) ≠ I (identity matrix).
(c) φ ( t ) is a state transition matrix, since φ ( 0 ) = I and
40
−1
 1 0  1 0
[φ ( t ) ] =  − t
−1
−t 
=
1 − et  = φ ( − t)
1 − e e 
t
e
(d) φ ( t ) is a state transition matrix, since φ ( 0 ) = I , and
 e2 t − te t e / 2
2t 2 2t
[φ ( t) ]−1 =  0 e
2t
− te
2t 
 = φ ( − t)
 0 0 e
2t

5-6 (a) (1) Eigenvalues of A: 2 .325 , − 0 . 3376 + j 0 . 5623 , − 0 .3376 − j 0 . 5623
(2) Transfer function relation:
 s 2 + 3s + 2 1  0 
−1
s −1 0  0  s +3 1 
X( s) = ( sI − A ) B U ( s) =
−1 1 
0 s −1   0  U ( s) = 1  −1
  
s ( s + 3 ) s  0 U ( s) =
1  
s U (s )
∆ (s )     ∆ (s )    ∆ (s )  2 
1 2 s + 3   1   −s −2 s − 1 s  1 
2
 s 
∆( s ) = s + 3 s + 2 s + 1
3 2
(3) Output transfer function:

1
Y ( s)
= C ( s ) ( sI − A) B = [1 0 0 ] s  =
−1 1 1
∆( s )  2  s + 3 s + 2 s + 1
3 2
U (s )
 s 
(b) (1) Eigenvalues of A: − 1, − 1.

 1 
1 s + 1 1   0  ( s + 1) 2 
X ( s ) = ( sI − A) BU ( s ) = U (s ) =   U (s )
−1
∆ ( s ) = s + 2s + 1
2
∆ ( s )  0 s + 1 1   1 
 ( s + 1) 
 
 1 
Y ( s)  ( s + 1) 2  1 1 s+2
= C ( s ) ( sI − A) B = [1 1]  =
−1
+ =
 1  ( s + 1) s + 1 ( s + 1)
2 2
U (s )
 s + 1 
(c) (1) Eigenvalues of A: 0, − 1, − 1.
s + 2s = 1
2
s+2 1   0
1
1     1  
X( s) = ( sI − A) BU ( s ) =
−1
∆ (s ) 
0 s ( s + 2) ) s 0 U ( s) =
  ∆ (s )  
s U ( s) ( 2
)
∆( s ) = s s + 2s + 1
 0 −s s   1  s 
2 2
41
1
s +1
= C ( s ) ( sI − A) B = [1 1 0 ]  s  =
Y ( s) −1 1
=
U (s )   s ( s + 1)
2
s ( s + 1)
 s 2 
dx dx dx dx
2
dy d y
5-7 We write = 1
+ 2
= x 2 + x3 = 2
+ 3
= −x1 − 2 x2 − 2 x3 + u
dt dt dt dt dt dt
 dx1 
 dt 
   0 1 0   x1   0 
d x  dy 
= =
 0 1 1   x  +  0 u (1)
dt  dt    2  
 2   −1 −2 −2   x3  1 
d y 
 dt2 
 x1   1 0 0   1 0 0
x =  y  =  1 1 0 x x =  − 1 1 0 x (2)
     
 y&   0 1 1   1 − 1 1 
Substitute Eq. (2) into Eq. (1), we have
 −1 1 0   0
= A 1 x + B1u =  0 0 1  x =  0 u
dx
dt    
 −1 0 −2  1 
5-8 (a)
s −2 0
− A = −1 −2 = s − 3 s + 2 = s + a 2 s + a1 s + a0 = 2, = 0, = −3
3 2 3 2
sI s 0 a a a
0 1 2
1 0 s −1
 a1 a2 1  0 −3 1  0 2 4 
M =  a2 0 =  − 3 1 0 S = B A B  =  1 2 6 
2
1 AB
     
 1 0 0  1 0 0  1 1 − 1
 −2 2 0 
P = SM =  0 −1 1
 
 −4 −2 1 
42
(b)
s −2 0
− A = −1 −1 = − 3 s + 2 = s + a 2 s + a1 s + a 0 = = 0, = −3
3 2 3 2
sI s 0 s a 2, a a
0 1 2
1 −1 s −1
 a1 a2 1  0 −3 1   1 2 6
M =  a2 0 =  − 3 1 0 S =  B AB A B  =  1 3 8 
2
1
     
 1 0 0  1 0 0   0 0 1
 0 −1 1 
P = SM =  −1 0 1
 
 1 0 0 
(c)
s +2 −1 0
−A = +2 = s + 7 s + 16 s + 12 = s + a 2 s + a 1 s + a 0 = 12 , = 16 , =7
3 2 3 2
sI 0 s 0 a a a
0 1 2
1 2 s +3
 a1 a2 1 16 7 1  1 −1 0 
M =  a2 0 =  7 1 0 S =  B AB A B  = 1 −2 4
2
1
     
 1 0 0  1 0 0  1 −6 23
 9 6 1
P = SM =  6 5 1 
 
 −3 1 1
(d)
s +1 −1 0
−A = =1 −1 = s + 3 s + 3 s + 1 = + a 2 s + a1 s + a0 = 1, = 3, =3
3 2 3 2
sI 0 s s a a a
0 1 2
0 0 s +1
 a1 a2 1 3 3 1   0 1 −1
M =  a2 0 =  3 1 0 S =  B AB A B  =  1 0 − 1
2
1
     
 1 0 0  1 0 0   1 − 1 1 
2 1 0
P = SM =  2 3 1
 
 1 2 1 
(e)
s −1 −1
−A = = + 2 s −1 = s + a1 s + a 0 = − 1, =2
2 2
sI s a a
0 1
2 s +3
43
 a1 1  2 1 0 1 
M= = S = [B AB ] =
 1 0   1 0   1 −3 
 1 0
P = SM =
 −1 1 
5-9 (a) From Problem 5-8(a),
 0 −3 1 
M = − 3 1 0 
 
 1 0 0 
Then,
 C   1 0 1  0.5 1 3 
V =  CA  = − 1 2 1  Q = (MV ) =  0.5 1.5 4 
−1
 2    
CA   1 2 1  −0.5 −1 −2 
(b) From Problem 5-8(b),
16 7 1 
M = 7 1 0
 
 1 0 0 
 C   1 0 1  0.2308 0.3077 1.0769 
V =  CA  = − 1 3 1  Q = (MV ) =  0.1538 0.5385 1.3846 
−1
 2    
CA   2 5 1   −0.2308 −0.3077 −0.0769 
(c) From Problem 5-8(c),
 C   1 0 0
V =  CA  = − 2 1 0
 2  
CA   4 −4 0 
Since V is singular, the OCF transformation cannot be conducted.
(d) From Problem 5-8(d),
 3 3 1
M =  3 1 0
 
 1 0 0
Then,
 C  1 0 1 −1 1 0 
V =  CA  = − 1 1 −1  Q = ( MV ) =  0 1 − 2
−1
 2    
CA   1 −2 2   1 − 1 1 
(e) From Problem 5-8(e),
44
 2 1  C  1 0  0 1 
Q = ( MV ) =
−1
M= V=
 1 0  Then,
CA 2  = 1 1  1 −3 
5-10 (a) Eigenvalues of A: 1, 2.7321, −0.7321
0 0.5591 0.8255 
T = [p1 p2 p3 ] = 0 0.7637 −0.3022 
 
1 −0.3228 0.4766 
where p , p , and p are the eigenvectors.
1 2 3
(b) Eigenvalues of A: 1, 2.7321, −0.7321
0 0.5861 0.7546 
T = [ p1 p2 p3 ] = 0 0.8007 −0.2762 
 
1 0.1239 0.5952 
where p , p , and p are the eigenvalues.
1 2 3
(c) Eigenvalues of A: -3, -2, -2. A nonsingular DF transformation matrix T cannot be found.
(d) Eigenvalues of A: −1, −1, −1

The matrix A is already in Jordan canonical form. Thus, the DF transformation matrix T is the identity
matrix I.
(e) Eigenvalues of A: 0.4142, −2.4142
 0.8629 −0.2811
T = [p2 p2 ] =
 − 0.5054 0.9597 
5-11 (a)
1 −2 
S = [B AB] = S is singular.
0 0 
(b)
 1 −1 1 
S = B AB A B  =  2 −2 2 
2
S is singular.
 
 3 −3 3 
(c)
 2 2 +2 2 
S = [B AB] =   S is singular.
 2 2+ 2 
(d)
45
 1 −2 4 
S = B AB A B  =  0 0
2
0 S is singular.
 
 1 −4 14 
5-12 (a) Rewrite the differential equations as:
d θm B d θm Kb dθ m
2 2
K Ki dia Ra K a Ks
2
=− 2
− θm + ia =− − ia + (θ r
−θm )
dt J dt J J dt La dt La La
dθ
State variables: x = θ , x = m
, x = ia
1 m 2 3
dt
 dx1   
 
 dt   0 
 0 
1 0
     x1 
 
 dx2  =  − K −
B Ki   
x2 +  0  θ r y = 0 x = x1
 dt   J J   
1 0
 x  K K 
J
 dx   K K Ra  3   a s 
 3  − a s − 
Kb
−  La 
 dt   La La La 
(b) Forward-path transfer function:

−1
 
s  
−1 0   0 
 
Θm ( s ) K B Ki    KiK a
G ( s) = = [1 0 0 ] s+ −  0 =
J J 
E (s )

J
  K  ∆ o ( s)
0 Kb Ra
  a
s+  La 
 La L a 
∆ o ( s ) = J La s + ( BLa + Ra J ) s + ( KLa + Ki Kb + Ra B) s + KRa = 0

3 2
−1
 
 s  
−1 0   0 
 
Θm ( s )   K s G( s )
= [1 0 0 ] 
K B Ki 
M ( s) =
 J
s+ −  0 =
Θr ( s ) J J   K K  1 + K s (s )
 
 KaKs  a s
s+ a
Kb R
 La La La   La 
K i Ka K s
=
JLa s + ( BLa + Ra J ) s + ( KLa + Ki Kb + Ra B) s + K i K a K s + KRa
3 2
5-13 (a)
46
 0 1 − 1 0   0 − 1 1 0 
A= A = A = A =
2 3 4
 −1 0   0 −1  1 0  0 1 
(1) Infinite series expansion:

 t2 t4 
3 5
t t
 1 − + − L t − + − L
1 2 2 2! 4! 3! 5!  cos t sin t 
φ ( t) = I + At + A t + L =   =
2!  −t + t − t + L 1 − t + t L 
3 5 2 4
− sin t cos t 
 3! 5 ! 2! 4 ! 
(2) Inverse Laplace transform:
−1
 s −1  1  s 1  cos t sin t 
Φ ( s ) = ( sI − A ) =
−1
1 s  = s 2 + 1  −1 s  φ (t ) =
 − sin t cos t 
(b)
 −1 0  1 0   −1 0   −1 0 
A= A = A = A =
2 3 4
 0 −2   0 4   0 − 8   0 16 

 
2 3 4
t t t
 1 − t + − + +L 0 
1 2 2 2 ! 3! 4 ! e −t 0 
φ ( t) = I + At + A t + L =   = 
−2 t
  0 e 
2 3
2! 4t 8t
1 − 2t + − +L
 0
2! 3! 
 1 
0
  s +1 
−1
s + 1 0  e− t 0 
Φ ( s ) = ( sI − A ) =
−1
=  φ (t ) = 
 0 −2 t 
s + 2   0 1  0 e 
 s + 2 
(c)
0 1  1 0  0 1  1 0 
A= A = A = A =
2 3 4
1 0  0 1  1 0  0 1 

 t2 t4 
3 5
t t
 1+ + +L t+ + L 
 e− t + et 
−t
−e + e
t
1 2 2 2! 4! 3! 5 !
φ ( t) = I + At + A t + L =    −t t
= −t 
 t + t + t L 1 + t + t + L −e + e e +e 
3 5 2 4 t
2!
 3! 5 ! 2 ! 4! 
 0.5 − 0.5 − 0.5  0.5
+
 s +1 s − 1 s + 1 s − 1
−1
 s −1  1 s 1 
Φ ( s ) = ( sI − A ) =
−1
 −1 s  = s 2 − 1 1 s  =  
 −0.5 + 0.5 0.5
+
0.5 
 s + 1 s − 1 s + 1 s − 1 
47
 e− t + et 
−t
−e + e
t
φ ( t) = 0.5  − t −t
−e + e e +e 
t t
5-14 (a) e = K s (θ r − θ y ) ea = e − es es = Rs ia eu = Kea
eu − eb dθ y d θy
2
ia = eb = K b Tm = K i ia = ( J m + J L )
Ra + Rs
2
dt dt
dθ
θy
y
Solve for i in terms of and , we have
a
dt
dθ y
KKs (θr − θ y ) − Kb
ia = dt
Rs + Rs + KRs
Differential equation:
d θy  dθ y 
2
K ii a Ki
= =  −K b − KK sθ y + KK sθ y 
dt
2
Jm + J L ( J m + J L ) (R a + R s + KRs )  dt 
dθ
y
State variables: x = θ , x =
1 y 2
dt
State equations:
 dx1   0 1   0 
 dt     x1   θ
   = − KK s K i − K b Ki   + − KK s Ki
 dx2   ( J + J ) (R + R + KR ) ( J + J ) (R + R + KR )   x2   ( J + J ) (R + R + KR ) 
  r
 dt   m L a s s m L a s s   m L a s s 
 0 1   x1   0 
=    +  θr
 −322.58 −80.65   x2   322.58 
We can let v ( t ) = 322 .58 θr, then the state equations are in the form of CCF.
(b)
−1
 s −1  1  s + 80.65 1 
( sI − A ) = −1
= 2
 322.58 s + 80.65  s + 80.65 s + 322.58  −322.58 s
 −0.06 − 1.059 −0.014 0.014 
 s + 76.42 s + 4.22 s + 76.42 + s + 4.22 
= 
 4.468 − 4.468 1.0622 0.0587 
 s + 76.42 s + 4.22 s + 76.42 − s + 4.22 
For a unit-step function input, u ( t )
s
=1 / s.
 322.2   1 + 0.0584 − 1.058 

1  s ( s + 76.42)( s + 4.22)   s s + 76.42 s + 4.22 
( sI − A)−1 B =  =  
s  322.2   − 4.479 + 4.479 
 s ( s + 76.42)( s + 4.22)   s + 76.42 s + 4.22 
48
 −0.06e −76.42 t − 1.059e −4.22 t 
−76.42t −4.22t
−0.014e + 0.01e
x (t ) =  −76.42 t −4.22t −76.42t −4.22t 
x (0)
4.468 e − 4.468e 1.0622 e − 0.0587 e 
1 + 0.0584 e −76.42 t − 1.058e −4.22 t 
= −76.42 t −4.22t  t≥0
 −4.479 e + 4.479e 
(c) Characteristic equation: ∆( s ) = + 80 . 65 s + 322 =0
2
s . 58
(d) From the state equations we see that whenever there is Ra there is ( 1 + K ) Rs . Thus, the purpose of R is
s
to increase the effective value of Ra by (1 + K ) Rs . This improves the time constant of the system.

 dx1 
 dt  
0 1   0 
  x1   θ
 = − KKs Ki − Kb Ki   + KKs Ki
 dx2   J ( R + R + KR ) J ( R + R + KR )   x2   J ( R + R + KR ) 
  r
 dt   s s s s   s s 
 0 1   x1   0 
=   +  θ r
 −818.18 −90.91   x2  818.18
Let v = 818 .18 θr. The equations are in the form of CCF with v as the input.
−1
( sI − A ) =  −1 s −1  1  s + 90.91 1
(b)  = 
818.18 s + 90.91  ( s + 10.128 ) ( s + 80.782)  −818.18 s 
 1.143 e−10.128t − 0.142 e−80.78t   x1 (0) 

−10.128t −80.78t
0.01415 e − 0.0141e
x (t ) =  −80.78t   
  x2 (0) 
−10.128 t −80.78 t −10.128 t
− 11.58 e + 0.1433e − 0.1433 e + 1.143e
 11.58 e−10.128 t − 11.58 e−80.78t 
+ −10.128 t −80.78t 
t≥0
1 − 1.1434 e + 0.1433 e 
(c) Characteristic equati on: ∆ ( s ) = s + 90 . 91 s + 818 =0
2
. 18
Eigenvalues: − 10.128, −80.782

(d) Same remark as in part (d) of Problem 5-14.
5-16 (a) Forward-path transfer function: Closed-loop transfer function:

Y ( s) 5 ( K1 + K 2s )
G ( s) = =
E ( s ) s [s ( s + 4)( s + 5) + 10 ]
Y (s ) G (s) 5 ( K1 + K 2s )
M ( s) = = =
1 + G(s ) s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4 3 2
R (s )
(b) State diagram by direct decomposition:
49
 x&1   0 1 0   x1   0 
0
 x&   0 0 1 0   x2   0 
 2 =    +   r y = 5 K1 5K2 0 x
 x&3   0 0 0 1   x3   0 
 x&   −5 K    
 4  − (10 + 5 K 2 ) −20 −9   x4   1 
1
(c) Final value: r(t ) = u s ( t ), R( s) = .
s
5 ( K1 + K 2s )
lim y( t) = lim sY ( s ) = lim =1
s + 9 s + 20 s + ( 10 + 5 K 2 ) s + 5 K1
4 3 2
t →∞ s →0 s →0
5-17 In CCF form,
 0 1 0 0 L 0   0
 0 0 1 0 L 0   0
   
A=  M M M M O M  B = M 
 0   0
L
 0 0 0 1
  
 − a0 − a1 − a2 − a3 L − an −1  1 
s −1 0 0 L 0
0 s −1 0 L 0 
 
sI − A =  M M M M O M 
0 
−1
 0 0 0 0

a 0 a1 a2 a3 L s + a n 
n −1 n−2
+ L + a1 s + a 0
n
sI −A = s + a n −1 s + a n−2 s
Since B has only one nonzero element which is in the last row, only the last column of adj (s I − A ) is
going to contribute to adj (s I − A ) B . The last column of adj (s I − A ) is obtained from the cofactors of
( sI − A ) . adj (s I − A ) B
'
n −1
L
2
the last row of Thus, the last column of is 1 s s s .
50
2
dy d y
1
= y, x
2
= , x
3
= 2
dt dt
State equ ations: x& ( t ) = Ax ( t ) + B r ( t )
0 1 0  0
A= 0 0 1 B =  0
   
 −1 −3 −3  1 
(b) State transition matrix:
s2 + 3 s + 3 s + 3 1 
−1
 s −1 0 
1  
Φ ( s ) = ( sI − A ) =  0 s −1  =
−1
−1 s + 3s s
2
  ∆ (s )  
 1 3 s + 3   − s −3 s − 1 s 
2
 1 1 1 1 2 1 
 + + + 
 s + 1 ( s + 1) ( s + 1) ( s + 1) 2 ( s + 1)3 ( s + 1 )3 
2 3
 −1 1 1 2 s 
= + − 
 ( s + 1 )3 s + 1 ( s + 1)
2
( s + 1) 3 ( s + 1) 3 
 
−s −3
2
 +
2 s

 ( s + 1 )3 ( s + 1) 2 ( s + 1)3 ( s + 1)3 
∆ (s ) = s3 + 3 s2 + 3s + 1 = ( s + 1)
3
(1 + t + t 2 / 2 ) e− t (t + t ) e 
2 −t 2 −t
t e /2

φ ( t) =
2 −t
 −t e / 2 (1 + t − t ) e 2 −t
( t − t / 2 ) e 
2 −t
 ( −t + t 2 / 2 ) e −t 2
t e
−t
(1 − 2t + t 2 / 2 ) e −t 
(d) Characteristic equation: ∆ ( s ) = s + 3 s + 3 s + 1 = 0
3 2
Eigenvalues: − 1, −1, −1
dy
1
= y, x
2
=
dt
State equations:
 dx1 (t ) 
 dt   0 1   x1 ( t)   0 
 =   +   r ( t)
 dx2 ( t)   − 1 − 2   x2 ( t)   1 
 dt 
 s+ 2 1
 ( s + 1) 2 −1
( s + 1)   (1 + t ) e−t 
 s −1 
2 −t
te
Φ ( s ) = ( sI − A ) =
−1

 1 s + 2  =  − 1 s 
φ (t ) =  
 − te (1 − t ) e 
−t −t
 ( s + 1) 2
 ( s + 1)2 
51
∆ (s ) = ( s +1) = 0
2
dy
1
= y, x
2
= y +
dt
State equations:
dx dx 2
dy d y dy dy
1
= = x
2
−y= x
2
− x1 2
= 2
+ = −y − +r = −x2 +r
dt dt dt dt dt dt
 dx1 
 dt   −1 2   x1  0 
 =   + r
 dx2   0 −1  x2  1 
 dt 
 1 −2 
s + 1 −2   s + 1 ( s + 1) 
−1
e −t − te
−t

2
Φ (s ) =  = φ (t ) = 0 
 0 s + 1    
−t
1 e
 0 s +1 

(c) Characteristic equation: ∆ (s ) = ( s +1) = 0
2
which is the same as in part (a).
5-20 (a) State transition matrix:

s − σ ω  s − σ −ω 
( )
1
( sI − A ) −1
sI − A = = ∆ ( s ) = s − 2σ + σ + ω
2 2 2
 −ω s − σ  ∆( s)  ω s − σ 
 cos ω t − sin ω t  σ t
φ ( t) = L
−1
( sI − A )−1  = 
 sin ω t cos ω t 
e
(b) Eigenvalues of A: σ + jω , σ − jω
5-21 (a)
−3
Y (s) s 1
1
= −1 −2 −3
=
1+ s + 2s +3s +s +2s+3
3 2
U ( s) s
1
−3
Y ( s) s 1 Y ( s)
2
= −1 −2 −3
= = 1
+s +2s + 3s + s + 2s +3
3 2
U (s) 1 s U (s)
2 1
(b) State equations [Fig. 5-21(a)]: x& = A x + B u Output equation: y = C x

1 1 1 1 1
0 1 0   0
A1 =  0 0 1  B1 =  0  C1 = [1 0 0]
   
 −3 −2 −1   1 
State equations [Fig. 5-21(b)]: x& = A x + B u Output equation: y = C 2x
2 2 2 2
 0 0 −3   1
A 2 =  1 0 −2  B2 = 0  C2 = [0 0 1]
   
 0 1 −1   0 
52
= A1
'
Thus, A
2
5-22 (a) State diagram:
(b) State diagram:
5-23 (a)
−3
Y (s) 10 s X (s)
G (s) = = −1 −2 −3
Y ( s) = 10 X (s)
U ( s) 1 + 8 .5 s + 20 . 5 s + 15 s X (s)
−1 −2 −3
X (s) = U ( s ) − 8 .5 s X ( s) − 20 . 5 s X ( s ) − 15 s X (s)
State diagram:
State equation: x& ( t ) = Ax ( t ) + B u ( t )
53
 0 1 0  0 

A= 0 0 1  B = 0  A and B are in CCF
   
 −15 −20.5 −8.5  1 
(b)
−3 −4
Y (s) 10 s + 20 s X (s)
G (s) = = −1 −2
U ( s) 1 + 4. 5 s + 3 .5 s X (s)
−3 −4 −1 −2
Y ( s) = 10 s X ( s) + 20 s X (s) X ( s) = −4. 5 s X ( s ) − 3 .5 s X ( s) +U ( s)
State diagram:
State equations: x& ( t ) = Ax ( t ) + B u ( t )
0 1  0 0 0 
0 0 1 0  0 
A=   B=  A and B are in CCF
0 0 0 1  0 
0  1 
 0 −3.5 −4.5   
(c)
−2 −3
Y (s) 5( s + 1) 5s + 5s X (s)
G (s) = = = −1 −2
U ( s) s(s + 2 )( s + 10 ) 1 + 12 s + 20 s X (s)
−2 −3 −1 −2
Y (s) = 5s X (s) + 5s X (s) X (s) = U ( s ) − 12 s X (s) − 20 s X ( s)
54
0 1 0  0 

A= 0 0 1  B = 0  A and B are in CCF
   
0 −20 −12  1 
(d)
−4
Y (s ) 1 s X (s )
G ( s) = = =
U (s ) (
s ( s + 5) s + 2s + 2
2
) −1
1 + 7 s + 12 s + 10 s
−2 −3
X (s )
−4 −1 −2 −3
Y ( s) = s X ( s) X (s) = U ( s) − 7s X ( s ) − 12 s X (s) − 10 s
State diagram:
0 1 0 0  0 
0 0 1 0  0 
A=   B=   A and B are in CCF
0 0 0 1  0 
0 −10 −12 −7  1 
   
5-24 (a)
Y (s) 10 5 . 71 6 . 67 0 . 952
G (s) = = = − +
+ 8 . 5 s + 20 . 5 s + 15 + 15 +2 +5
3 2
U ( s) s s s s
55
 −1.5 0 0   5.71 
A=  0 −2 0  B =  −6.67 
   
 0 0 −5   0.952 
The matrix B is not unique. It depends on how the input and the output branches are allocated.
(b)
Y (s) 10( s + 2) −4. 5 0 .49 4 5 . 71
G (s) = = = + + +
= 1 )( s + 3 . 5) + 3 .5 +1
2 2
U ( s) s (s s s s s
State diagram:
State equation: x& ( t ) = Ax ( t ) + B u ( t )
0 1 0 0  0 
0 0 0 0  1 
A=   B=  
0 0 −1 0  1 
0 0 0 −3.5  1 
   
(b)
Y ( s) 5( s + 1) 2 .5 0 . 313 0 . 563
G (s) = = = + −
U (s) s( s + 2 )( s + 10 ) s s +2 s + 10
0 0 0  1 

A = 0 −2 0  B = 1 
  
0 0 −10  1 
(d)
56
Y (s ) 1 0.1 0.0118 0.0882s + 0.235
G ( s) = = = − −
U (s ) (
s ( s + 5) s + 2s + 2
2
) s s+ 5 s + 2s + 2
2
0 0 0 0  1 
0 −5 0 0 1 
A=   B=  
0 0 0 1  0 
0 0  1 
 −2 −2   
5-25 (a)
Y (s) 10
G (s) = =
U ( s) (s + 1. 5)( s + 2 )( s + 5)
State diagram:
 −5 1 0 0 
A =  0 −2 1  B= 0 
   
 0 0 −1.5  10 
(b)
Y (s ) 10(s + 2)  10   s + 2   1 
=
2   
G ( s) = =
s ( s + 1)( s + 3.5)  s   s + 1   s + 3.5 
2
U (s )
State diagram:
57
0 1 0 0  0 
0 0 1 1  0 
A=   B=  
0 0 −1 1  0 
0 0 0 −3.5  10 
   
(c)
Y (s ) 59 s + 1)  5  s + 1   1 
=
G ( s) = =   
U (s ) s( s + 2)( s + 10)  s  s + 2   s + 10 
State diagram:
0 1 0  0 
A = 0 − 10 −1 
 B = 0 
   
0 0 −2  5 
(d)
Y (s) 1
G ( s) = =
U (s ) (
s ( s + 5) s + 2s + 2
2
)
State diagram:
58
0 1 0 0  0 
0 0 1 0 0 
A=   B=  
0 −2 −2 1 0 
0 0  1 
 0 −5   
5-26 (a)
−3
Y (s) 10 10 s X (s)
G (s) = = = −1 −2
E (s) s(s + 4 )( s + 5) 1+ 9 s + 20 s X (s)
(b) Dynamic equations:
 x&1   0 1 0   x1  0 
 x&  =  0 0 1   x2  + 0  r y = [10 0 0] x
 2     
 x&3   −10 −20 −9   x3   1 
(c) State transition equation:
 X 1 (s )   s −1 (1 + 9s −1 + 20 s −2 ) s −2 (1 + 9 s −1 ) s −3   x1 (0)   s −3 
 X (s ) = 1  − 10 s
−3
s (1 + 9 s ) s
−1 −1 −2    1  s −2  1
x2 (0) +
 2
 ∆ (s )     ∆ ( s )  −1  s
 X 3 ( s )  
 − 10 s
−2
− 20 s
−2 −1

s   x3 (0)   s 
1
 s + 9 s + 20
2
s+9 1   x1 (0)   s
1    
s  x2 (0)  +
1
= − 10 s( s + 9)
 ∆ c (s )  
1
∆ c (s )  
 − 10 s − 10 ( 2 s + 1 ) s   x3 (0) 
2
 s
 
 
−1 −2 −3
∆( s ) = 1 + 9 s + 20 + 10 ∆c( s) = + 9 s + 20 s + 10
3 2
s s s
59
 1.612 0.946 0.114   −0.706 −1.117 −0.169  0.0935 0.171 0.055  
  
x(t ) =  −1.14 −0.669 −0.081 e +  1.692 4.056  e −2.397t +  −0.551 −1.009 − 0.325 e −5.895t  x(0)
−0.708t
2.678
     
 0.807 0.474 0.057   −4.056 −6.420 −0.972   3.249 5.947 1.915  
  
0.1 − 0.161e−0.708t + 0.0706 e−2.397t − 0.00935e−5.895 t 
 
+
−0.708 t
− 0.169e
−2.397 t
+ 0.055e
−5.895 t
t ≥0
 0.114 e 
 −0.087 e−0.708t + 0.406 e− 2.397t − 0.325e− 5.895t 
(d) Output:
(
y ( t ) = 10 x1 (t ) = 10 1.612e
−0.708t
− 0.706e
−2.397t
+ 0.0935e
−5.897 t
) x (0) + 10 ( 0.946e − 1.117e + 0.1711e ) x (0)
1
−0.708 t −2.397t −5.895t
2
(
+ 10 1.141 e
−0.708 t
− 0.169 e
−2.397 t
+ 0.0550 e
−5.895 t
) x (0) + 1 −1.61e −0.708t + 0.706e −2.397 t − 0.0935e −5.895t
3 t≥0
5-27 (a) Closed-loop transfer function:

Y (s) 10
=
+ 9 s + 20 s + 10
3 2
R( s) s
(b) State diagram:
(c) State equations: (d) State transition equations:

[Same answers as Problem 5-26(d)]
 x&1   0 1 0   x1  0 
 x&  =  0 0 1   x2  + 0  r (e) Output:
 2     
[Same answer as Problem 5-26(e)]
 x&3   −10 −20 −9   x3   1 
5-28 (a) State diagram:
(b) State equations:
60
 x&1   −2 20 −1 0   x1   0 −1 
 x&   0 −10 1 0   x2   0 0 u 
 2 =    +  
 x&3   −0.1 0 −20 1   x3   0 0  T D 
 x&   0    
 4  0 0 − 5   x4  30 0 
(c) Transfer function relations:

From the system block diagram,
 −1 
−0.2s
1 0.3 30 e U ( s) 90U( s)
Y ( s) =  T ( s) + T ( s) + + 
∆( s)  s + 2 ( s + 2)( s + 5)( s + 20) (s + 5)( s + 20) 
D D
( s + 2)( s + 20)
−0 . 2 s − 0. 2 s
0 . 1e (s + 2 )( s + 20 ) + 0 .1 e
∆( s ) = 1 + =
(s + 2 )( s + 20 ) (s + 2 )( s + 20 )
−0 . 2 s
− ( s + 19 . 7 ) 30 e + 90( s + 2 )U ( s )
Y ( s) = −0 . 2 s
T
D
(s)+
−0 . 2 s
(s + 2 )( s + 20 ) + 0 .1e (s + 5) (s + 2 )( s + 20 ) + 0 . 1e
−0 . 2 s
−( s + 20 ) 30 e U ( s)
Ω( s ) = −0 . 2 s
T (s)
D
+
−0 . 2 s
(s + 2 )( s + 20 ) + 0 .1e (s + 5) (s + 2 )( s + 20 ) + 0 .1e
−1
5-29 (a) There should not be any incoming branches to a state variable node other than the s branch. Thus, we
should create a new node as shown in the following state diagram.
−1
(b) State equations: Notice that there is a loop with gain −1 after all the s branches are deleted, so ∆ = 2.
dx 17 1 dx 15 1 1
1
= x
1
+ x
2
2
= x
1
− x
2
+ r Output equation: y = 6 .5 x 1 + 0 .5 x 2
dt 2 2 dt 2 2 2
5-30 (a) Transfer function: (b) Characteristic equation:

Ks + 5 s + 1
( s + 1) ( s )
2
Y (s )
= + 11s + 2 = 0
2
R (s ) (
( s + 1) s + 11s + 2 2
)
Roots of characteristic equation: −1, −0.185, −-10.82. These are not functions of K.
(c) When K = 1:
+ 5s +1
2
Y (s) s
=
+ 12 + 13 s + 2
3 2
R( s) s s
State diagram:
61
(d) When K = 4:
4s + 5s + 1 (s + 1)(4 s + 1) 4s + 1
2
Y (s )
= = =
R (s ) ( s + 1) ( s 2
+ 11s + 2 ) ( s + 1) (s 2
+ 11s + 2 ) s + 11s + 2
2
State diagram:
(e)
+ 5s =1
2
Y (s) Ks
= When K = 4, 2.1914, 0.4536, pole-zero cancellation occurs.
R( s) (s + 1 )( s + 0 .185)( s + 10 .82 )
5-31 (a)
Y ( s) 1 100
Gp ( s) = = =
U (s ) ( 1 + 0.5s ) (1 + 0.2s + 0.02s 2
) s + 12 s + 70 s + 100
3 2
State diagram by direct decomposition:
State equations:
 x&1   0 1   x1  0 
0
 x&  =  0 0 1   x2  + 0  u
 2     
 x&3   −100 −70 −12   x3  1 
(b) Characteristic equation of closed-loop system: Roots of characteristic equation:
62
+ 12 + 70 s + 200 = 0 − 5. 88 , − 3 . 06 + − 3 . 06 −
3 2
s s j 4. 965 , j 4. 965
5-32 (a)
Y ( s) 1 − 0.066 s −20( s − 15)
Gp ( s) = ≅ =
U (s ) (1 + 0.5s ) (1 + 0.133s + 0.0067s 2
) s + 22 s + 190 s + 300
3 2
State equations:
 x&1   0 1   x1   0 
0
 x&  =  0 0 1   x2  +  0 
 2     
 x&3   −300 −190 −22   x3   1 
Characteristic equation of closed-loop system: Roots of characteristic equation:
+ 22 + 170 + 600 = 0 −12, −5 + j5, −5 −j5

3 2
s s s

1
= ωm and x
2
= ωD
State equations:
dω K K + K bRa K KK dω K K
m
=− b i
+ D
ωD + i
e D
= D
ωm − D
ωD
dt JR J JR dt J J
a a R R
(b) State diagram:
63
(c) Open-loop transfer function:
Ωm ( s) KK i ( J R s + K D )
=
JJ RR a s + ( K b J R Ki + K DR a J R + K D JRa ) s + K DK b Ki
2
E (s )
Ωm ( s) Ks KKi ( J R s + KD )
=
Ω r ( s) JJ R Ra s + ( Kb J R Ki + KD R a J R + KD JRa + Ks K Ki J R ) s + KD K b Ki + Ks K Ki KD
2
(d) Characteristic equation of closed-loop system:
∆ ( s ) = JJ R R a s + ( K D J R K i + K D R a J R + K D JRa + K s KK i J R ) s + K D K b K i + K s K Ki KD = 0
2
∆( s ) = + 1037 + 20131 =0
2
s s .2
Characteristic equation roots: −19.8, −1017.2
5-34 (a) State equations: x& ( t ) = Ax ( t ) + B r ( t )

 −b d   −2 1   0 0 1 
A= S = [B AB ] =
 c − a =  2 − 1  B=
 1  1 −1 
Since S is nonsingular, the system is controllable.
(b)
0 d 
S = [B AB ] = The system is controllable for d ≠ 0.
 1 − a 
5-35 (a)
1 −1 1 
S = B A B  = 1 −1 1 
2
AB S is singular. The system is uncontrollable.
 
1 −1 1 
(b)
64
1 − 1 1 
S = B AB A B  = 1 − 2 4 
2
S is nonsingular. The system is controllable.
 
1 −3 9 
5-36 (a) State equations: x& ( t ) = Ax ( t ) + B u ( t )
 −2 3  1  1 1 
A= B= S = [B AB ] = S is singular. The system is uncontrollable.
 1 0  1  1 1 
Output equation: y = 1 0 x = Cx C = 1 0
1 −2 
V = C  =  0 3 
' ' '
AC V is nonsingular. The system is observable.
 
Y (s) s +3 1
= =
+2s−3 −1
2
U ( s) s s
Since there is pole-zero cancellation in the input-output transfer function, the system is either
uncontrollable or unobservable or both. In this case, the state variables are already defined, and the
system is uncontrollable as found out in part (a).
5-37 (a) α = 1, 2 , or 4 . These values of α will cause pole-zero cancellation in the transfer function.
(b) The transfer function is expanded by partial fraction expansion,

Y (s) α −1 α −2 α −4
= − +
R( s) 3( s + 1) 2( s + 2) 6( s +4)
By parallel decomposition, the state equations are: x& ( t ) = Ax ( t ) + B r ( t ) , output equation: y ( t ) = C x ( t ).
 −1 0 0  α −1 
A =  0 −2 0 B = α − 2  D=
1 − 1 1
     3 2 6 
 0 0 −4  α − 4 
The system is uncontrollable for α = 1, or α = 2, or α = 4.
(c) Define the state variables so that
1
 3
 −1 0 0   
−1
A =  0 −2 0 B=  D = [α − 1 α −2 α − 4]
   2
 0 0 − 4  −1 
 
 6 
The system is unobservable for α = 1, or α = 2, or α = 4.
65
5-38
1 b 
S = [B AB] = S = ab − 1 − b ≠ 0
2
b ab − 1 
− 1 − b = 0.
2
The boundary of the region of controllability is described by ab
Regions of controllability:
5-39
 b1 b1 + b 2 
S = [B AB] = S = 0 when b1 b2 − b1 b2 − b2 = 0,or b2 = 0
2
b b 2 
 2
The system is completely controllable when b
2
≠ 0.
 d1 d2 
V = C  =  V = 0 when d 1 ≠ 0 .
' ' '
AC 
 d2 d 1 + d 2 
The system is completely observable when d
2
≠ 0.

dh 1 K nN K dθ m d ωm Ki Kb Ki K a
= ( qi − qo ) = I θm − o h =ω =− ωm + = Jm +n
2
ei J J
m L
dt A A A dt dt JRa JRa
dθ
State variable: x
1
= h, x
2
=θm, x
3
= m
= ωm
dt
State equations: x& = Ax + B e
i
 −K o K I nN   
 A 0   −1 0.016 0   0   0 
 A
 0     0 
A=  0 0 1 = 0 1 B =  0 =
   
 KK
  0 0 −11.767 
K K  8333.33
 0 0 − i b  i a
 JRa   JRa 
State diagram:
66
(b) Characteristic equation of A:
Ko − K I nN
s+ 0
A A
 Ko   s + Ki K b  = s ( s +1)( s + 11.767)
sI − A = 0 s −1 = s s +  
 A  JRa 
Ki K b
0 0 s+
JRa
Eigenvalues of A: 0, −1, −11.767.

(c) Controllability:
 0 0 133.33 
S = B AB A B  =
2  0 8333.33 − 98058  S ≠ 0.
 
The system is controllable.
8333.33 −98058 1153848

(d) Observability:
(1) C = 1 0 0 :
1 −1 1 
V = C ( A ) C  = 0 0.016 −0.016 

' ' ' ' 2 '
AC V is nonsingular. The system is observable.
 
0 0 0.016 
(2) C = 0 1 0 :
0 0 0 
V = C
'
AC
' ' ' 2 
( A ) C  = 1 0
'
0  V is singular. The system is unobservable.
 
0 1 −11.767 
(3) C = 0 0 1 :
0 0 0 
V = C
'
AC
' ' ' 2 
( A ) C  = 0
'
0 0  V is singular. The system is unobservable.
 
 1 −11.767 138.46
∗
5-41 (a) Characteristic equation: ∆( s ) = s I − A = − 25 . 92 =0
4 2
s s
Roots of characteristic equation: −5.0912, 5.0912, 0, 0
(b) Controllability:
67
 0 − 0.0732 0 − 1.8973
 −0.0732 0 −1.8973 0 
S = B A B  =  
∗ ∗ ∗ ∗2 ∗ ∗3 ∗
AB A B
 0 0.0976 0 0.1728 
 0.0976 
 0 0.1728 0 
∗ ∗
S is nonsingular. Thus, A , B is controllable.
(c) Observability:
∗
(1) C = 1 0 0 0
1 0 25.92 0 
0 1 0 25.92 
V = C ( A ) C  =  
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
0 0 0 0 
0 
 0 0 0 
S is singular. The system is unobservable.
∗
(2) C = 0 1 0 0
 0 25.92 0 671.85
1 0 25.92 0 
V = C (A ) C  =  
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
0 0 0 0 
0 
 0 0 0 
∗
(3) C = 0 0 1 0
0 0 − 2.36 0 
0 0 0 − 2.36 
V = C (A ) C  =  
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
1 0 0 0 
0 
 1 0 0 
S is nonsingular. The system is observable.
∗
(4) C = 0 0 0 1
68
0 −2.36 0 −61.17 
0 0 −2.36 0 
V = C ( A ) C  =  
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
0 0 0 0 
1 
 0 0 0 
5-42 The controllability matrix is
 0 −1 0 −16 0 − 384
 −1 0 −16 0 −384 0 
 
0 0 0 16 0 512 
S=  Rank of S is 6. The system is controllable.
 0 0 16 0 512 0

0 1 0 0 0 0 
 
 1 0 0 0 0 0 
5-43 (a) Transfer function:

Θv ( s ) KI H
=
R (s ) J vs
2
(J G
s + K Ps + K I + K N
2
)
State equations: x& ( t ) = Ax ( t ) + B r ( t )
0 1 0 0 
0 0  0
1 0   0
 
A = 0 0 0 1  B= 
   0
− ( KI + KN ) − KP  1
0 0   
 JG J G 
(b) Characteristic equation: Jvs
2
(J G
s + K P s + K I + KN = 0
2
)
69
5-44 (a) State equations: x& ( t ) = Ax ( t ) + B u 1 ( t )
 −3 1   0 0 1 
A= B= S = [B AB ] =
 0 − 2  1  1 −2 
S is nonsingular. A , B is controllable.
Output equation: y 2 = C x C = −1 1
 −1 3 
V = C  = 
' ' '
V is singular. The system is unobservable.
 1 −3 
AC
(b) With feedback, u 2 = − kc 2 , the state equation is: x& ( t ) = Ax ( t ) + B u1 ( t ) .

 −3 − 2 k 1  0 1 
 0
A =  1+ g 1+ k  B= S=  1+k
  1   
 0 − 2  1 −2 
S is nonsingular for all finite values of k. The system is controllable.
State diagram:
 −1 1 
Output equation: y2 = Cx C=
 1 + k 1 + k 
 −1 3 + 2k 
1 + K (1 + k ) 
2
V =  D ' A D  =  
' '
 1 −
3 + 2k 
 1 + k (1 + k ) 
2
V is singular for any k. The system with feedback is unobservable.
5-45 (a)
1 2 
S = [B AB ] = S is nonsingular. System is controllable.
 2 − 7 
1 − 1 
V = C A C  =
' ' '
V is nonsingular. System is observable.
1 −2 
(b) u = − k 1 k2 x
 0 1   k1 k2   −k1 1 − k2 
A c = A − BK =   − =
 −1 −3   2 k1 2 k2   − 1 − 2 k1 − 3 − 2 k 2 
70
1 − k1 − 2 k2 + 2 
S = [B A cB ] =  2 − 7 − 2k − 4k  S = − 11 − 2 k2 ≠ 0
 1 2
11
For controllabillity, k 2 ≠−
2
− 1 − 1 − 3 k1 
V = C  = 
' ' '
A cC 
 1 −2 − 3 k 2 
For observability, V = −1 + 3k 1 − 3 k 2 ≠ 0
71
Chapter 6 STABILITY OF LINEAR CONTROL SYSTEMS
6-1 (a) Poles are at s = 0 , − 1. 5 + j 1. 6583 , − 1. 5 − j 1. 6583 One poles at s = 0. Marginally stable .
(b) Poles are at s = − 5, − j 2 , j 2 Two poles on j ω axis. Marginally stabl e .

(c) Poles are at s = − 0 .8688 , 0 .4344 + j 2 . 3593 , 0 .4344 − j 2 . 3593 Two poles in RHP. Unstable .
(d) Poles are at s = − 5, − 1 + j , − 1 − j All poles in the LHP. Stable .
(e) Poles are at s = − 1.3387 , 1. 6634 + j 2 . 164, 1. 6634 − j 2 .164 Two poles in RHP. Unstable .
(f) Poles are at s = − 22 . 8487 ± j 22 . 6376 , 21 . 3487 ± j 22 . 6023 Two poles in RHP. Unstable .
6-2 (a) + 25 + 10 s + 450 = 0 Roots: − 25 . 31 , 0 .1537 + j 4.214, 0 .1537 − 4.214

3 2
s s
Routh Tabulation:
3
s 1 10
2
s 25 450
250 − 450 Two sign changes in the first column. Two roots in RHP.
= −8
1
s 0
25
0
s 450
(b) + 25 + 10 s + 50 = 0 Roots: − 24. 6769 , − 0 .1616 + j 1.4142 , − 0 .1616 − j 1.4142

3 2
s s
Routh Tabulation:
3
s 1 10
2
s 25 50
250 − 50 No sign changes in the first column. No roots in RHP.

=8
1
s 0
25
0
s 50
(c) + 25 + 250 + 10 = 0 Roots: − 0 . 0402 , − 12 .48 + j 9 . 6566 , − j 9 . 6566

3 2
s s s
Routh Tabulation:
3
s 1 250
2
s 25 10
6250 − 10 No sign changes in the first column. No roots in RHP.

= 249
1
s .6 0
25
0
s 10
(d) + 10 + 5 . 5 s + 5 . 5 s + 10 = 0 Roots: − 4.466 , − 1.116 , 0 .2888 + j 0 . 9611 , 0 .2888 − j 0 . 9611

4 3 2
2s s
Routh Tabulation:
71
4
s 2 5 .5 10
3
s 10 5 .5
55 − 11
= 4.4
2
s 10
10
24.2 − 100
= − 75 . 8
1
s
4.4
0
s 10
Two sign changes in the first column. Two roots in RHP.
(e) + 2 s + 8 s + 15 + 20 + 16 s + 16 = 0 Roots: − 1.222 ± j 0 .8169 , 0 . 0447 ± j 1.153 , 0 .1776 ± j 2 .352

6 5 4 3 2
s s s
Routh Tabulation:
6
s 1 8 20 16
5
s 2 15 16
16 − 15 40 − 16
= 0 .5 = 12
4
s
2 2
− 33 − 48
3
s
−396 + 24
= 11 .27
2
s 16
−33
− 541 .1 + 528
= −1.16
1
s 0
11 .27
0
s 0
Four sign changes in the first column. Four roots in RHP.
(f) + 2 s + 10 + 20 s + 5 = 0 Roots: −0 .29 , − 1. 788 , 0 . 039 + j 3 .105 , 0 . 039 − j 3 .105

4 3 2
s s
Routh Tabulation:
4
s 1 10 5
3
s 2 20
20 − 20
=0
2
s 5
2
ε ε
2
s 5 Replac e 0 in last row by
20 ε − 10 10
≅−
1
s
ε ε Two sign changes in first column. Two roots in RHP.
0
s 5
6-3 (a) + 25 s + 15 + 20 s + K = 0
4 3 2
s s
Routh Tabulation:
72
4
s 1 15 K
3
s 25 20
375 − 20
= 14.2
2
s K
25
284 − 25 K
= 20 − 1. 76 − 1. 76 >0 < 11 . 36
1
s K 20 K or K
14.2
>0
0
s K K
Thus, the system is stable for 0 < K < 11.36. When K = 11.36, the system is marginally stable. The
auxiliary equation equation is A ( s ) = 14.2 s + 11 . 36 = 0 . = − 0 .8 .
2 2
The solution of A(s) = 0 is s The
frequency of oscillation is 0.894 rad/sec.
(b) + Ks + 2 s + ( K + 1) s + 10 = 0
4 3 2
s
Routh Tabulation:
4
s 1 2 10
+1 >0
3
s K K K
2K − K −1 K −1
= >1
2
s 10 K
K K
−9 K − 1
2
−9 K −1 > 0
1 2
s
K −1
0
s 10
The conditions for stability are: K > 0, K > 1, and − 9 K − 1 > 0 . Since K is always positive, the
2 2
last condition cannot be met by any real value of K. Thus, the system is unstable for all values of K.
(c) + ( K + 2 ) s + 2 Ks + 10 = 0
3 2
s
Routh Tabulation:
3
s 1 2K
+2 > −2
2
s K 10 K
+ 4 K − 10
2
2K
+ 2 K −5 > 0
1 2
s K
K +2
0
s 10
The conditions for stability are: K > −2 and K + 2 K − 5 > 0 or (K +3.4495)(K − 1.4495) > 0,
2
or K > 1.4495. Thus, the condition for stability is K > 1.4495. When K = 1.4495 the system is
= 3.4495 + 10 = 0 . = −2 .899
2 2
marginally stable. The auxiliary equation is A ( s ) s The solution is s .
The frequency of oscillation is 1.7026 rad/sec.
(d) + 20 + 5 s + 10 =0
3 2
s s K
Routh Tabulation:
73
3
s 1 5
2
s 20 10 K
100 − 10 K
= 5 − 0 .5 K − 0 .5 K > 0 < 10
1
s 5 or K
20
>0
0
s 10 K K
The conditions for stability are: K > 0 and K < 10. Thus, 0 < K < 10. When K = 10, the system is
= 20 + 100 = 0 .
2
marginally stable. The auxiliary equation is A ( s ) s The solution of the auxiliary
= −5 .
2
equation is s The frequency of oscillation is 2.236 rad/sec.
(e) + Ks + 5 s + 10 s + 10 =0
4 3 2
s K
Routh Tabulation:
4
s 1 5 10 K
>0
3
s K 10 K
5K − 10
− 10 > 0 >2
2
s 10 K 5K or K
K
50 K − 100
− 10
2
K
− 100 − 10
3
K 50 K K
= − 10 − K > 0
1 3
s 5K
5K − 10 5K − 10
K
>0
0
s 10 K K
− 10 − K > 0 .
3
The conditions for stability are: K > 0, K > 2, and 5 K
β γε
The last condition is written as
K + 2 . 9055 K
2
− 2 . 9055 K + 3 .4419 ϕ <0. The second-order term is positive for all values of K.
Thus, the conditions for stability are: K > 2 and K < −2.9055. Since these are contradictory, the system
is unstable for all values of K.
(f) + 12 . 5 s + s + 5 s + K = 0
4 3 2
s
Routh Tabulation:
4
s 1 1 K
3
s 12 . 5 5
12 . 5 −5
= 0 .6
2
s K
12 . 5
3 − 12 . 5 K
= 5 − 20 .83 − 20 . 83 K > 0 < 0 .24
1
s K 5 or K
0 .6
K >0
0
s K
The condition for stability is 0 < K < 0.24. When K = 0.24 the system is marginally stable. The auxiliary
equation is A ( s ) = 0 . 6 s + 0 .24 = 0 . = − 0 .4.
2 2
The solution of the auxiliary equation is s The frequency of
oscillation is 0.632 rad/sec.
6-4 + ( 2T +1) s + ( 2 + K ) s + 5 K = 0
3 2
The characteristic equation is Ts
Routh Tabulation:
74
+2 >0
3
s T K T
+1 > −1 /
2
s 2T 5K T 2
( 2T + 1 )( K + 2 ) − 5 KT
K (1 − 3 T ) + 4T + 2 > 0
1
s
2T +1
>0
0
s 5K K
4T +2
The conditions for stability are: T > 0, K > 0, and K < . The regions of stability in the
3T −1
T-versus-K parameter plane is shown below.
6-5 (a) + 600 + 50000 + Ks + 24 + 80 =0

5 4 3 2
Characteristic equation: s s s Ks K
Routh Tabulation:
5
s 1 50000 24 K
4
s 600 K 80 K
× 10 −K
7
3 14320 K
< 3 × 10
3 7
s K
600 600
−K
2
214080 00 K
< 214080
2
s 80 K K 00
× 10 − K
7
3
− 7 .2 × 10 + 3 .113256 × 10 − 14400
16 11 2
K K
− 2 .162 × 10 + 5 × 10 <0
1 2 7 12
s K K
600( 214080 00 −K )
>0
0
s 80 K K
Conditions for stability:
75
< 3 × 10
3 7
From the s row: K
K < 2 .1408 × 10
2 7
From the s row:
− 2 .162 × 10 K + 5 × 10 < 0 − 2 . 34 × 10 − 2 .1386 × 10 <0
1 2 7 12 5 7
From the s row: K or (K )( K )
× 10 < K < 2 .1386 × 10

5 7
Thus, 2 . 34
0
From the s row: K>0
× 10 < K < 2 .1386 × 10
5 7
Thus, the final condition for stability is: 2 . 34
= 2 . 34 × 10 ω = 10 . 6 rad/sec.
5
When K
= 2 .1386 × 10 ω = 188 . 59 rad/sec.
7
When K
(b) + ( K + 2 ) s + 30 + 200 =0
3 2
Characteristic equation: s Ks K
Routh tabulation:
3
s 1 30 K
+2 > −2
2
s K 200 K K
− 140
2
30 K K
> 4. 6667
1
s K
K +2
>0
0
s 200 K K
Stability Condition: K > 4.6667

= 6 . 6667 + 933 =0. = − 140
2 2
When K = 4.6667, the auxiliary equation is A ( s ) s . 333 The solution is s .
(c) + 30 + 200 +K =0
3 2
Characteristic equation: s s s
Routh tabulation:
3
s 1 200
2
s 30 K
6000 −K
< 6000
1
s K
30
>0
0
s K K
Stabililty Condition: 0 < K < 6000

= 30 + 6000 = 0 . = − 200
2 2
When K = 6000, the auxiliary equation is A ( s ) s The solution is s .
(d) + 2 s + ( K + 3) s + K + 1 = 0
3 2
Characteristic equation: s
Routh tabulation:
+3
3
s 1 K
2
s 2 K +1
K +5
> −5
1
s K
30
> −1
0
s K +1 K
Stability condition: K> −1. When K = −1 the zero element occurs in the first element of the
76
s row. Thus, there is no auxiliary equation. When K = −1, the system is marginally stable, and one
0
of the three characteristic equation roots is at s = 0. There is no oscillation. The system response
would increase monotonically.
6-6 State equation: Open-loop system: x& ( t ) = Ax ( t ) + B u ( t )
 1 −2   0
A= B=
10 0  1 
Closed-loop system: x& ( t ) = ( A − BK ) x ( t )
 1 −2 
A − BK = 10 − k
 1
−k 2 
Characteristic equation of the closed-loop system:
s −1 2
sI − A + BK = = s + ( k 2 − 1 ) s + 20 − 2 k1 − k 2 = 0
2
−10 + k1 s + k2
Stability requirements:
k
2
−1 > 0 or k
2
>1
20 − 2 k1 − k 2 > 0 or k
2
< 20 − 2 k 1
Parameter plane:
6-7 Characteristic equation of closed-loop system:

s −1 0
sI − A + BK = 0 −1 = s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
3 2
s
k1 k2 + 4 s + k3 + 3
Routh Tabulation:
k2 + 4
3
s 1
k3 + 3 k3 +3>0 or k3 > − 3
2
s k1
(k + 3) ( k 2 + 4 ) − k 1
s
1 3
(k + 3 )( k + 4) − k > 0
k3 + 3
3 2 1
k >0
0
s k1 1
Stability Requirements:
k 3 > − 3, k 1 > 0, (k 3
+ 3) ( k 2 + 4 ) − k 1 > 0
6-8 (a) Since A is a diagonal matrix with distinct eigenvalues, the states are decoupled from each other. The
second row of B is zero; thus, the second state variable, x is uncontrollable. Since the uncontrollable
2
77
state has the eigenvalue at −3 which is stable, and the unstable state x with the eigenvalue at −2 is
3
controllable, the system is stabilizable.
(b) Since the uncontrollable state x has an unstable eigenvalue at 1, the system is no stabilizable.
1
6-9 The closed-loop transfer function of the sysetm is
Y (s) 1000
=
s + 15.6 s + ( 56 + 100 K t ) s + 1000
3 2
R (s )
+ 15 . 6 s + ( 56 + 100 + 1000 = 0
3 2
The characteristic equation is: s K )s
t
Routh Tabulation:
+ 100
3
s 1 56 K
t
2
s 15 . 6 1000
873 . 6 + 1560 Kt − 1000

− 126 >0
1
s 1560 K t .4
15 .6
0
s 1000
Stability Requirements: K
t
> 0 . 081
6-10 The closed-loop transfer function is
Y (s) K(s + 2 )( s + α )
=
+ Ks + ( 2 K + αK − 1 ) s + 2 αK
3 2
R( s) s
+ Ks + ( 2 K + α K − 1) s + 2 αK = 0
3 2
The characteristic equation: s
Routh Tabulation:
+ αK − 1
3
s 1 2K
2 αK >0
2
s K K
+ α ) K − K − 2 αK
2
(2
(2 + α )K − 1 − 2α > 0
1
s
K
2 αK α >0
0
s
1 + 2α
Stability Requirements: α > 0 , K > 0, K > .
2 +α
K -versus- α Parameter Plane:
78
6-11 (a) Only the attitude sensor loop is in operation: K
t
= 0. The system transfer function is:
Θ( s) G (s) K
p
= =
Θr ( s ) 1+ K G ( s) − α + KK
2
s
s p s
If KK
s
>α, the characteristic equation roots are on the imaginary axis, and the missible will oscillate.
If KK
s
≤α, the characteristic equaton roots are at the origin or in the right-half plane, and the system
is unstable. The missile will tumble end over end.
(b) Both loops are in operation: The system transfer function is
Θ( s) G (s) K
p
= =
Θr ( s ) 1 + K sG + K sG p ( s ) + KK + KK s − α
2
(s) s s
t p t
For stability: KK
t
> 0, KK
s
−α > 0 .
When K
t
=0 and KK
s
>α, the characteristic equation roots are on the imaginary axis, and the missile
will oscillate back and forth.
For any KK − α if KK < 0, the characteristic equation roots are in the right-half plane, and the system
s t
is unstable. The missile will tumble end over end.
If KK
t
> 0 , and KK < α , the characteristic equation roots are in the right-half plane, and the system is
t
unstable. The missile will tumble end over end.
6-12 Let s = s + α, then when s = −α, s = 0. This transforms the s = −α axis in the s-plane onto the imaginary
1 1
axis of the s -plane.

1
(s −1) + 5 ( s1 −1) + 3 = 0
2
(a) = + 5s +3 = 0 = s1 − 1
2
F (s) s Le t s We get 1
+ 3 s1 − 1 = 0
2
Or s
1
−1
2
s1 1
1
Routh Tabulation: s 3
1
−1
0
s
1
Since there is one sign change in the first column of the Routh tabulation, there is one root in the
region to the right of s = −1 in the s-plane. The roots are at −3.3028 and 0.3028.
( s1 −1)3 + 3( s1 −1) + 3 ( s1 −1) + 1 = 0

2
(b) = + 3s + 3s +1 = 0 = −1
3 2
F (s) s Let s s We get
1
79
= 0. = 0. −1.
3
Or s The three roots in the s -plane are all at s Thus, F(s) has three roots at s =
1 1 1
(s −1) + 4 ( s1 −1) + 3 ( s1 −1) +10 = 0

3 2
(c) = + 4 s + 3 s + 10 = 0 = −1
3 2
F (s) s Let s s We get 1
1
+ s 1 − 2 s1 + 10 = 0
3 2
Or s
1
−2
3
s 1
1
2
s 1 10
1
Routh Tabulation:
− 12
1
s1
0
s 10
1
Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the
region to the right of s = −1 in the s-plane. The roots are at −3.8897, −0.0552 + j1.605,
and −0.0552 − j1.6025.
(s −1) + 4 ( s1 −1) + 4 ( s1 −1) + 4 = 0

3 2
(d) = +4s +4s +4 = 0 = −1
3 2
F (s) s Let s s We get 1
1
+ s1 − s1 + 3 = 0
3 2
Or s
1
−1
3
s 1
1
2
s 1 3
1
Routh Tabulation:
−4
1
s1
0
s 3
1
Since there are two sign changes in the first column of the Routh tabulation, F(s) has two roots in the
region to the right of s = −1 in the s-plane. The roots are at −3.1304, −0.4348 + j1.0434,
and −0.4348 −j1.04348.
(b) Open-loop transfer function:
H ( s) K a K i nK I N 16.667 N
G ( s) = = =
E (s ) s (R a Js + K i K b ) ( As + K o ) s( s + 1)( s + 11.767)
H (s) G (s) 16 .667 N

= =
+G ( s) + 12 . 767 + 11 . 767 + 16 . 667
3 2
R( s) 1 s s s N
(c) Characteristic equation:
80
+ 12 . 767 + 11 . 767 + 16 . 667 =0
3 2
s s s N
Routh Tabulation:
3
s 1 11 . 767
2
s 12 .767 16 . 667 N
150 .22 − 16 . 667 N

− 16.667 >0 <9
1
s 1 50.22 N or N
12 . 767
>0
0
s 16 .667N N
Stability condition: 0 < N <9.
6-14 (a) The closed-loop transfer function:
H (s) 250 N
=
R( s) s ( 0 .06 s + 0 . 706 )( As + 50 ) + 250 N
The characteristic equation:
+ ( 0 . 706 + 3) s + 35 . 3 s + 250 =0
3 2
0 . 06 As A N
Routh Tabulation:
>0
3
s 0 . 06 A 35 .3 A
+3 +3 > 0
2
s 0 . 706 A 250 N 0 . 706 A
24. 92 A + 105 .9 − 15 NA
+ 105 − 15 >0
1
s 24.92 A .9 NA
07 . 06 A +3
0
s 250N N > 0
→∞ → 1. 66 = 1.
1
From the s row, N < 1.66 + 7.06/A When A N Thus, N
max max
(b) For A = 50, the characteristic equation is
3 s + ( 35.3 + 0.06 K o ) s + 0.706 Ko s + 250 N = 0

3 2
Routh tabulation
81
3
s 3 0706 K
o
+ 0 . 06 > − 588
2
s 35 . 3 K 250 N K . 33
o o
+ 24. − 750
2
0 . 0424 K o 92 K o N
+ 0 . 03323
1 2
s N < 0.0000 5653 K o K o
35 . 3 + 0 . 06 K
>0
0
s 250 N N
(c) N = 10, A = 50. The characteristic equation is
s + ( 35.3 + 0.06 K o ) s + 0.706 Ko s + 50 KI = 0

3 2
Routh Tabulution:
3
s 1 0 . 706 K
o
+ 0 . 06 > −588
2
s 35 . 3 K 50 K K . 33
o I o
+ 24. 92 − 50
2
0 . 04236 K o Ko KI
< 0 . 000847 + 0 .498
1 2
s KI 2Ko Ko
35 .3 + 0 . 06 Ko
>0
0
s 50 K K
I I
6-15 (a) Block diagram: (b) Characteristic equation:

Ms + K s + K + K = 0
2
D s P
+ K D s + 500 + K P = 0
2
500 s
82
(c) For stability, K
D
> 0, 0 .5 + K P > 0. Thu s, K
P
> − 0 .5
Stability Region:
6-16 State diagram:
∆ = 1 + s + Ks
2
+s+K =0
2
s
Stability requirement: K>0
83
Chapter 7 TIME-DOMAIN ANALYSIS OF
CONTROL SYSTEMS
7-1 (a) ζ ≥ 0 . 707 ωn ≥ 2 rad / sec (b) 0 ≤ ζ ≤ 0 . 707 ωn ≤ 2 rad / sec
(c) ζ ≤ 0 . 5 1 ≤ ω n ≤ 5 rad / sec (d) 0 .5 ≤ ζ ≤ 0 . 707 ω n ≤ 0 . 5 rad / sec
7-2 (a) Type 0 (b) Type 0 (c) Type 1 (d) Type 2 (e) Type 3 (f) Type 3
7-3 (a) = lim = 1000 = lim =0 = lim =0

2
K G ( s) Kv sG ( s ) Ka s G (s)
p
s→0 s →0 s→0
(b) = lim =∞ = lim =1 = lim =0

2
p
s→0 s →0 s→0
(c) = lim =∞ = lim =K = lim =0

2
p
s→0 s→0 s→0
(d) = lim =∞ = lim =∞ = lim =1

2
K G ( s) Kv sG ( s ) Ka s G ( s)
p
s→0 s →0 s→0
(e) = lim =∞ = lim =1 = lim =0

2
p
s→0 s →0 s→0
(f) = lim =∞ = lim =∞ = lim =

2
K G ( s) Kv sG ( s ) Ka s G (s) K
p
s→0 s →0 s→0
84
7-4 (a) Input Error Constants Steady -state Error
________________________________________________________________________________
u (t )
s
K p
= 1000 1 1001
tu ( t )
s
K
v
=0 ∞
2
t u (t ) / 2
s
K
a
=0 ∞
(b) Input Error Constants Steady -state Error
________________________________________________________________________________
u (t )
s
K p
=∞ 0
tu ( t )
s
K
v
=1 1
2
t u (t ) / 2
s
K
a
=0 ∞
(c) Input Error Constants Steady -state Error
________________________________________________________________________________
u (t )
s
K p
=∞ 0
tu ( t )
s
K
v
=K 1/ K
2
t u (t ) / 2
s
K
a
=0 ∞
The above results are valid if the value of K corresponds to a stable closed-loop system.
(d) The closed-loop system is unstable. It is meaningless to conduct a steady-state error analysis.
(e) Input Error Constants Steady -state Error

________________________________________________________________________________
u (t )
s
K p
=∞ 0
tu ( t )
s
K
v
=1 1
2
t u (t ) / 2
s
K
a
=0 ∞
(f) Input Error Constants Steady -state Error
________________________________________________________________________________
u (t )
s
K p
=∞ 0
tu ( t )
s
K
v
=∞ 0
=K
2
t u (t ) / 2 K 1/ K
s a
The closed-loop system is stable for all positive values of K. Thus the above results are valid.
G (s) s +1
7-5 (a) K
H
= H (0) =1 M (s) = =
1+ G ( s)H ( s) + 2 s + 3s +3
3 2
s
a
0
= 3, a
1
= 3, a
2
= 2, b
0
= 1, b 1 = 1.
Unit-step Input:
 b0 KH
1  2
ess = 1 − a =3
KH  0 
Unit-ramp input:
a
0
− b0 K H = 3 − 1 = 2 ≠ 0. Thus e
ss
= ∞.
Unit-parabolic Input:
a
0
− b0 K H = 2 ≠ 0 and a
1
− b1 K H = 1 ≠ 0. Thus e
ss
= ∞.
(b) K
H
= H (0) =5
G (s) 1
M (s) = = a = 5, a = 5, b = 1, b = 0.
1+ G ( s)H ( s) +5s + 5
2 0 1 0 1
s
85
Unit-step Input:
 b0K H
1  1 5
ess = 1 − a = 1 −  = 0
KH  0  5 5
Unit-ramp Input:
i = 0: a
0
− b0 K H = 0 i = 1: a
1
− b1 K H = 5 ≠ 0
a − b1 K H 5 1
e
ss
= 1
= =
a K 25 5
0 H
e
ss
=∞
(c) K
H
= H (0) =1/5
G (s) s +5
M (s) = = The system is stable.
1+ G ( s)H ( s) + 15 s + 50 s + s + 1
4 3 2
s
a
0
= 1, a
1
= 1, a = 50 , a = 15 , b = 5 ,
2 3 0
b
1
=1
Unit-step Input:
 b0K H
1   5/5
ess = 1 − a  = 5  1 − 1  = 0
KH  0 
Unit-ramp Input:
i = 0: a
0
− b0 K H = 0 i = 1: a
1
− b1 K H = 4 /5 ≠0
a − b1 K H 1−1 / 5
e
ss
= 1
= =4
a K 1/5
0 H
e
ss
=∞
(d) K
H
= H (0) = 10
G (s) 1
M (s) = = The system is stable.
1+ G ( s)H ( s) + 12 s + 5 s + 10
3 2
s
a
0
= 10 , a
1
= 5, a = 12 , b = 1,
2 0
b
1
= 0, b
2
=0
Unit-step Input:
 b0K H
1  1  10 
ess = 1 − a  = 10  1 − 10  = 0
KH  0 
Unit-ramp Input:
i = 0: a
0
− b0 K H = 0 i = 1: a
1
− b1 K H = 5 ≠ 0
a − b1 K H 5
e
ss
= 1
= = 0 . 05
a K 100
0 H
e
ss
=∞
s +4
7-6 (a) M (s) = K
H
=1 The system is stable.
+ 16 + 48 s + 4 s + 4
4 3 2
s s
a = 4, a = 4, a = 48 , a = 16 , b = 4, b = 1, b = 0, b =0
0 1 2 3 0 1 2 3
Unit-step Input:
 b0K H
1   4
ess = 1 − a  =  1 − 4  = 0
KH  0 
Unit-ramp input:
i = 0: a
0
−b0 KH = 0 i = 1: a
1
− b1 K H = 4 − 1 = 3 ≠ 0
86
a − b1 K H 4 −1 3
e
ss
= 1
= =
a K 4 4
0 H
e
ss
=∞
K(s + 3)
(b) M (s) = K =1 The system is stable for K > 0.
H
+ 3s + ( K + 2)s + 3K
3 2
s
a = 3K , a = K + 2, a = 3, b =3K, b =K
0 1 2 0 1
Unit-step Input:
 b0K H
1   3K 
ess = 1 − a  =  1 − 3 K  = 0
KH  0 
Unit-ramp Input:
i = 0: a
0
− b0 K H = 0 i = 1: a
1
− b1 K H = K + 2 − K = 2 ≠ 0
a − b1 K H K +2 −K 2
e
ss
= 1
= =
a K 3K 3K
0 H
e
ss
=∞
The above results are valid for K > 0.
s +5 10 s H (s)
(c) M (s) = H ( s) = K
H
= lim =2
+ 15 + 50 s + 10 s s+5
4 3 2
s s s →0 s
a = 0 , a = 10 , a = 50 , a = 15 , b = 5, b =1
0 1 2 3 0 1
Unit-step Input:
1  a 2 − b1K H  1  50 − 1 × 2 
ess =  a  = 2  10  = 2.4
KH  1 
Unit-ramp Input:
e
ss
=∞
e
ss
=∞
K(s + 5)
(d) M (s) = K
H
=1 The system is stable for 0 < K < 204.
+ 17 + 60 + 5 Ks + 5 K
4 3 2
s s s
a
0
= 5K , a
1
= 5K , a
2
= 60 , a
3
= 17 , b
0
= 5K, b
1
= K
Unit-step Input:
1  b0K H   5K 
ess = 1 − a  =  1 − 5 K  = 0
KH  0 
Unit-ramp Input:
i = 0: a
0
−b0 KH = 0 i = 1: a
1
− b1 K H = 5 K − K = 4 K ≠ 0
a − b1 K H 5K −K 4
e
ss
= 1
= =
a K 5K 5
0 H
e
ss
=∞
The results are valid for 0 < K < 204.
87
7-7
Y (s) KG ( s ) 20 s 100 K
p
G (s) = = = Type-1 system.
E ( s) 1 + K tG p( s) 20 s ( 1 + 0 .2 s + 100 K )
t
5K
Error constants: K
p
= ∞, K
v
= , K
a
=0
1 + 100 K
t
1
(a) r(t ) = u s ( t ): e
ss
= =0
1+ K
p
1 1 + 100 K
(b) r(t ) = tu s ( t ): e
ss
= = t
K 5K
v
1
(c) =t = =∞
2
r(t ) u ( t ) / 2: e
s ss
K
a
7-8
100 Y (s) KG (s)
p
G p (s) = G (s) = =
(1 + 0 .1 s )( 1 + 0 . 5 s ) E (s) 20 s 1 + K tG p ( s )
100 K
G (s) =
20 s ( 1 + 0 .1 s )( 1 + 0 . 5 s ) + 100 Kt
5K
Error constants: K
p
= ∞, K
v
= , K
a
=0
1 + 100 K
t
1
(a) r(t ) = u s ( t ): e
ss
= =0
1+ K
p
1 1 + 100 K
(b) r(t ) = tu s ( t ): e
ss
= = t
K 5K
v
1
(c) =t = =∞
2
r(t ) u ( t ) / 2: e
s ss
K
a
Since the system is of the third order, the values of K and K must be constrained so that the system is
t
stable. The characteristic equation is
s + 12 s + ( 20 + 2000 K t ) s + 100 K = 0
3 2
Routh Tabulation:
+ 2000
3
s 1 20 K
t
2
s 12 100 K
1 240 + 24000 Kt − 100 K

s
12
0
s 100 K
1 + 100 K t 1
Stability Conditions: K>0 12 ( 1+ 100 K t ) − 5 K > 0 or >
5K 12
Thus, the minimum steady-state error that can be obtained with a unit-ramp input is 1/12.
88
7-9 (a) From Figure 3P-19,
K1 K 2 K i K b + KK1 K i K t
1+ +
Θ o ( s) Ra + La s (R + La s ) ( Bt + J t s )
= a
Θr ( s ) K1 K 2 K i K b + KK1 K i K t KK s K 1K i N
1+ + +
Ra + La s (R a
+ La s ) ( Bt + J t s ) s ( Ra + La s )( Bt + J t s )
Θo ( s) s [( Ra + La s ) ( Bt + Jt s ) + K1 K2 ( Bt + Jt s ) + Ki Kb + KK1 K i K t ]
=
Θr ( s ) L a J t s + ( L a Bt + Ra J t + K 1 K 2 J t ) s + ( Ra Bt + K i K b + K Ki K1K t + K 1 K 2 Bt ) s + KK s K 1K i N
3 2
1
θ r ( t ) = u s ( t ), Θr ( s ) = lim s Θ ( s )
e
=0
s s →0
Provided that all the poles of s Θ ( s ) are all in the left -half s-plane.
e
(b) Θr ( s ) = 1 /
2
For a unit-ramp input, s .
R B + K 1 K 2 B t + K i K b + KK K K
e
ss
= lim θ e (t ) = lim s Θ ( s )
e
= a t 1 i t
t →∞ s →0 KK K K N
s 1 i
if the limit is valid.
7-10 (a) Forward-path transfer function: [n(t) = 0]:
K (1 + 0.02s )
Y ( s) s ( s + 25)
2
K (1 + 0.02s )
G ( s) = = =
( )
Type-1 system.
s s + 25 s + KKt
2
E (s ) K Kt s
1+ 2
s ( s + 25)
1
Error Constants: K
p
= ∞, K
v
= , K
a
=0
K
t
1 1
For a unit-ramp input, r ( t ) = tu s ( t ), R( s) = 2
, e
ss
= lim e ( t ) = lim sE ( s ) = = K
t
s t→ ∞ s →0 K
v
Routh Tabulation:
KK t + 0.02 K
3
s 1
2
s 25 K
1 25 K ( Kt + 0.02) − K
s
25
0
s K
Stability Conditions: K >0 25 ( Kt + 0.02 ) − K > 0 or K t > 0.02
(b) With r(t) = 0, n ( t ) = u s ( t ), N (s) =1/ s.

System Transfer Function with N( s) as Input:
K
s ( s + 25)
2
Y (s ) K
= = 3
K (1 + 0.02 s) s + 25 s + K ( K t + 0.02 ) s + K
2
N (s ) K Kt s
1+ 2 + 2
s ( s + 25) s ( s + 25)
89
Steady -State O utput due to n ( t):
y ss = lim y ( t ) = lim sY ( s ) =1 if the limit is valid.
t →∞ s→0
7-11 (a) n(t ) = 0, r (t ) = tu s ( t ).

Forward-path Transfer function:
Y ( s) K ( s + α )( s + 3)
G ( s) = =
( )
Type-1 system.
s s −1
2
E (s ) n =0
Ramp-error constant: Kv = lim sG ( s ) = −3 K α

s →0
1 1
Steady -state error: e
ss
= =−
K 3K
v v
Characteristic equation: s + Ks + [ K ( 3 + α ) − 1] s + 3α K = 0
3 2
Routh Tabulation:
+ αK − 1
3
s 1 3K
3 αK
2
s K
1 K (3K + αK − 1 ) − 3 αK
s
K
3α K
0
s
1+ 3K
3K + αK − 1 − 3α > 0 or K >
Stability Conditions: 3 +α
αK > 0
(b) When r(t) = 0, n ( t ) = u s ( t ), N (s) =1/ s.
K ( s + 3)
Y (s ) s −1
2
Ks ( s + 3)
Transfer Function between n ( t) and y( t): = =
N (s ) K ( s + α )( s + 3) s 3 + Ks 2 + [ K ( s + α ) − 1]s + 3α K
r =0
1+
(
s s −1
2
)
Steady -State Output due to n ( t):
y ss = lim y ( t ) = lim sY ( s ) =0 if the limit is valid.
t →∞ s→0
7-12
− πζ
1 −ζ
2
Percen t maxi mum ov ershoo t = 0 .25 =e

Thus
πζ 1−ζ
2
= − ln0.25 = 1.386 π ζ = 1.922 1 − ζ
2 2
( 2
)
Solving for ζ from the last equation, we have ζ = 0.404.
π π
Peak T ime t
max
= = 0 .01 sec. Thus, ωn = = 343 .4 rad / sec
ωn 1−ζ 1 − ( 0 .404 )
2 2
0 . 01
Transfer Function of the Second-order Prototype System:

ωn
2
Y (s) 117916
= =
+ 2ζω n s + ω n + 277 + 117916
2 2 2
R( s) s s .3 s
7-13 Closed-Loop Transfer Function: Characteristic equation:
90
Y (s ) 25 K
= s + ( 5 + 500 Kt ) s + 25 K = 0
2
s + ( 5 + 500 Kt ) s + 25 K
2
R (s )
For a second-order prototype system, when the maximum overshoot is 4.3%, ζ = 0 . 707 .
ωn = 25 K , 2 ζω
n
= 5 + 500 K
t
= 1.414 25 K
Rise Time: [Eq. (7-104)]
1 − 0 .4167 ζ + 2 . 917 ζ
2
2 .164
t
r
= = = 0 .2 sec Thu s ω n = 10 . 82 rad / sec
ωn ωn
ωn
2 2
( 10 . 82 ) 10 . 3
Thus, K = = = 4. 68 5 + 500 K
t
= 1.414 ω n = 15 . 3 Thus K
t
= = 0 . 0206
25 25 500
With K = 4. 68 and K
t
= 0 . 0206 , the sy stem t ransfe r func tion i s
Y (s) 117
=
+ 15 . 3 s + 117
2
R( s) s
Unit-step Response:
y = 0.1 at t = 0.047 sec.

y = 0.9 at t = 0.244 sec.
t = 0 .244 − 0 . 047 = 0 .197 sec.
r
y
max
= 0 . 0432 ( 4. 32% max. overs hoot)
7-14 Closed-loop Transfer Function: Characteristic Equation:
Y (s ) 25 K
= s + ( 5 + 500 Kt ) s + 25 K = 0
2
s + ( 5 + 500 Kt ) s + 25 K
2
R (s )
πζ
When Maximum overshoot = 10%, = − ln0.1 = 2.3 π ζ = 5.3 1 − ζ
2 2
( 2
)
1−ζ
2
Solving for ζ , we get ζ = 0.59.
The Natural undamped frequency is ωn = 25 K Thus, 5 + 500 K

t
= 2 ζω n = 1.18 ω n
1 − 0 .4167 ζ + 2 . 917 ζ
2
1. 7696
t
r
= = 0 .1 = sec. Th us ω n = 17 . 7 rad / sec
ωn ωn
ωn
2
15 . 88
K = = 12 . 58 Thus K
t
=
= 0 . 0318
25 500
With K = 12.58 and K
t
= 0 . 0318 , the system transfer function is
Y (s) 313
=
+ 20 .88 s + 314.
2
R( s) s 5
Unit-step Response:
y = 0.1 when t = 0.028 sec.

y = 0.9 when t = 0.131 sec.
91
t
r
= 0 . 131 − 0 . 028 = 0 .103 sec.
y
max
= 1.1 ( 10% max. overs hoot )
7-15 Closed-Loop Transfer Function: Characteristic Equation:

Y (s) 25 K
= s + ( 5 + 500 Kt ) s + 25 K = 0
2
+ ( 5 + 500 + 25 K
2
R( s) s K )s
t
πζ
When Maximum overshoot = 20%, = − ln0.2 = 1.61 π ζ = 2.59 1 − ζ
2 2
( 2
)
1−ζ
2
Solving for ζ , we get ζ = 0 .456 .
The Natural undamped frequency ωn = 25 K 5 + 500 K

t
= 2 ζω n = 0 . 912 ω n
1 − 0 .4167 ζ + 2 . 917 ζ
2
1.4165 1.4165
t
r
= = 0 . 05 = sec. Thus, ωn = = 28 .33
ωn ωn 0 . 05
ωn
2
K =
= 32 .1 5 + 500 K = 0 . 912 ω = 25 . 84
t n
Thus, K
t
= 0 . 0417
25
With K = 32.1 and K = 0 . 0417 , the system transfer function is
t
Y (s) 802 . 59
=
+ 25 . 84 s + 802
2
R( s) s . 59
Unit-step Response:
y = 0.1 when t = 0.0178 sec.

y = 0.9 when t = 0.072 sec.
t = 0 . 072 − 0 . 0178 = 0 . 0542 sec.
r
y
max
= 1.2 ( 20% max. overs hoot )

Y (s ) 25 K
= 2 s + ( 5 + 500 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
+ 0 .125 ζ + 0 .469 ζ
2
1.1
From Eq. (7-102), Delay time t
d
≅ = 0 .1 sec.
ωn
1.423
When Maximum overshoot = 4.3%, ζ = 0 . 707 . t
d
= = 0 .1 sec. Thus ω n = 14.23 rad/sec.
ωn
 ω n  =  14.23  = 8.1 5 + 500 K = 2ζω = 1.414 ω = 20.12

2 2
15 .12
K =    Thus K = = 0 . 0302
 5   5  t
t n n
500
t
= 0 . 0302 , the system transfer function is
Y (s) 202 . 5
=
+ 20 .1 s + 202
2
R( s) s .5
Unit-Step Response:
92
When y = 0.5, t = 0.1005 sec.
Thus, t = 0 .1005 sec.
d
y
max
= 1. 043 ( 4. 3% max. overs hoot )

Y (s ) 25 K
= 2 s + ( 5 + 500 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
+ 0 .125 ζ + 0 .469 ζ
2
1.1 1. 337 1. 337
d
≅ = 0 . 05 = Thus, ωn = = 26 . 74
ωn ωn 0 . 05
 ω n  =  26.74  = 28.6
2 2
K =    5 + 500 K = 2 ζω n = 2 × 0 . 59 × 26 . 74 = 31 . 55 Thus K = 0 . 0531

 5   5  t t
With K = 28.6 and K

t
= 0 . 0531 , the sy stem t ransfe r func tion i s
Y (s) 715
=
+ 31 . 55 s + 715
2
R( s) s
Unit-Step Response:
y = 0.5 when t = 0.0505 sec.

Thus, t = 0 . 0505 sec.
d
y
max
= 1.1007 ( 10 . 07% max. overs hoot )
7-18 Closed-Loop Transfer Fu nction: Characteristic Equation:

Y (s ) 25 K
= 2 s + ( 5 + 500 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
For Maximum overshoot = 0.2, ζ = 0.456 .
+ 0 .125 ζ + 0 .469 ζ
2
1.1 1.2545
d
= = = 0 . 01 sec.
ωn ωn
 ω n  = 15737.7 = 629.5
2
1.2545
Natural Undamped Frequency ωn = = 125 .45 rad/sec. Thus, K = 
0 . 01  5  25
5 + 500 K
t
= 2 ζω n = 2 × 0 .456 × 125 .45 = 114.41 Thus, K
t
= 0.2188
t
= 0.2188 , the system transfer function is
Y (s) 15737 . 7
=
+ 114.41 + 15737
2
R( s) s s .7
Unit-step Response:
y = 0.5 when t = 0.0101 sec.
93
Thus, t
d
= 0 . 0101 sec.
y
max
= 1.2 ( 20% ma x. overs hoot )

Y (s ) 25 K
= 2 s + ( 5 + 5000 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
ζ = 0 .6 2 ζω = 5 + 500
n
K
t
= 1.2 ω n
3 .2 3.2 3 .2
From Eq. (7-109), settling time t
s
≅ = = 0 .1 sec. Thus, ωn = = 53 . 33 rad / sec
ζω n 0 .6 ω
n
0 . 06
1.2 ω −5 ωn
2
K
t
= n
= 0 .118 K = = 113 . 76
500 25
System Transfer Function:
Y (s) 2844
=
+ 64 s + 2844
2
R( s) s
Unit-step Response:
y(t) reaches 1.00 and never exceeds this
value at t = 0.098 sec.
Thus, t = 0 . 098 sec.
s
7-20 (a) Closed-Loop Transfer Function: Characteristic Equation:

Y (s ) 25 K
= 2 s + ( 5 + 500 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
For maximum overshoot = 0.1, ζ = 0 . 59 . 5 + 500 K = 2 ζω n = 2 × 0 . 59 ω n = 1.18 ω n
t
3 .2 3 .2 3 .2
Settling time: t
s
= = = 0 . 05 sec. ωn = = 108 .47
ζω n 0 .59 ωn 0 . 05 × 0 . 59
ωn −5 ωn
2
1.18
K
t
= = 0 .246 K = = 470 . 63
500 25
Y (s) 11765 . 74
=
+ 128 + 11765
2
R( s) s s . 74
Unit-Step Response:
y(t) reaches 1.05 and never exceeds

this value at t = 0.048 sec.
Thus, t = 0 . 048 sec.
s
94
(b) For maximum overshoot = 0.2, ζ = 0 .456 . 5 + 500 K
t
= 2 ζω n = 0 . 912 ω n
3 .2 3 .2 3 .2
Settling time t
s
= = = 0 . 01 sec. ωn = = 701 . 75 rad / sec
ζω n 0 .456 ωn 0 .456 × 0 . 01
0 . 912 ωn −5
K
t
= = 1.27
500
Y (s) 492453
=
+ 640 + 492453
2
R( s) s s
Unit-Step Response:
y(t) reaches 1.05 and never

exceeds this value at t = 0.0074 sec.
Thus, t = 0 . 0074 sec. This is less
s
than the calculated value of 0.01 sec.

Y (s ) 25 K
= 2 s + ( 5 + 500 Kt ) s + 25 K = 0
2
R ( s ) s + ( 5 + 500 Kt ) s + 25 K
4. 5ζ 3 .1815
Damping ratio ζ = 0 . 707 . Settling time t
s
= = = 0 .1 sec. Thus, ω n = 31 .815 rad/sec.
ωn ωn
ωn
2
5 + 500 K
t
= 2 ζω n = 44. 986 Thus , K
t
= 0 . 08 K = = 40 .488
2ζ
Y (s) 1012 .2
=
+ 44. + 1012
2
R( s) s 986 s .2
Unit-Step Response: The unit-step response reaches 0.95 at t = 0.092 sec. which is the measured t .
s
95
7-22 (a) When ζ = 0 . 5 , the rise time is
1 − 0 .4167 ζ + 2 . 917 ζ
2
1. 521
t
r
≅ = =1 sec. Thus ω n = 1. 521 rad/sec.
ωn ωn
The second-order term of the characteristic equation is written
+ 2 ζω n s + ω n = + 1. 521 s + 2 . 313 = 0
2 2 2
s s
+ ( a + 30 + 30 +K =0
3 2
The characteristic equation of the system is s )s as
+ 1. 521 s + 2 . 313
2
Dividing the characteristic equation by s , we have
For zero remainders, 28 .48 a = 45 . 63 Thus, a = 1. 6 K = 65 .874 + 2 . 313 a = 69 . 58

Forward-Path Transfer Function:
69 . 58
G (s) =
s( s + 1.6 )( s + 30 )
Unit-Step Response:
y = 0.1 when t = 0.355 sec.

y = 0.9 when t = 1.43 sec.
Rise Time:
t = 1.43 − 0 . 355 = 1. 075 sec.
r
(b) The system is type 1. seconds

(i) For a unit-step input, e
ss
= 0.
K 60 . 58 1
(ii) For a unit-ramp input, K
v
= lim sG ( s ) = = = 1.45 e
ss
= = 0 .69
s→0 30 a 30 × 1. 6 K
v
7-23 (a) Characteristic Equation:

+ 3s + (2 + K ) s − K = 0
3 2
s
Apply the Routh-Hurwitz criterion to find the range of K for stability.
Routh Tabulation:
96
+K
3
s 1 2
−K
2
s 3
1 6 +4K
s
3
−K
0
s
Stability Condition: -1.5 < K < 0 This simplifies the search for K for two equal roots.
When K = −0.27806, the characteristic equation roots are: −0.347,
−0.347, and −2.3054.
(b) Unit-Step Response: ( K = − 0.27806)
(c) Unit-Step Response ( K = − 1)
The step responses in (a) and (b) all have a negative undershoot for small values of t. This is due to the
zero of G(s) that lies in the right-half s-plane.
7-24 (a) The state equations of the closed-loop system are:

dx dx
1
= − x1 + 5 x 2 = −6 x 1
2
− k1 x 1 − k 2 x 2 + r
dt dt
The characteristic equation of the closed-loop system is
s +1 −5
∆= = s + ( 1 + k2 ) s + ( 30 + 5 k1 + k 2 ) = 0
2
6 + k1 s + k2
97
ω n = 10 + 5 k 1 + k 2 = ω n = 100 + k 2 = 70
2
For rad / sec, 30 . Thu s 5 k
1
k
(b) For ζ = 0 . 707 , 2ζω
n
= 1+ k2. Th us ωn = 1 + 2
.
1.414
(1 + k ) 2
ωn = = 30 + 5k1 + k 2 k 2 = 59 + 10 k1
2 2 2
Thus
2
(c) For ω n = 10 rad / sec and ζ = 0 . 707 ,
5k
1
+ k 2 = 100 an d 1 + k 2 = 2ζω n = 14. 14 Th us k
2
= 13 .14
Solving for k , we hav e
1
k
1
= 11 . 37 .
(d) The closed-loop transfer function is

Y (s) 5 5
= =
s + ( k 2 + 1) s + ( 30 + 5 k1 + k 2 ) s + 14.14 s + 100
2 2
R (s )
5
For a unit-step input, lim y ( t ) = lim sY ( s ) = = 0 . 05
t →∞ s→0 100
(e) For zero steady-state error due to a unit-step input,
30 + 5 k1 + k 2 = 5 Thus 5k
1
+ k 2 = −25
Parameter Plane k versus k :

1 2
7-25 (a) Closed-Loop Transfer Function (b) Characteristic Equation:

Y (s) 100 ( K P + K D s )
= 2 + 100 + 100 =0
2
s K s K
D P
R ( s ) s + 100 K D s + 100 K P
The system is stable for K > 0 and K > 0.
P D
(b) For ζ = 1, 2ζω

n
= 100 K
D
.
ω n = 10 K P
T hus 2ω n
= 100 KD = 20 KP K D
= 0 .2 K P
(c) See parameter plane in part (g) .
(d) See parameter plane in part (g) .
98
−2
(e) Parabolic error constant K
a
= 1000 sec
K a = lim s G ( s ) = lim100 ( K P + K D s ) = 100 K P = 1000 Thus K P = 10

2
s →0 s →0
(f) Natural undamped frequency ω n = 50 rad/sec.
ω n = 10 K P
= 50 Th us K P
= 25
(g) When K
P
= 0,
100 K s 100 K
G (s) = 2
D
= D
(pole-zero cancellation)
s s
7-26 (a) Forward-path Transfer Function:
Y ( s) KKi 10 K
G ( s) = = =
E (s ) s [ Js(1 + Ts ) + K i K t ] (
s 0.001 s + 0.01 s + 10 K t
2
)
K 1 K
When r ( t ) = tu s ( t ), K
v
= lim sG ( s ) = e
ss
= = t
s→0 K K K
t v
(b) When r(t) = 0

Y (s ) 1 + Ts 1 + 0.1s
= =
Td ( s) s [ Js(1 + Ts) + Ki Kt ] + KKi (
s 0.001 s + 0.01 s + 10 Kt + 10 K
2
)
1 1
For T ( s )
d
= lim y ( t ) = lim sY ( s ) = if the system is stable.
s t→ ∞ s →0 10 K
(c) The characteristic equation of the closed-loop system is
+ 0 . 01 s + 0 .1 s + 10 =0
3 2
0 . 001 s K
The system is unstable for K > 0.1. So we can set K to just less than 0.1. Then, the minimum value of
the steady-state value of y(t) is
1 +
=1
10 K K =0 .1 −
However, with this value of K, the system response will be very oscillatory. The maximum overshoot
will be nearly 100%.
(d) For K = 0.1, the characteristic equation is
+ 0 . 01 s + 10 +1 = 0 + 10 + 10 + 1000 = 0
3 2 3 2 4
0 . 001 s K s or s s K s
t t
For the two complex roots to have real parts of −2/5. we let the characteristic equation be written as
99

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Chapter 2 MATHEMATICAL FOUNDATION

2-1 (a) Poles: s = 0, 0, −1, −10; (b) Poles: s = −2, −2;

The pole and zero at s = −1 cancel each other.

(c) Poles: s = 0, −1 + j, −1 − j; (d) Poles: s = 0, −1, −2, ∞.

2-2 (a) (b) (c)

Solving for X1 (s) and X2 (s), we have

2-8 (a) (b)

4-1 (a) Force equations:

Rearrange the equations as follows:

(i) State diagram: Since y

dx1 dx2 K (B + B3 ) B3 dx3 K B3 (B + B3 ) 1

(c) Force equations:

State equations: Define the outputs of integrators as state variables.

4-2 (a) Force equations:

(b) Force equations:

4-3 (a) Torque equation: State diagram:

(e) Torque equations:

4-4 System equations:

4-6 (a) Force equations:

(c) State equations:

(d) Transfer function:

(e) Characteristic equation:

4-10 (a) Torque equations:

(c) Characteristic equation: ∆( s ) = 0

4-11 (a) State equations:

(b) State diagram:

(c) Transfer functions:

(d) Characteristic equation: ∆ ( s ) = 0 .

4-13 (a) Torque equation: (About the center of gravity C)

(c) With C and P interchanged, the torque equation about C is:

(b) State diagram:

(c) Forward-path transfer function:

Closed-loop transfer function:

Forward-path transfer function:

Closed-loop transfer function:

From part (c), when

The same results as above are obtained.

4-15 (a) System equations:

Rearranging these equations, we get

4-16 (a) Cause-and-effect equations:

(b) State diagram:

(c) Forward-path transfer function:

J m Ra J L = 0 .03 × 1 .15 × 0 . 05 = 0 . 001725 Bm Ra J L = 10 × 1 .15 × 0 .05 = 0 . 575 Ki K bJ L = 21 × 0 .148 × 0 . 05 = 0 .1554

K L ( Bm Ra + K i K b ) = 50000(10 × 1.15 + 21 × 0.148) = 730400

Characteristic equation roots:

s = − 159 . 88 s = −211 . 7 ± j 1273 . 5 s = −617 .22 ± j 1275

4-17 (a) Block diagram:

(b) Transfer function:

4-19 (a) Block diagram:

(c) Characteristic equation:

(d) Transfer function:

4-19 (a) Transfer function:

(b) Block diagram:

(c) Forward-path transfer function:

(d) Closed-loop transfer function:

Forward-path transfer function:

Thus, N = 1. For ω m = 1800 RPM, 120 = N ( 36 / 2 π ) 1800( 2 π / 60 ) = 1080 N. Thus, N = 9.

4-20 (a) Differential equations:

Solving for Θm ( s ) and ΘL ( s ) from the last two equations, we have

Signal flow graph:

(c) Transfer matrix:

4-21 (a) Nonlinear differential equations:

(b) State equations: i ( t ) as input.