Control Systems by Nagrath Gopal Solution Manual PDF

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CHAPTER 2 DYNAMIC MODELS AND DYNAMIC RESPONSE
2.1 Revisiting Examples 2.4 and 2.5 will be helpful.
KA
(a) R(s) = A; Y ( s) =
t s +1
KA - t / t
y(t) = e ; yss = 0
t
A KA
(b) R(s) = ; Y(s) =
s s (τs + 1)
y(t) = KA (1 − e − t / τ ) ; yss = KA
A KA
(c) R(s) = ; Y(s) = 2
s2 s (τ s + 1)
y(t) = KA (t − τ + τe − t / τ ) ; yss = KA (t - t )
Aw KAω
(d) R(s) = ; Y(s) =
s2 + w 2 (τs + 1)( s 2 + ω 2 )
KAωτ − t / τ KA
y(t) = e + sin(ω t + θ )
τ ω +1
2 2
τ ω2 +1
2
θ = tan −1 ( −ωτ )
KA
y( t ) = sin(ω t + θ )
t®¥
τ ω2 +1
2
2.2 (a) The following result follows from Eqns (2.57 - 2.58)
y(t) = 1 −
e −ζω n t F
sin ω d t + 2 tan −1
1−ζ2 I
1−ζ2
GH ζ JK
ωd = ωn 1−ζ2
The final value theorem is applicable: the function sY(s) does not have poles
on the jw-axis and right half of s-plane.
yss = lim sY ( s ) = 1
s® 0
(b) The following result follows from Review Examples 2.2.
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SOLUTION MANUAL 3
y(t) = t −
2ζ e −ζω n t
+
F
sin ω d t + 2 tan −1
1−ζ2 I
ωn ωd GH ζ JK
2ζ
yss = t −
ωn
The final value theorem is not applicable; the function sY(s) has a pole on
the jw -axis.
2.3 Revisiting Review Example 2.1 will be helpful.
E0 (s ) R / 10 4 10
= ; Ei ( s ) = 2
Ei ( s) RCs + 1 s
R - t /t
e0 (t ) = 10 ´ 4 t -t +te
( ); t = RC
10
For the output to track the input with a steady-state delay 100 × 10–6 sec, it
is necessary that
R
= 1, and t = RC = 100 ´ 10-6
10 4
This gives R = 10 k W ; C = 0.1 mF
Steady-state error = 10 t - (10 t – 10t )
= 0.001
2.4 Revisiting Review Example 2.2 will be helpful.
w n = 100; z = 3; 2z / w n = 6 / 100 sec = 60 msec
FG
Steady-state error = 25t - 25t - 25 ´
2z IJ
H wn K
= 1.5
2.5 My&&( t ) + By& ( t ) + Ky( t ) = F(t) = 1000m (t)
1
Y(s) =
s( s + 10 s + 100 )
2
ωn = 10, ζ = 0.5, wd = 5 3
Using Eqns (2.57)-(2.58), we obtain
4 CONTROL SYSTEMS: PRINCIPLES AND DESIGN
y(t) = 0.01 1 -
LM 2 -5 t
e sin(5 3 t + tan -1 3
OP
N 3 Q
Y ( s) 6 6
2.6 = G( s ) = 2 =
R( s) s + 7s + 6 ( s + 1)(s + 6)
| G( jω )|ω = 2 = 3
; ∠ G(j2) = – 81.87º
5 2
3
yss = sin( 2t − 81.87º )
5 2
3 21
= sin 2t – cos 2t
50 50
Y (s) s+3 s+3

2.7 = G(s) = 2 =
R( s ) s + 7s + 10 ( s + 2 )( s + 5)
1
(a) R(s) =
s +1
y(t) = FH 1 e −t 1 1 IK
− e −2 t − e −5 t µ ( t )
2 3 6
(b) (s2 + 7s + 10) Y(s) – sy(0) – y& (0) – 7y(0)
= (s + 3) R(s) – sr(0)
Initial conditions before application of the input are
1
y(0–) = 1, y& (0–) = , r(0–) = 0
2
s + 15 / 2 s+3
Y(s) = +
( s + 2 )( s + 5) ( s + 2 )( s + 5)( s + 1)
1 - t 3 -2t
y(t) = e + e - e -5t
2 2
2.8 X = X + x; I = I + i
d 2 (X + x)
M = F ( X + x , I + i ) − Mg
dt 2
SOLUTION MANUAL 5
Mx&& = F ( X + I ) +
∂FFG IJ x + FG ∂F IJ i − Mg
∂X H X ,I K H ∂I K X ,I
−3
F ( X + I ) = Mg = 8.4 × 10 × 9.8 Newtons
For this value of force, we get from Fig. 2.8b,
X = 0.27cm ; I = 0.6 amps

Again from Fig. P 2.8b,
¶F
K1 = = 0.14 Newtons/cm
¶X X ,I
¶F
K2 = = 0.4 Newtons/amp
¶I X ,I
K1 K X (s ) 47.6
x&& = x + 2 i; = 2
M M I (s ) s - 16.67
2.9 Mx&& + Bx& + Kx = K1 ( y - x )

Gravitational effect has been eliminated by appropriate choice of the zero
position.
X (s) 0.1667
= G( s) =
Y (s ) ( 0.0033 s + 1)( 0.0217 s + 1)
w = 2p v / l = 11.63 rad /sec
| G( jω |ω =11. 63 = 0.1615
x(peak) = 7.5 × 0.1615 = 1.2113 cm
2.10 (a) Mx&& + Bx& + Kx = F(t )
position.
X ( s) 1
F( s) = Ms 2 + Bs + K
Force transmitted to the ground

= K X(s) + Bs X(s)
FH B s + 1IK F(s)
= K
M 2 B
s + s +1
K K
F(t) = A sin wt
Peak amplitude of the force transmitted to the ground at steady-state
A 1+FH B ω IK 2
= K
FG1 − Mω IJ + F Bω I
2 2 2
H K K HKK
(b) Mx&& + B( x& - y& ) + K ( x - y) = 0
X (s) Bs + K
=
Y (s ) Ms + Bs + K
2
Peak amplitude of machine vibration
FH B vIK
A 1+
2
= K
FG1 - Mv IJ + F Bv I
2 2 2
H K K H `K K
2.11 M1 &&
y1 + K1 ( y1 − y0 ) + B1 ( y&1 − y&0 ) + K 2 ( y1 − y2 ) + B2 ( y&1 − y&2 ) = 0
M2 &&
y2 + K 2 ( y2 − y1 ) + B2 ( y&2 − y&1 ) = 0
position.
2.12 The following result follows from Section 11.2 (Eqn (11.9)).
E0 (s ) 1 + 2 RC2 s + R2 C1C2 s 2
(a) =
Ei ( s) 1 + R(C1 + 2C2 )s + R2C1C2 s2
E0 (s ) 1 + 2 R1Cs + R1 R2C 2 s 2
(b) =
Ei ( s) 1 + (2 R1 + R2 )Cs + R1 R2 C 2 s 2
2.13 Refer Example 11.6

2.14 Refer Example 11.7
SOLUTION MANUAL 7
2.15 The following result follows from Example 12.9.
x1 = f, x 2 = f& , x 3 = z, x 4 = z&, r = F(t )
x& = Ax + br
LM 0 1 0 0 OP LM 0 OP
A = MM4.4537
0
0 0
0 0
P1P ; b = MM−0.3947
0
0 P
P
MN0.5809 0 0 0 PQ MN 0.9211 PQ
2.16 Mixing valve obeys the following equations:
(Qi + qi ) r cq H + [Q - (Qi + qi )] r cq C = Qr c(Qi + q i )

q i = kv x
The perturbation equation is
K v (q H - q C ) x(t) = Q q i (t )
or, x(t) = Kq i (t ); K = Q / [ K v (q H - q C )]
The tank obeys the equations
dq
Vr c = Qr c(q id - q ); q id (t ) = q i ( t - t D )
dt
This gives
q (s ) e -1. 5s
q i ( s) =
s +1
dθ 1 q1 - q 2 1
2.17 C1 = qm (t )l - R ; R1 = UA
dt 1
dq 2 q1 - q 2 q i - q 2 1
C2 = + ; C2 = Vrc; R2 =
dt R1 R2 Qrc
From these equations, we get
θ& 1 = −1.92 θ 1 + 1.92 θ 2 + 4.46 q m
θ& 2 = 0.078 q 1 - 0.2 q 2 + 0.125 q i
2.18 At steady-state
q1 - q 2 q i - q 2
0 = + ; this gives θ 1 = 120 º C
R1 R2
θ1 − θ 2
0 = Qm λ − ; this gives Qm = 17.26 kg / min
R1
2.19 Energy balance on process fluid:
d
V2 ρ 2 c2 (θ 2 + θ 2 ) = Q2 ρ 2 c2 [θ i 2 − (θ 2 + θ 2 )] − UA[θ 2 + θ 2 − θ 1 − θ 1 ]
dt
At steady-state
0 = Q2 r 2 c2 (q i 2 - q 2 ) - UA(q 2 - q 1 ); this gives q1 = 40 º C

dq 2
V2r 2c2 - Q2 r 2c2q 2 - UA(q 2 - q 1 )
dt
This gives
dq 2
544.5 + + q 2 = 0.432 q1
dt
Energy balance on the cooling water:
d
V1r1c1
dt
d i
q1 + q 1 = (Q1 + q1 )r 1c1 [q i1 - (q 1 + q 1 )]
+ UA[q 2 + q 2 - q1 - q 1 ]
At steady-state
0 = Q1r1c1[q i1 - q1] + UA[q 2 - q1 ]; this gives

–3 3
Q1 = 5.28 ×10 m /sec
dq 1
V1r1c1 = (θ i1 − θ 1 ) ρ1c1q1 − Q1 ρ1c1θ 1 + UA (θ 2 − θ 1 )
dt
SOLUTION MANUAL 9
This gives
dq1
184.55 + q1 = 0.465 q 1 – 1318.2 q1
dt
Manipulation of the perturbation equation gives
q 2 (s ) 557.6
q 1 ( s)
=–
100.5 × 10 s + 729s + 0.8
3 2
2.20 Tank 1:
dp1
C1 = q1 – q10 – q11
dt
q10 = flow through R0; q11 = flow through R1
A1 dh rgh1 rg(h1 - h2 )
´ rg 1 = q1 - -
rg dt R0 R1
dh1
=-
rg 1F+
1
h1 +
rg I 1
h2 + q1
or
dt
GH
A1 R0 R1 JK
A1 R1 A1
= – 3h1 + 2h2 + r1
Tank 2:
dp2
C2 = q2 + q11 – q20
dt
q20 = flow through R2
A2 dh rg(h1 - h2 ) rgh2
´ rg 2 = - + q2
rg dt R1 R2
or
dh2
=
rg
h1 -
rg 1FG+
1 IJ
h2 +
1
q2
dt A R
2 1 A2 R1H R2 KA2
= 4h1 – 5h2 + r2
d
2.21 A ( H + h) = Q1 + q1 + Q2 + q2 - Q - q
dt
At steady-state
0 = Q1 + Q2 - Q ; this gives Q = 30 litres/sec

dh
A = q1 + q 2 – q
dt
The turbulent flow is governed by the relation
Q(t) = K H(t ) = f(H)

Linearizing about the operating point, we obtain
Q(t) = f ( H ) +
FG ¶f ( H) IJ (H - H )
H ¶H H= H K
K
= Q+ h(t )
2 H
Therefore
K K H Q
q(t) = h(t ) = h(t ) = h (t )
2 H 2H 2H
dh(t ) 1 1 1
= - q(t ) + q1(t ) + q2 (t )
dt A A A
= – 0.01 h(t) + 0.133 q1(t) + 0.133 q2(t)
Mass balance on salt in the tank:
d
A [( H + h( t ) ( C + c ( t ))] = C1[Q1 + q1(t )] + C2 [Q2 + q2 (t )]
dt
− [ C + c ( t )][ Q + q ( t )]
At steady state,
0 = C1Q1 + C2Q2 - CQ ; this gives C = 15

dc( t ) dh( t )
AH + AC = C1q1(t ) + C2q2 (t ) - Cq(t ) - Q c(t )
dt dt
This gives
dc(t )
= – 0.02 c(t) – 0.004 q1(t) + 0.002 q2(t)
dt
SOLUTION MANUAL 11
t 2D s 2 t 3D s 3 t 4D s 4 t 5D s 5
2.22 e − τ D s = 1 - t D s + - + - + ...
2! 3! 4! 5!
It is easy to calculate with long division that
1- t Ds / 2 t 2 s2 t 3 s3
= 1 - t D s + D - D + ...
1+ tDs / 2 2 4
1 - t D s / 2 + t D2 s 2 / 12 t D2 s 2 t D3 s 3
= 1 - t D s + -
1 + t D s / 2 + t D2 s 2 / 12 2 6
t D4 s 4 t D5 s 5
+ + - ...
12 144
CHAPTER 3 MODELS OF INDUSTRIAL CONTROL DEVICES AND

SYSTEMS
3.1
R + + + G2 G3 +G4 Y
G1
– – –
H2
H1G2
G2G3 + G4
Y (s ) G1 (G2 G3 + G4 )
R( s ) = 1 + (G2 G3 + G4 )(G1 + H2 ) + G1 H1G2
3.2
H2
–
R + + + Y
G1 G2 G3
– +
(1–G1)H1
G4
Y ( s) G1G2G3
= G4 +
R( s ) 1 + G2 G3 H2 + G2 H1 (1 - G1 )
Y ( s)
3.3 ( P D + P D + P3 D 3 + P4 D 4 ) / D
R( s ) = 1 1 2 2
P1 = G1G2; P2 = G1G3; P3 = G4H2G1G2;

P4 = G4H2G1G3
∆ = 1 – (– G1G3H1H2 – G1G2H1H2)
∆ 1 = ∆2 = ∆3 = ∆4 = 1
SOLUTION MANUAL 13
Y ( s) (1 + G4 H2 )(G2 + G3 )G1
R( s )
= 1 + G H H (G + G )
1 1 2 2 3
G2
G3
R 1 G1 1 Y
–H2 H1
– G4
3.4
H3 /G 3
–
R + + G3 Y
G1 G2
1+G3 H 2
–
H1
Y (s) G1G2 G3
= M(s) =
R(s ) W =0 1 + G2 H3 + G3 H2 + G1G2 G3 H1
H3 G 2
W
– +
+ Y
– (G 1 H1 G 2+H 2) + G3
Y (s ) G3 (1 + H 3G2 )
= MW (s) =
W ( s) R=0 1 + H3G2 + G3 ( G1 H1G2 + H 2 )
3.5
–1
R1 1 G1 G2 G3 1 Y1
H1
H2
R2 1 1 G4 G5 G6 1 Y2
–1
Y1 P1D1
R1 =
R2 = 0 D
G1G2 G3 (1 + G4 )
= 1 - (-G G - G + G H G G H ) + G G G
1 2 4 1 2 4 5 1 1 2 4
Y1 G4G5 H1G1G2G3
=
R2 D
R1 = 0
Y2 G1G4G5G6 H2 Y2 G4G5G6 (1 + G1G2 )

= ; R =
R1 D 2 R1 = 0 D
R2 = 0
3.6
er + if + 1 ia 1 w
KA Kg KT
Ra Js
– e –
t
Kb
Kt
w (s ) 50
=
Er ( s) s + 10.375
For Er(s) = 100/s,
SOLUTION MANUAL 15
100 ´ 50
w (s) = s( s + 10.375)
–10.375 t
w(t ) = 481.8 (1 – e )
3.7
qR + qM 1 qL
KP KA 1 KT 1
sLf + Rf Js2 + Bs 50
–
q L (s) 1
q R (s ) = s( 0.1s + 1)(0.2 s + 1) + 1
3.8 TM = K1 ec + K 2θ& M = J&eq q&& M + Beq q& M
K2 = slope of the characteristic lines shown in Fig. P3.8b

3- 0
= = – 0.01
0 - 300
∆TM 3- 2
K1 = = = 0.1
∆ec 30 - 20
θ& M =0
J eq = JM +
FG N N IJ
1 3
J L = 0.0032
HN N K
2 4
FNN I
=G
1 3
2
Beq
H N N JK
2 4
BL = 0.00001
q M (s) 10 q L (s ) 1
Ec (s )
= s(0.32 s + 1) ; = s(0.32 s + 1)
Es c
F q& I
+J G L
2
3.9 (i) J eq = JM
H q& JK
L
M
= 0.6
Beq = BM
F q& I
+B G& J L
2
= 0.015
Hq KL
M
KT = Kb
q M (s) KT
=
Ea ( s ) s[ J eq s + Beq )( sLa + Ra ) + KT K b ]
16.7
= s(s 2 + 100 s + 19.2)
(ii) A sketch of multi-loop configuration may be made on the lines of

Example 3.5.
(iii) It will behave as a speed control system.
(iv) Relative stability and speed of response may become unsatisfactory.
3.10
J = JM = n2 JL = 1.5 × 10 –5; n = 1
B = BM + n2BL = 1 × 10–5
θ M (s) 13.33
= 2
θ R (s) s + 3.5s + 13.33
qR + + ec + TM 1 qM 1 qM
Ks KA K1 s
Js +B
– – –
K2
Kt
3.11
qR + KT qM qM
Ks KA 1 Kg + 1 1
s
sLf +Rf Ra Js + B
– –
Kb
θ M (s) θ (s) 15 × 10 3
= L =
θ R (s) θ R (s ) s + 54 s + 200 s + 15 × 10 3
3 2
ω (s) K
3.12 (a) = ; K = 17.2, z = 1.066, w n = 61.2
Er ( s ) 1 2 2ζ
s + s + 1
ω 2n ωn
(b) Modification in the drive system may be made on the lines of Fig. 3.64.
SOLUTION MANUAL 17
er + KA + 1 KT w
Kr
– sLa + Ra Js + B
–
Kb
Kt
3.13
TW
N(s)
–
qR + TM + qL
KP KA KT G(s)
–
TM = JM q&&M + B(q& M - q& L ) + K (q M - q L )
B(q& M - q& L ) + K (q M - q L ) = JL q&&L + TW

(JMs2 + Bs + K) θM(s) – (Bs + K) θL(s) = TM(s)
(Bs + K) θM (s) – (JLs2 + Bs + K) θL(s) = TW(s)
qL ( s) = G(s) TM(s) – N(s) TW(s)
qL ( s ) K P K A K T G( s )
=
qR ( s) 1 + K P K A K T G( s )
qL ( s ) N ( s)
= 1 + K K K G( s )
- TW ( s) P A T
Bs + K
G(s) =
s [ JM JL s + ( JM + JL ) Bs + ( JM + JL ) K ]
2 2
JM s 2 + Bs + K
N(s) =
s 2 [ JM JL s 2 + ( JM + JL ) Bs + ( JM + JL ) K ]
Revisiting Example 2.7 will be helpful.

3.14 The required block diagram easily follows from Fig. 3.49.
K1 x - Ay& = K 2 Dp
A
( K 2 D p) &&
K 2 = My
(r – y) Kp KA K = x
Y ( s) 2
= 2
R( s) s + 0.02 s + 2
Y ( s) K A K v K1 AK r / K2
3.15 =
Yr ( s) Ms + ( B + A2 / K2 )s + K A K v K1 K s A / K 2
2
Fw
er ea x
–
yr + + + y y
A 1 1
Kr KA Kv K1 s
K2 Ms + B
– –
e0
Ks
3.16 Revisiting Example 3.7 will be helpful. From geometry of the linkage, we
get
b a
E(s) = X ( s) - Y (s )
a+b a+b
Y ( s) bK r AK1 / ( a + b) K2
=
Yr ( s) Ms + ( B + A 2 / K 2 )s + K + aAK1 / ( a + b) K2
2
SOLUTION MANUAL 19
yr x b + e + A 1 y
Kr K1
a+b – – K2 Ms2 + Bs + K
a
a+b sA
3.17 Let z(t) = displacement of the power piston

d
Y(s) = e - st D Z(s) ; t D = sec
v
Y ( s) G( s )
=
Er ( s ) 1 + G( s ) H ( s )
( K A K v K1 A / K 2 )e - t D
s
G(s) = ; H(s) = Ks
s( Ms + B + A 2 / K 2 )
i x Fw z z
–
er + + A + 1 1 y
KA Kv K1 s e–stD
– – K2 Ms + B
e0
Ks
dh1 rgh1
3.18 A1 = q1 - qw - R
dt 1
dh2 rgh1 rgh2

A2 = R - R
dt 1 2
Qw(s)
–
Q1(s) + R2/rg H2 (s)
(t 1s + 1) (t 2s + 1)
t 1 = A1R1 ; t 2 = A2R2
rg rg
hr er + q1 h2
Ks Ka Ke Kv
–
e0
Ks
dq q -qa
3.19 Ct = h-
dt Rt
qa
1/Rt
+
h + Rt q
ts+ 1
t = Rt Ct
er + Rf eA h q
–1 Kh
R
–
R2
– Kt
R1
3.20 Heater:
dq 1 q1 - q
C1 = h-
dt R1
SOLUTION MANUAL 21
dq q1 - q
Air: Vrc = - Qrc(q - q i )
dt R1
These equations give us
1 Q
t = R1C1, Kg = Qrc , w n = R1C1V
R1C1Qrc + Vrc + C1
2zw n =
VR1C1 rc
qi
ts + 1
Kg
+ Kg
h + 1 2z q
s2 s+1
wn2 wn
qr er + eA h q
Ks KA Kh
–
e0
Ks
3.21 Process:
d
V2 r 2 c2 (q 2 + q 2 ) = Q2 r 2 c2 (q i 2 + q i 2 ) - UA(q 2 + q 2 - q 1 - q 1 )
dt
– Q2 r 2 c2 (q 2 + q 2 )
Linearized equation is
dq 2
V2 r 2 c2 = Q2 r 2 c2q i 2 - UA(q 2 - q 1 ) - Q2 r 2 c2q 2
dt
Rearranging this equation and taking Laplace transform yields

(t 2 s + 1)q 2 ( s) = K1′θ 1 ( s ) + K 2′ θ i 2 ( s )
t 2 = 544.5; K1′ = 0.423; K 2′ = 0 .577

Cooling water:
d
V1 r1c1 (q 1 + q 1 ) = (Q + q ) r c (q i + q i ) + UA(q + q
dt 1 1 1 1 1 1 2 2
- q 1 - q 1 ) - (Q1 + q1 )r 1c1 (q 1 + q 1 )
Linearized equation is
dq 1
V1 r1c1 = Q1r 1c1q i1 + q i1 r1c1q1 + UA(q 2 - q 1 )
dt
− Q1 ρ 1c1θ 1 − θ 1ρ 1c1q1
From this equation, we obtain
(t 1s + 1)q 1 ( s) = − K3′ Q1 ( s ) + K 4′ θ 2 ( s ) + K 5′θ i1 ( s )
1.82 ´ 1000 ´ 4184

t 1 = 3550 ´ 5.4 + Q ´ 1000 ´ 4184
1
( -27 + q 1 ) ´ 1000 ´ 4184

K3′ =
3550 ´ 5.4 + Q1 ´ 1000 ´ 4184
3550 ´ 5.4
K 4′ = 3550 ´ 5.4 + Q ´ 1000 ´ 4184
1
Q1 ´ 1000 ´ 4184
K 5′ =
3550 ´ 5.4 + Q1 ´ 1000 ´ 4184
q 1 and Q1 are obtained from the following energy-balance equations at

steady state:
Q1r 1c1 (q i1 - q 1 ) + UA(q 2 - q 1 ) = 0
Q2 r 2 c2 (q i 2 - q 2 ) - UA(q 2 - q 1 ) = 0
These equations yield
–3 3
q 1 = 40ºC; Q1 = 5.28 × 10 m /sec
SOLUTION MANUAL 23
qi1 qi2
K¢5 K¢2
+ +
q1 – + 1 q1 + 1 q2
K¢3 K¢1
t1 s + 1 t2 s + 1
+
K¢4
qr + e q1 q2
K1 K2 K3 K4
–
K1
With these parameters,

t 1 = 184.55 sec, K3¢ = 1318.2, K 4¢ = 0.465, K 5¢ = 0.535
q 2 ( s) G( s) (5.55 ´ 10 -3 ) K1 K 2 K 3 K 4
= ; G(s) =
q r ( s) 1 + G( s ) s 2 + 7.26 ´ 10 -3 s + 119
. ´ 10 -5
Refer Fig. 3.57 for suitable hardware required to implement the proposed
control scheme.
3.22
q1 q2
qr + +
Controller I Controller II Process II Process I
– –
Set-point Sensor II
adjustment
Sensor I
Refer Fig. 3.57 for suitable hardware required to implement the proposed
control scheme.
CHAPTER 4 BASIC PRINCIPLES OF FEEDBACK CONTROL
1 s( s + 1)
4.1 SGM = =
1 + G( s) H (s) s( s + 1) + 50
| SGM ( jw )|w =1 = 0.0289
- G( s ) H ( s ) -50
SHM = =
1 + G( s) H ( s) s( s + 1) + 50
| S HM ( jw )|w =1 = 1.02
Y ( s) P1D 1
4.2 = M(s) =
R( s) D
P1 =
K 3 K1
; D = 1- - FG5 KK K K
- 1 2 - 2 3 1 ; D1 = 1
IJ
s 2 ( s + 1) H
s ( s + 1) s + 1 s ( s + 1)
2
K
5K1
M(s) =
s ( s + 1 + 5K1 ) + 5 K1 + 5
2
¶M K1 s 2 ( s + 1 + 5 K1 ) + 5 - 5 K1s 2
SKM1 = ´ = 2
¶K1 M s ( s + 1 + 5 K1 ) + 5 K1 + 5
5
| SKM1 ( jw )|w = 0 = = 0.5
5K1 + 5
4.3 For G(s) = 20/(s + 1), and R(s) = 1/s,
y ( t )|open-loop = 20 (1 – e–t)
20
y ( t )|closed-loop = (1 - e -21t )
21
For G'(s) = 20/(s + 0.4), and R(s) = 1/s,
y ( t )|open-loop = 50 (1 – e–0.4t )
20
y ( t )|closed-loop = (1 - e -20.4 t )
20.4
The transient response of the closed-loop system is less sensitive to
variations in plant parameters
SOLUTION MANUAL 25
4.4 For G(s) = 10/ (t s + 1), and R(s) = 1/s,
ess |open-loop = 0
1
ess |closed-loop =
1 + 10 K p = 0.0099
For G'(s) = 11/ (t s + 1) , and R(s) = 1/s,
ess |open-loop = – 0.1
ess |closed-loop = 0.009
The steady-state response of the closed-loop system is less sensitive to

variations in plant parameters.
L 2
4.5 t f |open-loop = = = 0.04 sec
R 50
For the feedback system,
di f
K A (e f - Ki f ) = L + ( R + Rs )i f
dt
This gives
I f ( s) KA
=
E f (s ) sL + R + Rs + K A K
L 2
t f |closed-loop = = = 0.004
R + Rs + K A K 51 + 90 K
This gives K = 4.99
4.6 The given block diagram is equivalent to a single-loop block diagram given
below,
W (s) 0.4 + Y(s)

1
s+1
–
10(K + s)
s+1
Y ( s) 0.4
=
W ( s) 11s + 10 K + 1
For W(s) = 1/s,

0.4
yss = lim sY ( s ) = = 0.01
s →0 10 K + 1
This gives K = 3.9
4.7 Case I:
Y ( s) s(t s + 1)
=
W ( s) s(t s + 1) + K
for W(s) = 1/s, yss = 0
Case II:
Y ( s) K
=
W ( s) s(t s + 1) + K
For W(s) = 1/s, yss = 1
The control scheme shown in the following figure will eliminate the error in
Case II.
W (s)
+
Y(s)
Kc 1 + 1 +
Plant
TIs
–
4.8 A unity-feedback configuration of the given system is shown below.
+ e 200 ¥ 0.02 q
qr D(s) G (s) =
(s + 1) (s + 2)
–
E(s ) 1 1
= ;ess = lim sE ( s ) ; qr ( s) =
qr ( s ) 1 + D( s )G( s) s →0 s
(i) ess = 1/3
(ii) ess = 0
(iii) ess = 1/3
The integral term improves the steady-state performance and the derivative
term has no effect on steady-state error.
4.9 (i) s2 + 1 = 0; oscillatory
(ii) s2 + 2s + 1 = 0; stable
(iii) s3 + s + 2 = 0; unstable
SOLUTION MANUAL 27
The derivative term improves the relative stability; and the integral term
has the opposite effect.
4.10 (a) er = 50 × 0.03 = 1.5 volts
V (s ) 0.65K e
(b) = M(s) =
Er ( s ) ( s + 1)(5s + 1) + 0.0195 K e
¶M Ke ( s + 1)(5s + 1)
SKMe = ´ =
¶K e M ( s + 1)(5s + 1) + 9.75
325 19.5( s + 1)
(c) V(s) = Er ( s ) - W ( s)
( s + 1)(5s + 1) + 9.75 ( s + 1)(5s + 1) + 9.75
Suppose that the engine stalls when constant percent gradient is x%. Then
for Er(s) = 1.5/s and W(s) = x/s,
325 ´ 1.5 19.5 ´ x
vss = lim sV (s) = - =0
s ®0 10.75 10.75
This gives x = 25
4.11 (a) The block diagram is shown in the figure below.
IL
Ra
–
er + 1 + eo
KA Kg
sLf + Rf
–
KA
E0 ( s ) 10
(b) =
Er ( s ) IL =0 2 s + 1 + 10 K
For Er(s) = 50/s,

500
eoss = lim sE0 ( s) = = 250
s ®0 1 + 10 K
This gives K = 0.1
With K = 0.1, we have
10 2s + 1
Eo(s) = Er ( s ) - I L (s )
2s + 2 2s + 2
When Er(s) = 50/s and IL(s) = 30/s, we get
10 ´ 50 30
eoss = - = 235 V
2 2
Let x V be the reference voltage required to restore the terminal voltage of
250 V.
10 ´ x 30
- = 250; this gives x = 53V
2 2
10
(c) Eo(s) = Er ( s ) - I L ( s )
2s + 1
er = 25 V gives eoss = 250 V when IL = 0
er = 25 V gives eoss = 220 V when IL = 30 amps
(d) The effect of load disturbance on terminal voltage has been reduced
due to feedback action.
4.12
wr + + 1 1 w0
Kt KA Kg KT
– – Ra Js
Kb
Kt
K A Kg
(a) w o ( s) = M(s) =
w r ( s) 2( s + 5) + K A K g
For wr(s) = 10/s,
125
wo(t) = (1 - e -130t ) ; woss = 9.61 rad/sec
13
(b) When the feedback loop is opened,
w o ( s) 50 K A
=
w r ( s) 2( s + 5)
SOLUTION MANUAL 29
KA = 0.192 gives woss = 9.61 for wr = 10.

w o (t ) = 9.61 (1 – e–5t )
Time-constant in the open-loop case is 1/5 sec, and in closed-loop case
is 1/130 sec; system dynamics becomes faster with feedback action
¶M K A 2 s + 10
(c) SKMA = ´ =
¶K A M 2 s + 10 + K A K g
Kg = Kωg, where K is a constant.
¶M ¶K g wg ¶M Kg 2 s + 10
SwMg = ´ ´ = ´ =
¶K g ¶w g M ¶K g M 2 s + 10 + K A K g
The open-loop transfer function of the system is
K A Kg
G (s) =
2 ( s + 5)
Therefore
SKGA = 1 = SwGg
S KMA < S KGA ; SwMg < SwGg
4.13
Tw
qM = qC
–
qR +– 1 + 1 + 1 1 qL
KP KA Kg KT
sLf + Rf Ra Jeqs2 2
– –
sKb
KP
q L ( s) 5Kg
(b) = M (s) =
q R ( s) s ( s + 1) ( s + 4 ) + 10 K g
¶M Kg s ( s + 1) ( s + 4 )
SKMg = ´ =
¶K g M s ( s + 1) ( s + 4 ) + 10 ´ 100
-4
SKMg ( jw ) ~ 4 ´ 10
w = 0 .1
q L (s) (s + 4) / 2
(c) =
- Tw ( s ) s ( s + 1) ( s + 4) + 10 K g
Wind gust torque on the load shaft = 100 N-m.

Therefore, on the motor shaft
Tw (s) = n × 100/s = 50/s
θLss = lim sq L ( s ) = 0.1 rad
s®0
(d) Replace KA by D(s) = K c 1 +

FG 1 IJ to reduce the steady-state error
H TI s K
to zero value.
q (s) K P K A Ke K ( 25s + 1)
4.14 (a) = G(s) =
q r (s) open - loop s( 0.25s 2 + 0.02s + 1)
q (s) G( s )
= M(s) =
q r (s) closed - loop 1 + G( s )
M s( 0.25s 2 + 0.02 s + 1)
SKG = 1; SK =
s( 0.25s + 0.02 s + 1) + K P K A K e K (25s + 1)
2
SKM < SKG
(b) A PD control scheme with proportional controller in the forward path

and derivative action realized by feeding back q& , will increase aircraft
damping.
q (s) 1/ B
4.15 (a) =
Tw ( s ) sFH
J
s +1 + IK
sK b K T K K
+ T A
B BRa BRa
For Tw(s) = Kw/s,
K w Ra
θss = lim sθ (s) =
s®0 KT K A
SOLUTION MANUAL 31
q (s) K T K A / BRa
(b) = M (s) =
q r (s)
sFJ sK KI
s +1 + b T + T A
K K
HB K
BRa BRa
J
- s2
¶M J B
SJM = ´ =
¶J M s
J
s +1 + FH
sK b K T K K
+ T A IK
B BRa BRa
(c) Excessive large magnitudes of signals at various levels in a control
system can drive the devices into nonlinear region of operation. The
requirement of linear operation of devices under various operating
conditions imposes a constraint on the use of large values of KA.
dV
4.16 (a) = qi − q; V = C h(t), q = h(t)/R
dt
hr + qi R h 1 q
K
– RCs + 1 R
(b)
H (s) KR
(c) = M (s) =
Hr ( s ) RCs + 1 + KR
¶M R 1
S RM = ´ =
¶R M RCs + 1 + KR
1
SRM s=0
=
1 + KR
KR 1
(d) For Hr(s) = 1/s, hss = ; ess =
1 + KR 1 + KR
Replacing K by K c 1 +
1 FG IJ
reduces the steady-state error to zero; and the
Tl s H K
system becomes insensitive to changes in R under steady dc conditions.
d
4.17 V (C + c ) = (Qi + qi ) ( Ci + ci ) − Q ( C + c )
dt
The perturbation dynamics is given by
dc ( t ) C Q V
t + c(t) = i qi ( t ) + i ci (t );t =
dt Q Q Q
Block diagram of the closed-loop system is shown below.
ci
Qi /Q
+
qi + 1 c
K Ci /Q
– ts + 1
C( s) Qi / Q
= M(s) =
Ci ( s ) τs + 1 + KCi / Q
For Ci(s) = A/s,
AQi
css =
Q + KCi
With integral control, css becomes zero.

4.18 (b) Open-loop case:
q( s ) KR1
(i) = G(s) = ; SKG = 1
Er ( s ) R1Cs + 1
qi 1/R1
+
er + er K + R1 q
K
– R1C s + 1
et
Kt
SOLUTION MANUAL 33
q (s) 1
(ii) = . For q i ( s) = 1 / s, q ss = 1
q i (s) Ri Cs
(iii) τ = R1C
Closed-loop case:
q( s ) KR1 R1Cs + 1
(i) = M(s) = ; SKM =
Er ( s ) R1Cs + 1 + KKt R1 R1Cs + 1 + KKt R1
q (s) 1 1
(ii) = . For θ i(s) = 1/s, θss =
q i (s) R1Cs + 1 + KKt R1 1 + KK t R1
R1C
(iii) τ =
1 + KK t R1
dq q - qi q - qa 1 RRC
(c) K(er − et ) = C + + ; R2 = ,t = 1 2
dt R1 R2 UA R1 + R2
qi 1 + + 1 qa
R1 R2
+
er + er K + R1R2 q
K (R1 + R2 ) (ts + 1)
–
Kt
q (s) R1
= ; q ss open - loop = R1 (R1 + R2)
q a (s) open - loop ( R1 + R2 ) (t s + 1)
θ (s) R1
=
θ a ( s ) closed − loop ( R1 + R2 ) (t s + 1) + KK t R1R2
R1
θ ss closed − loop =
R1 + R2 + KK t R1 R2
Y (s) 0.1 ( s + 1)
4.19 (a) = . For W(s) = 1/s, yss = 0.089
W (s) 2 s 2 + 3s + 1125
.
(b) Replace Kc by K c 1 +
IJ FG 1
K H Tl s
(c)
Y (s)
=
0.1 ( s + 1) LM1 - K K OP f c
W ( s ) 2 s + 3s + 1125
2
. N s +1 Q
For W(s) = 1/s, yss = 0.089 (1 − Kf Kc)
yss = 0 when Kf = 1/Kc = 0.8
The PI control scheme increases the order of the system; this makes it less
stable.
The feedforward scheme does not affect the characteristic roots of the
system. A difficulty with feedforward compensation is that it is an open-
loop technique; it contains no self-correcting action. If the value of Kc is not
accurately known, the gain Kf will not cancel the disturbance completely.
The usefulness of a method must be determined in the light of the specific
performance requirements. If the uncertainty is large, self-correcting action
can be obtained by using PI control law in conjunction with the feedforward
compensation.
4.20
+ ef + 1 if KT w
r Kt KA
– – sLf + Rf + 1 Js + B
Kt
Time-constant (without current feedback) = Lf /(Rf + 1)
I f (s ) KA
=
E f (s) sL f + R f + K A + 1
Lf
Time-constant (with current feedback) =
Rf + KA + 1
Position control system is shown below.
SOLUTION MANUAL 35
KA if w w
r KP + + + Kt 1
– – – sLf + Rf + 1 Js + B s
Kt
KP
4.21 (a) s2 + Kc TDs + Kc = (s + 1 + j1.732) (s + 1 − j 1.732)

This gives Kc = 4, TD = 0.5
(b) Alternative control scheme is shown below.
qr + + 1 q 1 q
K1 s s
– –
K2
q (s) K1
= 2 ; K1 = 4, K 2 = 2
q r ( s ) s + K 2 s + K1
4.22 Fig. P4.22a:
q (s ) 25 K
= M (s ) = 2
q r (s) s + 5s + 25 K
¶M K s( s + 5)
SKM = ´ = 2
¶K M s + 5s + 25
S KM ( jw ) w = 5 = 1.41
Fig. P4.22b:
q (s) KK 2 25 K
= M (s) = 2 = 2
q r (s) s + (1 + KK1 ) s + KK 2 s + 5s + 25 K
This gives K2 = 25 and K1 = 4
25 K
M (s) =
s + (1 + 4 K ) s + 25 K
2
s( s + 1)
SKM =
s + 5s + 25
2
| SKM ( jw )|w =5 ≈ 1
This shows the superiority of the two-loop system over a single-loop
system.
—-
CHAPTER 5 CONCEPTS OF STABILITY AND THE ROUTH

STABILITY CRITERION
5.1 (a) All the elements in the first column of the Routh array are +ve.
Therefore, all the roots are in the left-half plane.
(b) Two sign changes are found in the first column of the Routh array.
Therefore, two roots are in the right-half plane and the rest in the left-
half plane.
(c) s3-row of the Routh array has zero pivot element, but the entire row is
not all zeros. We replace the pivot element by e and then proceed with
the construction of the Routh array. As e ® 0, two sign changes are
found in the first column of the Routh array. Therefore, two roots are
in right-half plane and the rest in the left-half plane.
(d) s1-row of the Routh array is an all-zero row. Auxiliary polynomial
formed using the elements of s2-row is given by
A(s) = s2 + 1
We replace the elements of s1-row with the coefficients of
dA( s )
= 2s + 0
ds
and proceed with the construction of the Routh array. There are no
sign changes in the resulting Routh array; the characteristic
polynomial does not have any root in the right-half plane. The roots of
the 2nd-order auxiliary polynomial are therefore purely imaginary.
The given characteristic equation has two roots on the imaginary axis
and the rest in the left-half plane.
(e) Since all the coefficients of the given characteristic polynomial are
not of the same sign, the system is unstable. The Routh array
formation is required only if the number of roots in the right-half plane
are to be determined.
Only one sign change (the s0-row has – ve pivot element) is found in
the Routh array. Therefore one root is in the right-half plane and the
rest in the left-half plane.
(f) s3-row of the Routh array is an all-zero row. The auxillary polynomial
is
A(s) = 9s4 + 0s2 + 36
3
We replace elements of s -row with the coefficients of
dA( s )
= 36s3 + 0s
ds
The resulting Routh array has s2-row with zero pivot element but the
entire row is not all zeros. We replace the pivot element with e and
proceed with the construction of the Routh array. Two sign changes
are found in the first column; the characteristic polynomial D(s) has
two roots in the right-half plane. Three possibilities exist: (i) the 4th-
order auxiliary polynomial has all the four purely imaginary roots and
the two right-half plane roots are contributed by the factor D(s)/A(s),
(ii) the 4th-order auxiliary polynomial has complex roots with
quadrantal symmetry (two roots in the right-half plane) and the factor
D(s)/A(s) has all the roots is the left-half plane, and (iii) the 4th-order
auxiliary polynomial has two real-axis roots and two imaginary-axis
roots with quadrantal symmetry and the factor D(s)/A(s) has one root
in the right-half plane. Examining A(s) we find that auxiliary-
polynomial roots are s = – 1 ± j1, 1 ± j1.
The given system, therefore, has two roots in the right-half plane and
the rest in the left-hand plane.
5.2 (a) s1-row of the Routh array is an all-zero row. The auxiliary polynomial
is
A(s) = s2 + 9
By long division
D(s)/A(s) = (s4 + 2s3 + 11s2 + 18s + 18)/A(s) = s2 + 2s + 2
Therefore
D(s) = (s2 + 9) (s2 + 2s + 2)
= (s + j3) (s – j3) (s + 1 + j1) (s + 1 – j1)
(b) s3-row of the Routh array is an all-zero row. The auxiliary polynomial
is
A(s) = s4 + 24s2 – 25
D(s)/A(s) = (s5 + 2s4 + 24s3 + 48s2 – 25s – 50)/A(s)
=s+2
D(s) = (s + 2) (s4 + 24s2 – 25)
= (s + 2) (s2 – 1) (s2 + 25)
= (s + 2) (s + 1) (s – 1) (s + j5) (s – j5)
(c) s3-row of the Routh array is an all-zero row. The auxiliary polynomial
is
A(s) = s4 + 3s2 + 2
D(s)/A(s) = (s6 + 3s5 + 5s4 + 9s3 + 8s2 + 6s + 4)/A(s)
= s2 + 3s + 2
D(s) = (s2 + 3s + 2) (s4 + 3s2 + 2)
= (s2 + 3s + 2) (s2 + 1) (s2 + 2)
= (s + 1) (s + 2) (s + j1) (s - j1) (s + j 2 ) (s – j 2 )
SOLUTION MANUAL 39
5.3 With s = s$ – 1, the characteristic equation becomes

3 2
s$ + s$ + s$ + 1 = 0
1
s$ -row in the Routh array is an all-zero row. The auxiliary polynomial is
A( s$ ) = s$ 2 + 1 = ( s$ + j1) ( s$ – j1)
2
We replace the elements of s$ -row with the coefficients of
dA( s$ )
= 2 s$ + 0
ds$
and proceed with the construction of the Routh array. There are no sign
changes in the resulting Routh array. The s-polynomial does not have roots
to the right of the line at s = –1, and there are two roots at s = – 1 ± j1. The
largest time-constant is therefore 1 sec.
5.4 (a) Unstable for all values of K
(b) Unstable for all values of K
(c) K < 14/9
(d) K > 0.528
5.5 With s = s$ – 1, the characteristic equation becomes
s$ 3 + 3K s$ 2 + (K + 2) s$ + 4 = 0
From the Routh array, we find that for K > 0.528, all the s-plane roots lie to
the left of the line at s = –1.
5.6 G(s) =
4K LM 20 / ( s + 1) OP
N
2 s + 1 1 + 20 ´ 0 .2 / ( s + 1) Q
0.05
H(s) =
4s + 1
1 + G(s) H(s) = 0 gives
8s3 + 46s2 + 31s + 5 + 4K = 0
From the Routh array, we find that the closed-loop system is stable for
K < 43.3.
5.7 (i) s3 + 5s2 + 9s + K = 0; K < 45
(ii) s3 + 5s2 + (9 – K) s + K = 0; K < 7.5
(iii) s4 + 7s3 + 19s2 + (18 – K) s + 2K = 0; K < 10.1
5.8 (a) D(s) = s3 + 10s2 + (21 + K)s + 13K = 0
(i) K < 70 (ii) K = 70
(iii) for K = 70, A(s) = s2 + 91 = 0
D(s) = (s2 + 91) (s + 10) = (s + j9.54) (s – j9.54) (s + 10)
(b) D(s) = s3 + 5s2 + (K – 6)s + K = 0
(i) K > 7.5 (ii) K = 7.5

(iii) For K = 7.5, A(s) = s2 + 1.5 = 0
D(s) = (s2 + 1.5) (s + 5) = (s + j1.223) (s – j1.223) (s + 5)
(c) D(s) = s4 + 7s3 + 15s2 + (25 + K)s + 2K = 0
(i) K < 28.1 (ii) K = 28.1
(iii) For K = 28.1, A(s) = s2 + 7.58 = 0
D(s) = (s2 + 7.58) (s2 + 7s + 7.414)
= (s + j2.75) (s – j2.75) (s + 5.7) (s + 1.3)
5.9 (a) D(s) = s4 + 12s3 + 69s2 + 198s + 200 + K = 0
From the Routh array we find that the system is stable for K < 666.25.
For K = 666.25,
A(s) = 52.5s2 + 866.25 = 0
This gives
s = ± j 4.06
Frequency of oscillations is 4.06 rad/sec when K = 666.25.
(b) D(s) = s4 + 3s3 + 12s2 + (K – 16) s + K = 0
From the Routh array, we find that the system is stable for
23.3 < K < 35.7.
For K = 23.3,
A(s) = 9.57s2 + 23.3 = 0; s = ± j1.56
For K = 35.7,
A(s) = 5.43s2 + 35.7 = 0; s = ± j2.56
Frequency of oscillation is 1.56 rad/sec when K = 23.3; and 2.56 rad/
sec when K = 35.7.
5.10 D(s) = s3 + as2 + (2 + K) s + 1 + K = 0
From the Routh array we find that for the system to oscillate,
(2 + K)a = 1 + K
1+ K
Oscillation frequency = =2
a
These equations give a = 0.75, K = 2
5.11 D(s) = 0.02s3 + 0.3s2 + s + K = 0
(a) K < 15
(b) For K = 15, the auxiliary equation is A(s) = s2 + 50 = 0. The
oscillation frequency is 7.07 rad/sec at K = 15.
(c) With K = 7.5 and s = s$ – 1,
D( s$ ) = 0.2 s$ 3 + 2.4 s$ 2 + 4.6 s$ + 67.8 = 0
Two sign changes are there in the first column of the Routh array;
therefore two roots have time-constant larger than 1 sec.
5.12 (a) Unstable for all Kc
(b) For stability, TD > t.
5.13 (a) D(s) = s3 + 15s2 + 50s + 25K = 0; K < 30
SOLUTION MANUAL 41
(b) D(s) = t s3 + (1 + 5t)s2 + 5s + 50 = 0; t < 0.2
(c) D(s) = t s3 + (1 + 5t)s2 + 5s + 2.5K = 0; K <

FH 2 + 10IK
t
1
5.14 D(s) = s4 + 5s3 + 6s2 + Kcs + Kca = 0; a =
TI
From the Routh array, we find that K < (30 – 25a) results in system
stability. Larger the a (smaller the TI), lower is the limit on gain for
stability.
5.15 D(s) = s3 + 15s2 + (50 + 100Kt)s + 100K = 0
From the Routh array, we find that for stability K < (7.5 + 15Kt). Limit on
K for stability increases with increasing value of Kt.
CHAPTER 6 THE PERFORMANCE OF FEEDBACK SYSTEMS
6.1 (a) Refer Section 6.3 for the derivation

(b) The characteristic equation is
s2 + 10s + 100 = s2 + 2zwn s + w 2n = 0
(i) wn = 10 rad/sec; z = 0.5; wd = w n 1 - z 2 = 8.66 rad/sec
p - cos -1 z p
(ii) tr = = 0.242 sec; tp = = 0.363 sec
wd wd
4
Mp = e - pz / 1-z 2
= 16.32%; ts = = 0.8 sec
zw n
(iii) Kp = lim G(s) = ¥ ; Kv = lim sG(s) = 10;

s®0 s®0
Ka = lim s2G(s) = 0
s®0
1 1 1
(iv) ess = = 0; ess = = 0.1; ess = =¥
1+ Kp Kv Ka
6.2 Characteristic equation is
s2 + 10s + 10KA = s2 + 2zwn s + w 2n = 0

(a) KA = 2.5 gives z = 1 which meets the response requirements.
(b) Kp = ¥ , Kv = 2.5
5 1
ess = + = 0.4
1 + K p Kv
6.3 (a) Using Routh criterion, it can be checked that the close-loop system is
stable.
10 10 10 0.2 10 0.2
(i) ess = = =0; (ii) ess = + = + =2
Kv ¥ Kv K a ¥ 0.1
(b) The closed-loop system is unstable.

6.4 The closed-loop system is stable. This can easily be verified by Routh
criterion.
5
G(s) =
( 0.1s + 1)( s + 1)( 0.2 s + 1)
SOLUTION MANUAL 43
10 10
ess|r = 10 = =
1+ Kp 1+ 5
Y (s) 0.1s + 1
=
W (s) ( s + 1)( 0.2 s + 1)( 0.1s + 1) + 5
For W(s) = 4/s, yss = 4/6
ess|total = 7/3
6.5 (a) The characteristic equation of the system is
900s3 + 420s2 + 43s + 1 + 0.8 KA = 0
Using Routh criterion, we find that the system is stable for KA < 23.84.
(b) Rearrangement of the block diagram of Fig. P6.5 is shown below.
qr + 0.016 50 q
KA
– 3s + 1 30s + 1
1
10s + 1
0.016 ´ 50 K A
G(s) =
( 3s + 1)(30 s + 1)
1
H(s) = ; the dc gain of H(s) is unity.
10 s + 1
10
Kp = lim G(s) = 0.8 KA ; ess = =1
s®0 1+ Kp
This gives KA = 11.25

6.6 (a) The system is stable for Kc < 9.
1
Kp = lim D(s) G(s) = Kc; ess =
s®0 1 + Kc
ess= 0.1 (10%) is the minimum possible value for steady-state
error. Therefore ess less than 2% is not possible with propor-
tional compensator.
KI
(b) Replace Kc by D(s) = 3 + . The closed-loop system is stable for
s
0 < K1 < 3. Any value in this range satisfies the static accuracy
requirements.
1000 Kc
6.7 (a) Kv = = 1000
10
10 + 1000 KD
z = = 0.5
2 ´ 100
These equations give Kc = 10 and KD = 0.09.

(b) The closed-loop poles have real part = – zwn = – 50. The zero is
present at s = – Kc/KD = – 111.11. The zero will result in pronounced
early peak. z is not an accurate estimate of Mp.
6.8 (a) Kv = KI = 10
(b) With KI = 10, the characteristic equation becomes
D(s) = s3 + 10s2 + 100(1 + Kc)s + 1000 = 0
With s = s$ – 1,
D( s$ ) = s$ 3 + 7 s$ 2 + [100(1 + Kc) – 17] s$ + 1009

– 100 (1 + Kc) = 0
In Routh array formation, Kc = 0.41 results in auxiliary equation with
purely imaginary roots. Therefore Kc = 0.41 results in dominant
s-plane poles with real part = – 1.
(c) Routh array formation for D( s$ ) gives the following auxiliary equation.
A( s$ ) = 7 s$ 2 + 868 = 0; s$ = ± j11.14
The complex-conjugate s-plane roots are – 1 ± j11.14.
wd = wn 1 - z 2 = 11.14; zwn = 1
These equations give z = 0.09.
(d) D( s$ ) = ( s$ + 7) ( s$ + j11.14) ( s$ – j11.14) = 0
The third s-plane closed-loop pole is at s = – 8. The dominance
condition in terms of third closed-loop pole is reasonably satisfied.
The zero is at s = – KI/Kc = – 24.39. The zero will not give pronounced
early peak. Therefore z approximately represents Mp.
6.9 (a) With TI = ¥ ,
80 (1 + TD s )
D(s)G(s) =
s 2 + 8 s + 80
SOLUTION MANUAL 45
The characteristic polynomial becomes

D(s) = s2 + (8 + 80TD)s + 160
TD = 0.216 gives z = 1
(b) The zero is at s = – 1/0.216 = – 4.63. Real part of the closed-loop pole
= – zwn = – 12.65. Therefore, small overshoot will be observed.
(c) The characteristic equation becomes
80
s3 + 25.28s2 + 160s + =0
TI
TI > 0.0198 for stability.
K
6.10 (a) G(s) = ; Kv = lim sG(s) = K
s( s + 1) s®0
K = 10 will give steady-state unit-ramp following error of 0.1.
D(s) = s2 + s + K = s2 + 2zwns + w 2n
K = 10 gives z = 0.158.
10
(b) G(s) =
s( s + 1 + 10 Kt )
D(s) = s2 + (1 + 10Kt)s + 10 = s2 + 2zwns + w 2n

Kt = 0.216 gives z = 0.5.
10 10
Kv = lim sG(s) = =
s®0 1 + 10 K t 3.16
ess = 0.316
10 K A
(c) G(s) =
s( s + 1 + 10 Kt )
10 K A
Kv =
1 + 10 Kt
D(s) = s2 + (1 + 10Kt)s + 10 KA = s2 + 2zwns + w 2n

From these equations, we find that
KA = 10 and Kt = 0.9 give ess = 0.1 and z = 0.5.
( In M p ) 2
6.11 (a) z = 2
( In M p ) 2 + π 2
M p = 0.1 gives z = 0.59
4
ts = = 0.05. Therefore, wn = 135.59
zw n
5 K1
G(s) =
s( 0.2 s + 1 + 100 K2 )
D(s) = 0.2s2 + s(1 + 100K2) + 5K1 = 0
Therefore s2 + 5(1 + 100K2)s + 25K1 = s2 + 2zwns + w 2n

This equation gives K1 = 735.39 and K2 = 0.31
5 K1
(b) Kp = ¥ , Kv = = 114.9, Ka = 0
1 + 100 K 2
q (s) 4
6.12 =
Tw ( s ) s( s + 1) + 10 K + 10 Kt s
4
For Tw(s) = 1/s, qss = = 0.05
10K
This gives K = 8
D(s) = s2 + (1 + 10Kt)s + 10K = s2 + 2zwns + w 2n

Kt = 0.79 gives z = 0.5
Y (s) 1 9
6.13 = . For F(s) = 9/s, yss = = 0.03
F( s ) Ms 2 + Bs + K K
This gives K = 300 Newtons/m
0.003
e - pz / 1-z 2
= = 0.1
0.03
This gives z = 0.59
p p
tp = = =2
wn 1-z 2 0.81w n
This gives wn = 1.94 rad/sec

From the equation
SOLUTION MANUAL 47
B K
s2 + s+ = s2 + 2zwns + w 2n
M M
we obtain
M = 79.71 kg, B = 182.47 Newtons per m/sec
6.14
q (s) KT / J w 2n
= = 2
q R (s) B
s2 + s + T
K s + 2zw n s + w 2n
J J
Tw
–
qR + + 1 q
KT
– Js2 + Bs
( ln M p ) 2
z2 =
( ln M p ) 2 + π 2
For Mp = 0.25, z = 0.4
2z
Steady-state error to unit-ramp input = = 0.04
wn
This gives wn = 20
q( s ) 1
= 2
- Tw ( s ) Js + Bs + K T
10
qss = = 0.01
KT
From these equations, we obtain the following values of system parameters.
KT = 1000 N-m/rad
B = 40 N-m/(rad/sec)
J = 2.5 kg-m2
6.15 J w& + Bw = KT(wr – w)
w (s) 45
=
w r (s ) 100 s + 50
2p
wr = 50 × rad/sec = step input
60
w(t) = 1.5p (1 – e–0.5t)
wss = 1.5p rad/sec = 45 rpm; ess = 5 rpm
A control scheme employing gain adjustment with integral error
compensation will remove the offset.
6.16 Jq&& + Bq& = KT(qr – q)
q ( s) 2400
=
qr ( s ) 150 s 2 + 600 s + 2400
qr(s) =
p
; q(s) =
p LM
16 OP
3s N
3 s ( s + 4 s + 16 )
2
Q
q(t) =
p LM
1-
e -zw nt
sin (w d t + cos -1z )
OP
3 MN1-z 2
PQ
p L
sin FH 3.46 t + IK O
-2 t p
= 1 - 1.1547e
3 MN 3 PQ
M p = e - pz / 1-z 2
= 16.3%
The following control schemes have the potential of eliminating overshoot:
(i) gain adjustment with derivative error compensation; and
(ii) gain adjustment with derivative output compensation.
6.17
qR + e ec + 1 qM 1 qL
Ks KA K1
– – Js2 + Bs 50
sK2
SOLUTION MANUAL 49
4KA
(b) G(s) =
s( s + 100.5)
Kv = 4KA/100.5
p
For a ramp input qR(t) = p t, the steady-state error =
Kv
5p
The specification is 5 deg or rad.
180
Therefore
100.5p p
= ; this gives KA = 904.5
4KA 180
The characteristic equation is
s2 + 100.5s + 4 × 904.5 = 0
wn = 60.15; z = 0.835; Mp = 0.85%; ts = 0.0796 sec
(c) With PI control the system becomes type-2; and the steady-state error
to ramp inputs is zero provided the closed-loop system is stable.
FH
4KA 1 +
1 IK
G(s) = s ; K = 904.5
A
s( s + 100.5)

s3 + 100.5s2 + 4 × 904.5s + 4 × 904.5 = 0
It can easily be verified that the closed-loop system is stable.
(d) The characteristic equation can be expressed as
(s + 1.0291) (s2 + 99.4508s + 3514.6332) = 0
or
(s + 1.0291) (s + 49.7254 + j32.2803) (s + 49.7254 – j32.2803) = 0
The dominance condition is satisfied because the real pole is very close to
the zero. Therefore, the transient response resembles that of a second-order
system with characteristic equation
s2 + 99.4508s + 3514.6332 = 0
wn = 59.28; z = 0.84; Mp = 0.772%; ts = 0.08 sec
6.18
Ket et
Ia
(const)
Rf
KA Lf
JL
qR qL
qR + e+ qM 1 qL
KP KA KT 1
– – Jeqs2 50
sKKt
KP
(c) The characteristic equation of the system is
s2 + 100 KKAs + 6KA = s2 + 2zwn s + w 2n = 0

This gives KA = 2.67; K = 0.024
SOLUTION MANUAL 51
6.19
qR + + KT 1 1 qL
KP KA
– – Ra Js2 + Bs 10
sKb
20 K A
(b) Open-loop transfer function G(s) =
s( 4 s + 202 )
20 K A 1
Kv = = ; this gives KA = 1010.
202 0.01
The characteristic equation becomes
s2 + 50.5s + 5050 = 0 = s2 + 2zwn s + w 2n

This gives z = 0.355; Mp = 30.33%
20( K A + sK D )
(c) G(s) =
s( 4 s + 202)
20 K A
Kv = = 100; no effect on ess.
202
Characteristic equation of the system is
s2 + (50.5 + 5KD)s + 5050 = 0 = s2 + 2zwns + w 2n

This gives KD = 6.95.
For z = 0.6, Mp = 9.5%
- KA
(d) System zero: s = = – 145.32
KD
Real part of closed-loop poles = – zwn = – 42.636.
The zero will affect the overshoot. The peak overshoot will be slightly
more than 9.5%.
3KA
6.20 (a) G(s) =
s( 0.3s + 1)(1 + 2 s )
0.03 0.01
Kv = 3KA; ess = =
3K A KA
Y (s) 0.3(1 + 2 s )
(b) =
Fw ( s ) s( 0.3s + 1)(1 + 2 s ) + 3 K A
0.1
yss =
KA
(c) Characteristic equation is
0.6s3 + 2.3s2 + s + 3KA = 0
For stability, KA < 1.28.
Minimum value of error in part (a) = 7.81 × 10–3
Minimum value of error in part (b) = 0.078
6.21
u i 47.6 x
Controller 1
– s 2–16.67
Power amp
e
100
(a) Characteristic equation of the system is

s2 – 16.67s + 4760Kc = 0
Unstable or oscillatory for all Kc > 0.
(b) U(s) = – Kc(1 + sTD) E(s)
Characteristic equation becomes
s2 + 4760 KcTDs + 4760Kc – 16.67 = 0
For stability, Kc > 3.5 × 10–3 and TD > 0.
[ ln ( 0.2)]2
(c) z2 = ; z = 0.456
[ ln ( 0.2)]2 + π 2
4
ts = = 0.4; wn = 21.93
zw n
SOLUTION MANUAL 53
s2 + 4760 KcTDs + 4760 Kc – 16.67 = s2 + 2zwn s + w 2n

This gives Kc = 0.1045, TD = 0.04.
6.22 (a) System-type number = 2
H (s) 0.5s( 0.1s + 1)

(b) = 2
- Qw ( s ) s ( 0.1s + 1) + 0.5( Kc + sK D )
0.5
hss = - ; Kc > 10
0.5Kc
0.1s3 + s2 + 0.5KDs + 0.5Kc = 0
For stability, KD > 0.1Kc
6.23
qr + K2 1 q
K1 +
s s+1
–
Characteristic equation is
s2 + (1 + K1)s + K2 = 0 = s2 + 2zwn s + w 2n
Mp = 20% ® z = 0.456; ts = 2 ® wn = 4.386
K2 = 19.237; K1 = 3
——
CHAPTER 7 COMPENSATOR DESIGN USING ROOT LOCUS

PLOTS
7.1 (a) – sA = – 2 ; fA = 60º, 180º, 300º ; intersection with jw-axis at

± j5.042; angle of departure fp from – 1 + j4 = 40º.
(b) –sA = – 1.25 ; fA = 45º, 135º, 225º, 315º ; intersection with jw-axis at
± j1. 1; angle of departure fp from – 1 + j1 = – 71.6º; multiple roots at
s = – 2.3.
(c) Angle of arrival fz at – 3 + j4 = 77.5º ; multiple roots at s = – 0.45.
(d) – sA = –1.33 ; fA = 60º; 180º, 300º; intersection with jw-axis at
± j 5 ; angle of departure fp from – 2 + j1 = – 63.43º; multiple roots
at s = – 1, – 1.67.
(e) – sA = – 1.5 ; fA = 90º, 270º
(f) – sA = – 5.5 ; fA = 90º, 270º; multiple roots at s = – 2.31, – 5.18.
(g) – sA = 0.5 ; fA = 90º, 270º; intersection with jw-axis at ± j2.92.
7.2 (i) – sA = – 2; fA = 60º, 180º, 300º; intersection with jw-axis at ± j 10 ;

angle of departure fp from – 3 + j1 = – 71.5º.
Two root loci break away from s = – 1.1835 at ± 90º. Two root loci
approach s = – 2.8165 at ± 90º
jw
j ÷10
– 3 + j1
–2 s
(i)
SOLUTION MANUAL 55
(ii) Intersection with jw-axis at ± j2 3 ; angle of departure fp from

– 3 + j 3 = – 60º.
Three root loci approach the point s = – 2, and then break away in
directions 120º apart.
jw jw
j2÷3
– 3 + j ÷3
60°
s
s
–2 –9 –4
(ii) (iii)
(iii) – sA = – 4 ; fA = 90º, 270º

The characteristic equation has three roots at s = – 3; the three root
loci originating from open-loop poles approach this point and then
breakaway. Tangents to the three loci breaking away from s = – 3 are
120º apart.
(iv) – sA = – 1 ; fA = 45º, 135º, – 45º, – 135º; intersection with the jw axis
at ± j 1.58; angle of departure fp from – 1 + j2 = – 90º
There are two roots at s = – 1, two roots at s = – 1 + j1.22, and two
roots at s = – 1 – j1.22. The break away directions are shown in the
figure.
(v) There are four roots at s = – 1. The break away directions are shown in
the figure.
jw jw
– 1 + j2 – 1 + j1
45°
s –2 s
–2 45°
(iv) (v)
7.3 – sA = – 1 ; fA = 60º, 180º, 300º; intersection with the jw-axis at ± j 2 ;

multiple roots at s = – 0.42.
The z = 0.5 loci passes through the origin and makes an angle of q =
cos–1 z = 60º with the negative real axis. The point sd = – 0.33 + j0.58 on
this line satisfies the angle criterion. By magnitude criterion, the value of K
at this point is found to be 1.04. Using this value of K, the third pole is
found at
s = – 2.33. Therefore,
1.04
M(s) =
( s + 0.33 + j 0.58)( s + 0.33 - j 0.58)( s + 2.33)
7.4 – sA = – 3 ; fA = 45º, 135º, 225º, 315º; intersection with the jw-axis at
± j3.25; departure angle fp from – 4 + j4 = 225º; multiple roots at s = – 1.5.
At the intersection of the z = 0.707 line with the root locus, the value of
K, by magnitude criterion is 130. The remaining pair of complex roots for
K = 130 can be approximately located graphically. It turns out that real part
of complex pair away from jw-axis is approximately four times as large as
that of the pair near jw-axis. Therefore, the transient response term due to
the pair away from the jw-axis will decay much more rapidly than the
transient response term due to the pair near jw-axis.
7.5 – sA = – 2.67 ; fA = 60º, 180º, 300º ; intersection with jw-axis at ± j 32 ;

departure angle fp from – 4 + j4 = – 45º.
The point sd = – 2 + j3.4 on the z = 0.5 line satisfies the angle criterion.
By magnitude criterion, the value of K at this point is found to be 65. Using
this value of K, the third pole is found at s = – 4; the dominance condition is
not satisfied.
7.6 – sA = – 2; fA = 60º, 180º, 300º; intersection with the jw-axis at ± j 5 ;
SOLUTION MANUAL 57
The least value of K to give an oscillatory response is the value of K at

the multiple roots (K = 1.128).
The greatest value of K that can be used before continuous oscillations
occur is the value of K at the point of intersection with the jw-axis. From
the Routh array formulation it is found that the greatest value of K is 30 and
at this gain continuous oscillations of frequency 5 rad/sec occur.
7.7 The proof given in Example 7.1.
7.8 The proof follows from Example 7.1.
Draw a line from the origin tangential to the circular part of the locus. This
line corresponds to damping ratio for maximum oscillatory response. The
tangential line corresponds to z = 0.82 and the value of K at the point of
tangency is 2.1.
7.9 The proof given in Example 7.2
7.10 s = s + jw
w +1 w -1 w w
tan–1 + tan -1 = tan -1 + tan -1 ± 180 º (2 q + 1)
s s s s +2
Taking tangents on both sides of this equation, and noting that
LM ω w
OP
tan tan −1 ± 180 º = ,
N σ +2 Q
s +2
we obtain
w +1 w - 1 w w
+ +
s s = s s +2
1- FH
w +1 w -1 IK FH IK 1-
w FH IK FH
w IK
s s s s +2
Manipulation of this equation gives
LMF s - 1 I 2
+w2 -
5
=0
OP
NH 2 K 4 Q
There exists a circular root locus with centre at s = ½, w = 0 and the radius
equal to 5 2 .
7.11 Use the result in Problem 7.7 for plotting the root locus. Complex-root
branches form a circle.
The z = 0.707 line intersects the root locus at two points; the values of K at
these points are 1 and 5. The point that corresponds to K = 5 results in lower
value of ts; therefore we choose K = 5(sd = – 3 + j3).
For z = 0.707, Mp = e - pz / 1-z 2

= 4.3%
4 4
ts = = sec
zw n 3
K (s + 4)
G(s) =
( s + 2)( s - 1)
1 ( s + 2 )( s + 1)
E(s) = R(s) = R( s )
1 + G( s) ( s + 2 )( s - 1) + K ( s + 4 )
For R(s) = 1/s (assuming selection of K that results in stable closed-loop
poles)
-2
ess = lim sE ( s ) =
s ®0 -2 + 4K
For K = 5, ess = – 1/9
Therefore, steady-state error is 11.11%.
7.12 Breakaway points obtained from the solution of the equation dK/ds = 0,
are s = – 0.634, – 2.366. Two root loci break away from the real axis at
s = – 0.634, and break into the real axis at s = – 2.366. By determining a
sufficient number of points that satisfy the angle criterion, it can be found
that the root locus is a circle with centre at – 1.5 that passes through the
breakaway points.
Both the breakaway points correspond to z = 1. For minimum steady-
state error we should select larger value of K.
s = – 0.634 corresponds to K = 0.0718
s = – 2.366 corresponds to K = 14
7.13 The characteristic equation is
0.8 K
1+ =0
(10 s + 1)(30 s + 1)( 3s + 1)
K¢
or 1+ = 0 ; K' = 0.000888 K
FH s + 1 IK FH s + 1 IK FH s + 1 IK
10 30 3
– sA = – 0.155 ; fA = 60º, 180º, 300º; intersection with the jw-axis at
± j 0.22; multiple roots at s = – 0.063
The point on the z = 0.707 line that satisfies the angle criterion is sd = –
0.06 ± j0.06 ; the value of K ′ at this point, obtained by magnitude criterion,
is 0.00131. Therefore K = 1.475.
SOLUTION MANUAL 59
7.14 (a) Ideal feedback sensor:

K 10 K
1+ =1+ =0
s( 0.1s + 1) s ( s + 10 )
K = 10 gives z = 0.5.
(b) Sensor with appreciable time-constant:
K
1+ =0
s( 0.1s + 1)( 0 .02 s + 1)
K¢
or 1+ = 0 ; K ¢ = 500 K
s( s + 10 )( s + 20)
Locate a root locus point on the real axis that gives K ¢ = 5000 (i.e., K
= 10). Complex-conjugate roots can then be found by long division.
The process gives z = 0.4.
7.15 Characteristic equation is given by
D(s) = s3 + 6s2 + 8s + 0.1K(s + 10) = 0
which can be arranged as
K ¢( s + 10)
1+ = 0 ; K ¢ = 0.1K
s( s + 2 )( s + 4)
– sA = 2 ; fA = 90º, – 90º; intersection with the jw-axis at ± j 20 ; multiple

roots at s = – 0.8951.
The point on z = 0.5 line that satisfies the angle criterion is sd =
– 0.75 + j1.3. The value of K¢ at this point, obtained by magnitude criterion,
is 1.0154. Hence K = 10.154.
The third closed-loop pole is found at s = – 4.5
7.16 Characteristic equation of the system is
s3 + s + 10Kts + 10 = 0
which can be rearranged as
Ks
1+ = 0 ; K = 10Kt
s 2 + s + 10
Notice that a zero is located at the origin and open-loop poles are located at
s = – 0.5 ± j3.1225. As per the result of Problem 7.9, a circular root locus
exists with the centre at zero and radius equal to 10 .
The point on the z = 0.7 line that satisfies the angle criterion is sd =
– 2.214 + j2.258.
The gain K corresponding to this point is 3.427. Hence the desired value of
velocity feedback gain Kt is 0.3427.
7.17 Characteristic equation of the system is
D(s) = s(s + 1) (s + 4) + 20Kts + 20 = 0
which may be rearranged as
Ks
1+ = 0 ; K = 20Kt
( s + j 2)( s - j 2)(s + 5)
– sA = – 2.5 ; fA = 90º, – 90º; departure angle fp from s = j2 is 158.2º.
The following two points on z = 0.4 line satisfy the angle criterion:
s1 = – 1.05 + j2.41, s2 = – 2.16 + j4.97
The value of K at s1 is 0.449, and at s2 is 1.4130.
The third pole corresponding to K = 0.449 is found at s = – 2.9, and for
K = 1.413 at – 0.68.
From the root locus plot, one may infer that the closed-loop pole at s =
– 0.68 is close to system zero at the origin. This is not the case. In fact the
closed-loop system does not have a zero at the origin:
Y (s) 20
=
R( s ) s( s + 1)( s + 4 ) + 20(1 + Kt s )
In the root locus plot, the zero at the origin was introduced because of the
process of modifying the characteristic equation so that the adjustable
variable K = 20Kt appears as a multiplying factor.
Kt = 0.449 satisfies the dominance condition to a reasonable extent.
For Kt = 1.413, complex-conjugate poles are not dominant.
7.18 The characteristic equation of the system is
s(s + 1) (s + 3) + 2s + 2a = 0
K
1+ = 0 ; K = 2a
s ( s + 4 s + 5)
2
– sA = – 1.3333 ; fA = 60º, – 60º, 180º ; intersection with the jw-axis at

± j 5 ; departure angle fp from complex pole in the upper half of s-plane =
– 63.43º; multiple roots at s = – 1, – 1.666.
– 0.63 + j1.09. The value of K at this point, obtained by magnitude criterion,
is 4.32. Therefore a = 2.16.
The third pole for K = 4.32 is at s = – 2.75.
SOLUTION MANUAL 61

s3 + 9s2 + 18s + 10a = 0
K
1+ = 0 ; K = 10a
s( s + 3)( s + 6)
– sA = – 3 ; fA = 60º, – 60º, 180º; intersection with the jw-axis at ± j3 2 ;

– 1 + j1.732. The value of K at this point is 28. Therefore a = 2.8. The third
pole for K = 28 is at s = – 7.
K
7.20 (a) 1 + =0
s( s - 2 )
System is unstable for all K > 0.
(b) In practice, the poles and zeros can never exactly cancel since they are
determined by two independent pieces of hardware whose numerical
values are neither precisely known nor precisely fixed. We should
therefore never attempt to cancel poles in the right-half plane, since
any inexact cancellation will result in an unstable closed-loop system.
K ( s + 1)
(c) 1+ =0
s( s − 2 )( s + 8)
From the Routh array, we find that the loci cross the jw-axis when
K = 19.2. For K > 19.2, the closed-loop poles are always in the left-
half plane and the system is stable.
E( s ) 1 s ( s - 2 )( s + 8)
= =
R( s ) 1 + G( s) s( s - 2)( s + 8) + Ks + K
For R(s) = 1/s and K > 19.2 (required for stability),
ess = lim sE(s) = 0

s®0
2
For R(s) = 1/s and K > 19.2,
-16
ess = lim sE(s) =
s®0 K
7.21 – sA = – 2 ; fA = 60º, 180º, 300º; intersection with the jw-axis at ± j 5 ;
The value of K at the point of intersection of the root locus and z = 0.3 line
is 7.0.
Kv = lim sG(s) = K/5 = 1.4 ; ts = 4/zwn = 11.6 sec.

s®0
With the compensator, the characteristic equation becomes
K (10 s + 1)
1+ =0
s(100 s + 1)( s + 1)( s + 5)
or
K ¢( s + 0.1)
1+ = 0 ; K¢ = 0.1K
s( s + 0.01)(s + 1)( s + 5)
The value of K¢ at the point of intersection of z = 0.3 line and the root locus
is 6.0. Therefore K = 60.
Kv = lim sD(s) G(s) = K/5 = 12, ; ts = 4/zwn = 12.7 sec.

s®0
K ( s + 2.5)
7.22 1 + =0
s( s + 1)( s + a )
Desired closed-loop pole; sd = – 1.6 + j4. Angle criterion at sd is satisfied
when a = 5.3. The value of K at sd is 23.2. The third pole is at s = – 3.1.
K
7.23 (a) 1 + =0
s( s + 2 )
4
z = 0.707 ; ts = = 2. Therefore, zwn = 2
zw n
Proportional control does not meet this requirement.
K c + sK D K ( s + Kc / K D )
(b) 1 + =1+ D
s(s + 2) s( s + 2)
At the points of intersection of z = 0.707 line and zwn = 2 line, the
angle criterion is satisfied when Kc/KD = 4.
The root locus plot of
K D (s + 4)
1+ =0
s(s + 2)
has circular complex-root branches (refer Problem 7.7). At the point
of intersection of z = 0.707 line and zwn = 2 line, we find by magnitude
criterion that KD = 2. Therefore Kc = 8.
K ( s + 0.1)
7.24 G(s) = ; K = 4000
s( s 2 + 0.8s + 4)
SOLUTION MANUAL 63
s 2 + 0.8s + 4
D(s) =
( s + 0.384)( s + 10.42)
D(s) improves transient response considerably, and there is no effect on
steady-state performance.
7.25 z = 0.45 (specified). Let us select the real part of the desired roots as zwn =
4 for rapid settling.
The zero of the compensator is placed at s = – z = – 4, directly below
the desired root location. For the angle criterion to be satisfied at the desired
root location, the pole is placed at s = – p = – 10.6. The gain of the
compensated system, obtained by magnitude criterion, is 96.5. The
compensated system is then
96.5( s + 4 )
D(s)G(s) =
s( s + 2 )( s + 10.6 )
Kv = lim sD(s) G(s) = 18.2.

s®0
The Kv of the compensated system is less than the desired value of 20.
Therefore, we must repeat the design procedure for a second choice of the
desired root.
7.26 Desired root location may be taken as
sd = – 1.588 + j3.152
s +1
It meets the requirements on Mp and settling time. With D(s) = ,
s + 10
angle criterion is met. Magnitude criterion gives K = 147. The compensated
system has Kv = 2.94.
7.27 z = 0.707; 4/zwn = 1.4 ® zwn = 2.85
wn = 4 ; w n 1 - z 2 = 2.85
sd = – 2.85 + j2.85
( s + 1.5) 2
With D(s) = , angle criterion is satisfied at sd. The value of K,
( s + 3.5) 2
found by magnitude criterion, is 37.
7.28 From the root locus plot of the uncompensated system, we find that for gain
of 1.06, the dominant closed-loop poles are at – 0.33 ± j 0.58. The value of
z is 0.5 and that of wn is 0.66. The velocity error constant is 0.53.
The desired dominant closed-loop poles are – 0.33 ± j0.58 with a Kv of
5. The lag compensator
s + 0.1
D¢(s) =
s + 0.001
gives Kv boost of the factor of 10. The angle contribution of this
compensator at – 0.33 + j0.58 is about seven degrees. Since the angle
contribution is not small, there will be a small change in the new root locus
near the desired dominant closed-loop poles. If the damping of the new
dominant poles is kept at z = 0.5, then the dominant poles from the new root
locus are found at – 0.28 ± j 0.51. The undamped natural frequency reduces
to 0.56. This implies that the transient response of the compensated system
is slower than the original.
The gain at – 0.28 + j0.51 from the new root locus plot is 0.98.
Therefore K = 0.98/1.06 = 0.925 and
0.925( s + 0.1)
D(s) =
s + 0.01
7.29 The dominant closed-loop poles of uncompensated system are located at
s = –3.6 ± j4.8 with z = 0.6. The value of K is found as 820.
Therefore Kv = lim sG(s) = 820/200 = 4.1.
s®0
s + 0.25
Lag compensator D(s) = gives a Kv boost of the factor of 10.
s + 0.025
The angle contribution of this compensator at – 3.6 + j4.8 is – 1.8º, which is
acceptable in the present problem.
K K
7.30 (a) 1 + =1+ =0
( 2 s + 1)( 0.5s + 1) ( s + 0.5)( s + 2 )
From the root locus we find that no value of K will yield zwn = 0.75.
FG
(b) D(s) = K c 1 +
1 IJ = K + K /s = K F s + K / K I
I c
H TI s K c I c H s K
Kc (s + K I / Kc )
D(s)G(s) =
s( s + 0.5)( s + 2)
At the point corresponding to z = 0.6 and zwn = 0.75, the angle criterion is
satisfied when KI /Kc = 0.75.
The gain at the desired point is Kc = 2.06. This yields KI = 1.545.
7.31 Kv = 20 demands K = 2000. However, using Routh criterion, we find that
when K = 2000, the roots of the characteristic equation are at ± j10. Clearly
the roots of the system when Kv requirement is satisfied are a long way
from satisfying the z requirement. It will be difficult to bring the dominant
SOLUTION MANUAL 65
roots from the jw-axis to the z = 0.707 line by using a lead compensator.
Therefore, we will attempt to satisfy the Kv and z requirements by a lag
compensator.
From the uncompensated root locus we find that corresponding to
z = 0.707, the dominant roots are at – 2.9 ± j2.9 and the value of K is 236.
Therefore necessary ratio of zero to pole of the compensator is
| z| 2000
= = 8.5
| p| 236
We will choose z = 0.1 and p = 0.1/9. For this choice, we find that the angle
contribution of the compensator at – 2.9 + j.2.9 is negligible.
K ( s + 1 / t 1 )(s + 1/t 2 )
7.32 D(s)G(s) =
s( s + 1)(s + 5)(s + 1/ at 1 )(s + a /t 2 )
1 1 1 a
= 0.05 ; =1; = 0.005 ; = 10
t1 t2 at 1 t2
K ( s + 0.05)
D(s)G(s) =
s( s + 0.005)( s + 5)( s + 10)
For z = 0.45, we obtain
sd = – 1.571 + j3.119, K = 146.3, Kv = 29.3, wn = 3.49
7.33 D(s) = Kc + KDs = Kc 1 +

FG KD
s
IJ
H Kc K
FG
Kc 1 +
KD
s
IJ
(a) D(s)G(s) =
H Kc K
s2 + 1
s2 + 1 + Kc + KDs = (s + 1 + j 3 ) (s + 1 – j 3 )
This equation gives Kc = 3 and KD = 2
Kp = lim D(s)G(s) = 3.
s®0
(b) With PID controller
K ( s + 0.2)( s + 1.3332 )
D(s) =
s
the angle criterion at sd = – 1 + j 3 is satisfied. The gain K is 2.143.

7.34 (a) Uncompensated system:
Mp = 20% ® z = 0.45
At the point of intersection of z = 0.45 line and the root locus, zwn =
1.1 and K = 56
(b) ts = 4/zwn = 3.6 sec
Kv = lim sG(s) = 2.07
s®0
(c) Compensated system:

M p = 15% ® z = 0.55
3.6
ts = = 1.45 ; zwn = 4/1.45 = 2.75
2.5
2.75
wn = = 5 ; sd = – 2.75 + j4.18
0.55
Kv ³ 20
Lead-lag compensated system:
K ( s + 3)( s + 0.9)
D1(s) D2(s) G(s) = ; K = 506
s( s + 0.15)(s + 3)( s + 9)(s + 13.6 )
K
7.35 G(s) =
s( s + 2 + KKt )
E( s ) 1 s( s + 2 + KK t )
= =
R( s ) 1 + G( s) s( s + 2 + KK t ) + K
For R(s) = 1/s2,
2 + KKt
ess = £ 0.35
K
z ³ 0.707 ; ts £ 3 sec.
The characteristic equation of the system is
s2 + 2s + KKts + K = 0
SOLUTION MANUAL 67
KK t s
1+ =0
s + 2s + K
2
The locus of the roots as K varies (set KKt = 0) is determined from the
following equation:
K
1+ =0
s( s + 2 )
For K = 20, the roots are – 1 ± j4.36.
Then the effect of varying KKt is determined from the locus equation
KKt s
1+ =0
( s + 1 + j 4.36)( s + 1 - j 4.36)
Note that complex root branches follow a circular path.
At the intersection of the root locus and z = 0.707 line, we obtain KKt =
4.3. The real part of the point of intersection is s = 3.15, and therefore the
settling time is 1.27 sec.
KK t s
1+ =0
s + 2s + K
2
or
KK t s
1+ =0
( s + 1 + j ( K - 1 )( s + 1 - j ( K - 1)
The root contour plotted for various values of K with K¢t = = KKt varying
from 0 to ¥ are shown in the figure below.
jw
j2
K=5 K¢t = 0
K=2
j1
K¢t = 0
• ¨ K¢t
s
– ÷2 –1 K¢t = •
– ÷5
– j1
K¢t = 0
– j2
K¢t = 0
AK
7.37 G(s) =
s( s + 1)( s + 5) + KK t s
s(s + 1) (s + 5) + KKt (s + A/Kt) = 0
KKt ( s + A / K t )
1+ =0
s( s + 1)( s + 5)
The angle criterion at s = – 1 + j2 is satisfied when A/Kt = 2.5. Let us take
A = 2 and Kt = 0.8.
AK
Kv = lim sG(s) =
s®0 5 + KK t
With K = 10, Kv = 1.54
The closed-loop transfer function of the system is
Y (s) 20
=
R( s ) ( s + 1 + j 2 )( s + 1 - j 2 )( s + 4)
s(s + 1) (s + 5) + KKt s + AK = 0
SOLUTION MANUAL 69
or
s(s + 1) (s + 5) + bs + a = 0 ; b = KKt ; a = AK
The root locus equation as a function of a with b = 0 is
a
1+ =0
s ( s + 1)( s + 5 )
Sketch a root locus plot for a varying from 0 to ¥ . The points on these loci
become the open-loop poles for the root locus equation
bs
1+ =0
s( s + 1)( s + 5) + a
For some selected values of a, the loci for b are sketched (refer Fig. 7.44).
(s - 2 )
7.39 e–s = -
s+2
K (s - 2)
1– = 0 = 1 – F(s)
( s + 1)( s + 2 )
K (s + jw - 2 )
F(s) =
(s + jw + 1)(s + jw + 2 )
K (s - 2 + jw )
=
(s + 1)(s + 2 ) - w 2 + jw ( 2s + 3)
w w (2s + 3)
Ð F(s) = tan–1 - tan -1
s -2 (s + 1)(s + 2 ) - w 2
R| w - w (2s + 3) U|
S| s -w2 L(s + 1w)((s2s+ +2)3)- w
2
= tan–1
OP V|
|T 1 + s - 2 MN (s + 1)(s + 2) - w 2
Q |W
Ð F(s) = 0º if
w w ( 2s + 3)
- =0
s - 2 (s + 1)(s + 2 ) - w 2
Manipulation of this equation gives
(s – 2)2 + w2 = 12
Centre = (2, 0) and radius = 12 = 3.464
It can easily be verified that at every point on this circle, Ð F(s) = 0º.
Revisiting Example 7.14 will be helpful.
7.40 The proof runs parallel to that in Example 7.2, with a change in angle
criterion as K £ 0.
Centre at zero at s = 0
Radius = a 2 + b 2 = ( 0.5) 2 + ( 0.5) 2 = 0.707

The root locus plot is shown in the figure below.
K=0 j0.5
KÆ –ñ •
KÆ –ñ •
– 0.5
K=0
20.7( s + 3)
7.41 G(s) =
s( s + 2 )( s + 8)
(i) a = a0 + Da = 8 + Da
s(s + 2) (s + 8) + Da s(s + 2) + 20.7 (s + 3) = 0
When Da = 0, the roots are (may be determined by root-locus method
or the Newton-Raphson method)
l1,2 = – 2.36 ± j2.48, l3 = – 5.27
The root locus for Da is determined using the root locus equation
Da s( s + 2 )
1+ =0
( s - l 1 )( s - l 2 )( s - l 3 )
SOLUTION MANUAL 71
The angle of departure at s = l1, is – 80º.

Near s = l1, the locus may be approximated by a line drawn from
– 2.36 + j2.48 at an angle of – 80º. For a change of Dl1 = 0.2 Ð – 80º
along the departure line, Da is determined by magnitude criterion:
Da = 0.48
Therefore the sensitivity at l1 is
Dl 1 0.2 Ð - 80 º
Sal +1 = = = 3.34 Ð – 80º
Da / a 0 0. 48 / 8
(ii) Sensitivity of the root s = l1 to a change in zero at s = – 3 is determined

as follows.
b = b0 + Db = 3 + Db
s(s + 2) (s + 8) + 20.7 (s + 3 + Db) = 0
or
20.7 Db
1+ =0
( s - l 1 )( s - l 2 )( s - l 3 )
The angle of departure of l1 is 50º.

For a change of Dl1 = 0.2 Ð + 50º, we obtain Db = 0.21.
Therefore
Dl 1 0.2 Ð + 50 º
Sbl1 = = = 2.84 Ð + 50º
Db / b 0 0.21 / 3
The sensitivity of the system to the pole can be considered to be less

than the sensitivity to the zero because of the direction of departure
from the pole at s = l1.
7.42 (a) The characteristic equation is
K ( s + 5)
1+ =0
s( s + 2 )( s + 3)
It can easily be verified from the root locus plot that for K = 8 the
closed-loop poles are
l1,2 = – 0.5 ± j 3.12, l3 = – 4
(b) s(s + 2 + d) (s + 3) + 8(s + 5) = 0
or
d s( s + 3)
1+ =0
s( s + 2)( s + 3) + 8(s + 5)
d s( s + 3)
or 1+ =0
s( s - l 1 )(s - l 2 )(s - l 3 )
Case I: d > 0
From the root locus plot we find that the direction of departure from
the pole at s = l1, is away from the jw-axis.
Case II: d < 0
From the root locus plot we find that the direction of departure from
the pole at s = l1 is towards the jw-axis. Therefore the variation d < 0
is dangerous.
CHAPTER 8 THE NYQUIST STABILITY CRITERION

AND STABILITY MARGINS
8.1 (a) Revisiting Example 8.1 will be helpful.
t 1t 2
(i) 1 Ð 0º (ii) 0 Ð – 180º (iv) Ð - 90 º
t1 + t 2
(b) Revisiting Example 8.2 will be helpful.

(i) – t – j¥ (ii) 0 Ð – 180º
(c) Revisiting Example 8.3 will be helpful.
(i) ¥Ð – 180º (ii) 0 Ð – 270º
(d) (i) – (t1 + t2) – j ¥ (ii) 0 Ð – 270º
t 1t 2
(iii) Ð - 180 º
t1 +t 2
t 1t 2 (t 1t 2 )
(e) (i) ¥Ð -180º (ii) 0 Ð 0º (iv) Ð - 90 º
t1 + t 2
8.2 (a) Number of poles of G(s) in right half s-plane, P = 1

Number of clockwise encirclements of the critical point, N = 1
Z = number of zeros of 1 + G(s) in right half s-plane = N + P = 2
The closed-loop system is unstable.
(b) P = 2
Number of counterclockwise encirclements of the critical point = 2
Therefore N = number of clockwise encirclements = – 2
Z=N+P=–2+2=0
The closed-loop system is stable.
(c) P = 0
N = (Number of clockwise encirclements of the critical point – number
of counterclockwise encirclements of the critical point) = 0
Z = N + P = 0; the closed-loop system is stable.
8.3 The polar plot of G(jw) for w = 0+ to w = + ¥ is given in Fig. P8.3b. Plot of
G(jw) for w = – ¥ to w = 0– is the reflection of the given polar plot with
respect to the real axis. Since
G( jw ) w =0 = ¥Ð – 180º,
G(s) has double pole at the origin. The map of Nyquist contour semicircle
s = r ejf, r ® 0, f varying from – 90º at w = 0– through 0º to + 90º at w =
0+, into the Nyquist plot is given by ¥Ð – 2f (an infinite semicircle
traversed clockwise).
With this information, Nyquist plot for the given system can easily be
drawn.
(i) P = 0, N = 0; Z = N + P = 0
The closed-loop system is stable
(ii) P = 1, N = 0; Z = N + P = 1
The closed-loop system is unstable
(iii) P = 0, N = 0; Z = N + P = 0
The closed-loop system is stable.
8.4 (a) The key points to the polar plot are:
G( jw ) H ( jw ) w =¥ = 18 Ð 0º
G( jw ) H ( jw ) w =¥ = 0 Ð – 270º
The intersections of the polar plot with the axes of G(s)H(s)-plane can
easily be ascertained by identifying the real and imaginary parts of
G(jw)H(jw). When we set Im [G(jw)H(jw)] to zero, we get w = 4.123
and
G( jw ) H ( jw ) w =4 .123 = – 1.428
Similarly, setting Re [G(jw)H(jw)] to zero, we get intersection with
the imaginary axis.
Based on this information, a rough sketch of the Nyquist plot can
easily be made. From the Nyquist plot, we find that N = 2. Since P = 0,
we have Z = N + P = 2, i.e., two closed-loop poles in right half s-plane.
(b) The key points of the polar plot are (refer Problem 8.1d):
G( jw ) H ( jw ) w =0 = – 3 – j ¥
G( jw ) H ( jw ) w =¥ = 0 Ð – 270º
Intersection with the real axis at w = 1/ 2 ;

4
G ( jw ) H ( j w ) w = 1 =-
2 3
The map of Nyquist contour semicircle s = re jf, r ® 0, f varying
from – 90º at w = 0– through 0º to + 90º at w = 0+, into the Nyquist plot
is given by ¥Ð – f (an infinite semicircle traversed clockwise).
Based on this information, a rough sketch of Nyquist plot can easily
be made.
P = 0, N = 2. Therefore Z = N + P = 2
SOLUTION MANUAL 75
(c) G( jw ) H ( jw ) w =0 = 2 Ð – 180º
G( jw ) H ( jw ) w =¥ = 0 Ð – 90º
No more intersections with real/imaginary axis. From the Nyquist plot,
we find that N = – 1. Since P = 1, we have Z = N + P = 0; the closed-
loop system is stable.
(d) G( jw ) H ( jw ) w =0 = 0 Ð 90º ; G( jw ) H ( jw ) w =1 = 2.6 Ð 161º ;
G( jw ) H ( jw ) w =2 = 2.6 Ð 198º ; G( jw ) H ( jw ) w =10 = 0.8 Ð – 107º
G( jw ) H ( jw ) w =¥ = 0 Ð – 90º
The Nyquist plot is given in Fig. P8.2b.
P = 2, N = – 2 ; Z = N + P = 0
(e) G( jw ) H ( jw ) w =0 = ¥Ð – 180º
G( jw ) H ( jw ) w =¥ = 0 Ð – 90º
No intersections with real/imaginary axis.

The map of Nyquist contour semicircle s = re jf, r ® 0, f varying
from – 90º at w = 0– through 0º to + 90º at w = 0+, into the Nyquist plot
is given by ¥Ð – 2f (an infinite semicircle traversed clockwise).
With this information, Nyquist plot for the given system can easily be
drawn.
P = 0, N = 0 ; Z = N + P = 0
1
(f) G( jw ) H ( jw ) w =0 = Ð0 º
100
G( jw ) H ( jw ) w =10 - = ¥ Ð 0º
Consider the Nyquist contour shown in figure below. For the semi-
circle s = j10 + re jf, r ® 0, f varying from – 90º at w = 0– through 0º
to + 90º at w = 10+,
1 1
G(s)H(s) = lim = lim
r®0 ( j10 + re ) + 100 r ®0 re ( j 20 + re jf )
jf 2 jf
1 - jf
= lim e
r ®0 r
It is an infinite semicircle from w = 10– to w = 10+ traversed clockwise.
G( jw ) H ( jw ) w =¥ = 0 Ð – 180º
The Nyquist plot is shown in the figure below.

The Nyquist plot passes through – 1 + j0 point. The Nyquist criterion
is not applicable.
jw
Im
j•
1
100
j10
s Re
w= 10+ – 1 + j0 w = • w = 0+
– j10
– j•
Nyquist Nyquist
contour plot
(g) G( jw ) H ( jw ) w =0 = – 8 + j ¥
G( jw ) H ( jw ) w =¥ = 0º Ð – 90º
G( jw ) H ( jw ) w = 3 = – 2 + j0
No intersection with the imaginary axis.
The map of Nyquist contour semicircle s = rejf, r ® 0, f varying
from – 90º at w = 0– through 0°to + 90° w = 0+, into the Nyquist plot is
given by ¥Ð – f (an infinite semicircle traversed clockwise).
With this information, a rough sketch of Nyquist plot can easily be
made (refer Fig. P8.2a).
P = 1, N = – 1. Therefore Z = N + P = 0.
- K (1 + w 2t 1t 2 ) jwK (t 1 - t 2 )
8.5 G(jw)H(jw) = + 2
w 2 (1 + w 2t 12 ) w (1 + w 2t 12 )
(i) For t1 < t2, the polar plot of G (jw)H(jw) is entirely in the third
quadrant as shown in figure below.
SOLUTION MANUAL 77
P = 0, N = 0. Therefore Z = N + P = 0; the closed-loop system is stable.

(ii) For t1 > t2, the polar plot of G(jw)H(jw) is entirely in the second
quadrant, as shown in figure below.
P = 0, N = 2. Therefore Z = N + P = 2; the closed-loop system is
unstable.
Im
w = 0– w = 0+
w=–• w=•
w=• Re w=–•
w= 0+ w = 0–
(i) (ii)
8.6 (a) G( jw ) w =0 = 4 Ð 0º ; G( jw ) w =¥ = 0 Ð – 270º
Intersection with the real axis at – 0.8.

The critical point –1 + j0 will be encircled by the Nyquist plot if
K > 1/0.8. Since P = 0, we want net encirclements of the critical point
to be zero for stability. Therefore K must be less than 5/4.
4(1 + s ) K ¢(t s + 1)
(b) G(s) = =¢ 2 2 ; t1 < t2
s (1 + 0.1s )
2
s (t 1s + 1)
The Nyquist plot for this transfer function has already been given in
the Solution of Problem 8.5. From this plot we see that the closed-loop
system is table for all K.
4(1 + 0.1s ) K ¢(t s + 1)

(c) G(s) = = 2 2 ; t1 > t2
s 2 (1 + s ) s (t 1s + 1)
The Nyquist plot for this transfer function has already been given in
the Solution of Problem 8.5. From this plot we see that the closed-loop
system is unstable for all K.
e -0 . 8 j w
(d) G(jw) =
jw + 1
1
= [(cos 0.8w – w sin 0.8w) – j(sin 0.8w + w cos 0.8w)]
1+w2
The imaginary part is equal to zero if
sin 0.8w + w cos 0.8w = 0
This gives
w = – tan 0.8w
Solving this equation for smallest positive value of w, we get w =
2.4482.
G( jw ) w =0 = 1 Ð 0º ; G( jw ) w =2 . 4482 = – 0.378 + j0
G( jw ) w =¥ = 0
The polar plot will spiral into the w ® ¥ point at the origin (refer Fig.
8.39).
The critical value of K is obtained by letting G(j 2.4482) equal – 1.
This gives K = 2.65. The closed-loop system is stable for K < 2.65.
8.7 The figure given below shows the Nyquist plot of G(s)H(s) for K = 1. As
gain K is varied, we can visualize the Nyquist plot in this figure expanding
(increased gain) or shrinking (decreased gain) like a balloon.
Since P = 2, we require N = – 2 for stability, i.e., the critical point must
be encircled ccw two times. This is true if – 1.33 K < – 1 or K > 0.75.
Im
w = ÷11
w = 0+
–1 w=• Re
– 1.33
–1
SOLUTION MANUAL 79
1 1
8.8 G( jw ) H ( jw ) = – 1 + j0 ; G( jw ) H ( jw ) = 0.05 + j0
K w =0 K w =¥
1
G( jw ) H ( jw ) = – 0.167 + j0
K w = 0 . 62
The Nyquist plot is shown in the figure below. If the critical point lies
inside the larger loop, N = 1. Since P = 1, we have Z = N + P = 2 and the
closed-loop system is unstable.
If the critical point lies inside the smaller loop, N = – 1, Z = N + P = 0
and the closed-loop system is stable. Therefore, for stability
– 0.167K < – 1 or K > 6.
Im
– 0.167
w= 0+
w = • Re
–1
8.9 Eliminating the minor-loop we obtain forward-path transfer function of an

equivalent single-loop system.
K ( s + 0.5)
G(s) =
s3 + s 2 + 1
By Routh criterion, we find that the polynomial (s3 + s2 + 1) has two roots
in the right half s-plane. Therefore P = 2.
1 1
G( jw ) = 0.5 Ð 0º ; G( jw ) = 0 Ð – 180º
K w =0 K w =¥
1
G( jw ) = – 0.5 + j0
K w =1. 4
The polar plot intersects the positive imaginary axis; the point of
1
intersection can be found by setting real part of G( jw ) , equal to zero.
K
With this information, Nyquist plot can easily be constructed. From the
Nyquist plot we find that the critical point is encircled twice in ccw if
– 0.5 K < – 1 or K > 2. For this range of K, the closed loop system is stable.
The figure given below illustrates this result.
Im
j1.5
j1
1 G ( jw) – plot
K
j0.5
w = 1.4 w=• w = 0+
– 0.5 0.5 Re
8.10 Fig. P8.10a:
Ke -2 s
G(s) =
s( s + 1)( 4 s + 1)
1 1
G( jw ) = ¥Ð – 90º; G ( jw ) = – 2.55 + j0
K w =0 K w = 0 . 26
1
G( jw ) =0
K w =¥
SOLUTION MANUAL 81
The polar plot will spiral into the w ® ¥ point at the origin (refer Fig.
8.39).
It is found that the maximum value of K for stability is 1/2.55 = 0.385
Fig. P8.10b:
Ke -2 s
D(s)G(s) =
s ( 4 s + 1)
2
1 1
D( jw ) G( jw ) = ¥Ð – 180º ; D( jw )G( jw ) =0
K w =0 K w =¥
The polar plot will spiral into the w ® ¥ point at the origin. A rough sketch
of the Nyquist plot is shown in figure below. It is observed that the system
is unstable for all values of K.
Im
w = 0+
Re
8.11 Revisiting Example 8.15 will be helpful.

1 + G(s) = 0
may be manipulated as
- st
e D 1
= – 1 or G1(s) = – e st D ; G1(s) =
s( s + 1) s( s + 1)
The polar plot of G1(jw) intersects the polar plot of – e jw t D at a point

corresponding to w = 0.75 at the G(jw)-locus. At this point, the phase of the
polar plot of – e jw t D is found to be 52º. Therefore,
0.75tD = 52 (p/180)
This gives
tD = 1.2 sec
8.12 G( jw ) w =0 = – 2.2. – j ¥ ; G( jw ) w =¥ = 0 Ð – 270º
G( jw ) w =15.9 = – 0.182 + j0; G( jw ) w =6 .2 = 1 Ð – 148.3º

GM = 1/0.182 = 5.5 ; FM = 31.7º
wg = 6.2 rad/sec ; wf = 15.9 rad/sec.
8.13 (a) This result can easily proved using Routh criterion.
(b) General shape of the Nyquist plot of given transfer function is as
shown in Fig. P8.2c. When K = 7, the polar plot intersects the negative
real axis at the point – 1.4 + j0. The resulting Nyquist plot encircles
the critical point once in clockwise direction and once in counter-
clockwise direction. Therefore N = 0. Since P = 0, the system is stable
for K = 7. Reducing the gain by a factor of 1/1.4 will bring the system
to the verge of instability. Therefore GM = 0.7.
The phase margin is found as +10º.
8.14 (a) The system is type-0; so the low-frequency asymptote has a slope of
0 dB/decade, and is plotted at dB = 20 log 25 = 27.96.
Asymptote slope changes to –20 dB/decade at the first corner
frequency wc1 = 1; then to – 40 dB/decade at wc2 = 10, and to
– 60 dB/decade at wc3 = 20.
Asymptotic crossing of the 0 dB-axis is at wg = 16.
(b) The system is type-1; so the low-frequency asymptote has a slope of
–20 dB/decade and is drawn so that its extension would intersect the
0 dB-axis at w = K = 50. The asymptote slope changes to
– 40 dB/decade at the first corner frequency at wc1 = 1; then to – 20
dB/decade at wc2 = 5, and back to – 40 dB/decade at wc3 = 50. The
asymptotic gain crossover is at wg = 10.2.
(c) The system is type-2; the low-frequency asymptote is drawn with a
slope of – 40 dB/decade, and is located such that its extension would
intersect the 0 dB-axis at w = K = 500 = 22.36. The asymptote
slope changes to – 60 dB/decade at the first corner frequency wc1 = 1;
then to – 40 dB/decade at wc2 = 5, to – 20 dB/decade at wc3 = 10 and to
– 40 dB/decade at wc4 = 50. The asymptotic gain crossover is at
wg = 10.
(d) The system is type-1, and the low-frequency asymptote has a slope of
– 20 dB/decade and is drawn so that its extension would cross the
SOLUTION MANUAL 83
0 dB-axis at w = K = 50. The asymptote slope changes to

–40 dB/decade at wc1 = 10; then to –20 dB/decade at wc2 = 20; to
– 40 dB/decade at wc3 = 50; and to – 80 dB/decade at wc4 = 200 (note
that the corner frequency for the complex poles is wc4 = wn = 200).
The asymptotic gain crossover is at wg = 26.
8.15 (a) The low-frequency asymptote has a slope of – 20 dB/decade and
passes through the point (w = 1, dB = 20). The asymptote slope
changes to – 40 dB/decade at wc = 10.
Compensate the asymptotic plot by – 3 dB at w = 10, by – 1dB at w =
5 and by – 1 dB at w = 20. The compensated magnitude plot crosses
the 0 dB line at wg = 7.86.
The phase is computed from
Ð G(jw) = – 90º – tan–1 0.1w
The phase shift at wg = 7.86 is –128.2º, and the resulting phase margin
is – 128.2º – (– 180º) = 51.8º. Because the phase curve never reaches
– 180º line, the gain margin is infinity.
(b) Low-frequency asymptote has a slope of – 20 dB/decade and passes
through the point (w = 1, dB = 20)
The asymptote slope changes to – 60 dB/decade at the corner
frequency wc = 10. Compensate the asymptotic plot by – 6 dB at w =
10, by – 2 dB at w = 5 and – 2 dB at w = 20. The compensated
magnitude plot crosses the 0 dB line at wg = 6.8. The phase is
computed from
Ð G(jw) = – 90º – 2 tan–1 0.1w
The phase shift at wg = 6.8 is – 158.6º. Therefore, the phase margin is
180º – 158.6º = 21.4º. At a frequency of wf = 10, the phase shift is
– 180º; the gain margin is 6 dB.
(c) The low-frequency asymptote has a slope of –20 dB/decade and passes
through the point (w = 0.1, dB = 20log 200 = 46). The slope changes to
– 40 dB/decade at the first corner frequency wc1 = 2, and back to – 20
dB/decade at the second corner frequency wc2 = 5. Compensate the
asymptotic plot by – 3 dB at w = 2, by – 1 dB at w = 1, by – 1 dB at w
= 4, by + 3 dB at w = 5, by + 1 dB at w = 2.5 and by + 1 dB at w = 10.
The compensated magnitude plot crosses the 0 dB line at wg = 9. The
phase shift at this frequency is – 106.6º. Therefore the phase margin is
73.4º.
Phase never reaches – 180º line; the gain margin is infinity.
(d) Reconsider the bode plot for system of Problem 8.15c.

The time-delay factor e–0.1s will not change the magnitude plot; it will
change only the phase characteristics. For the system with dead-time,
wg = 9 rad/sec; FM = 22º; wf = 13.65 rad/sec; GM = 4.2 dB
40 1
(e) G(s) = =
( s + 2 )( s + 4 )( s + 5 ) FH 1 s + 1IK FH 1 s + 1IK FH 1 s + 1IK
2 4 5
The low-frequency asymptote coincides with 0 dB line; its slope
changes to – 20 dB/decade at wc1 = 2, to – 40 dB/decade at wc2 = 4,
and to – 60 dB/decade at wc3 = 5. Compensated magnitude plot can
easily be obtained by applying corrections.
The phase plot crosses the – 180º line at wf = 7 rad/sec, and the gain
margin is 20 dB. Since the gain never reaches 0 dB (wg = 0), the phase
margin is infinity.
(f) From the Bode plots of G(jw) we find that gain crossover frequency
wg = 3.16 rad/sec, and the phase margin is –33º. The phase plot is
asymptotic to the –180º line in the low-frequency range; it never
reaches – 180º
Therefore the GM = – ¥
K /5
8.16 G(s) =
FH
s ( s + 1)
1
s +1 IK
5
From the Bode plot of the system sketched for K = 10, we find that FM =
21º, GM = 8 dB.
Increasing the gain from K = 10 to K = 100 shifts the 0 dB axis down by 20
dB. The phase and gain margins for the system with K = 100 are
FM = – 30º, GM = – 12 dB
Thus the system is stable for K = 10 but unstable for K = 100.
K / 40
8.17 (a) G(s) =
F 1 s + 1I F 1
s +1
1 IF
s +1 I
H 2 KH 4 5 KH K
Since G(s) has all poles in left half s-plane, the open-loop system is
stable. Hence the closed-loop system will be stable if the frequency
response has a gain less than unity when the phase is 180º.
When K = 40, the gain margin is 20 dB (refer Problem 8.15e).
Therefore, an increase in gain of +20 dB (i.e., by a factor of 10) is
possible before the system becomes unstable. Hence K < 400 for
stability.
SOLUTION MANUAL 85
(b) From the Bode plot of G(jw) with K = 1, we find that the phase
crossover frequency wf = 15.88 rad/sec and gain margin = 34.82 dB.
This means that the gain can be increased by 34.82 dB (i.e., by a factor
of 55) before the system becomes unstable. Hence K < 55 for stability.
(c) From the Bode plot of G(jw) with K = 1, we find that wf = 0.66 rad/sec
and GM = 4.5 dB. Thus the critical value of K for stability is 1.67, i.e.,
K < 1.67 for the system stability.
8.18 From the Bode plot of G(jw), it can easily be determined that (a) when tD =
0, the GM = 12 dB, and FM = 33º; and (b) when tD = 0.04 sec, the GM =
2.5 dB and FM = 18º. The relative stability of the system reduces due to the
presence of dead-time.
(c) The value of tD for the system to be on verge of instability is obtained
by setting the phase margin equal to zero, i.e.,
w gt D ´ 180º
G1 ( jw ) w =w – = – 180º
g p
where G1(jw) is the system without dead-time, and wg is the gain
crossover frequency. From the Bode plot of G1(jw), we get wg = 7.4
rad/sec and Ð G1(jwg) = – 147º.
Therefore,
7.4t D ´ 180 º
– 147º – = – 180º
p
or tD = 0.078 sec
8.19 Since the systems have minimum-phase characteristics, zeros (if any) are
in left half s-plane.
(a) The low-frequency asymptote has a slope of – 20 dB/decade and its
extension intersects the 0 dB-axis at w = 4. The system is therefore
type-1; 4/s is a factor of the transfer function.
The asymptote slope changes from – 20 dB/decade to 0 dB/decade at
w = 2 (this corresponds to the factor (1 + s/2)), then to – 20 dB/decade
at w = 10 (this corresponds to the factor (1 + s/10)). The transfer
function
FH 1 sIK
4 1+
G(s) = 2
FsH1 + 1 sIK
10
(b) The low-frequency asymptote has a slope of + 20 dB/decade and it
intersects 0 dB-axis at w = 0.2. The system is therefore type-0; Ks is a

factor of the transfer function with 20 log 0.2K = 0 or K = 5.
The low-frequency asymptote has a magnitude of 20 dB at a frequency
wc1, where
20 log (5wc1) = 20. This gives wc1 = 2.
The transfer function
5s
G(s) =
FH 1
1+ s 1+
1IK FH
s 1+
1
s IK FH IK
2 10 30
(c) The low-frequency asymptote has a slope of – 6 dB/octave with a
magnitude of – 9 dB at w = 1. The system is therefore type-1; K/s is a
factor of the transfer function with 20 log (K/w) = – 9 at w = 1. This
gives K = 0.355.
0.355(1 + s ) 1 + FH 1
s IK
G(s) = 20
FH
s 1+
1
s IK
40
(d) The low-frequency asymptote has a slope of – 20dB/decade with a
magnitude of 40 dB at w = 2.5. The system is therefore type-1; K/s is a
factor of the transfer function with 20 log (K/2.5) = 40. This gives K =
250.
250
G(s) =
s 1+ FH
1
s 1+
1
s IK FH IK
2.5 40
(e) The low-frequency asymptote has a slope of +12 dB/octave; the
system is therefore type-0 and Ks2 is a factor of the transfer function.
The first corner frequency wc1 = 0.5. The slope of the asymptote
changes to +6 dB/decade at this corner frequency. Therefore
1/(2s + 1) is a factor of the transfer function.
The asymptotic plot of Ks2/(2s + 1) is shown in the figure below.
SOLUTION MANUAL 87
dB
32
20 20 log Kw 2
10
0
0.1 1 w
–10
0.5
– 20 log 2w
–20
From this figure, we find that

(20 log Kw2 – 20 log 2w) |w = 1 = 32
This gives K = 79.6.
79.6 s 2
G(s) =
(1 + 2 s )(1 + s )(1 + 0.2 s )
8.20 The low-frequency asymptote has a slope of 20 dB/decade. Ks is a factor of
the transfer function with 20logK = 30. This gives K = 31.623. The transfer
function
31.623s
G(s) =
FH 1
(1 + s ) 1 + s 1 + IK FH
1
s IK
5 20
(i) 20 log (31.623wg1) = 0; this gives wg1 = 0.0316
(ii) 20 log (31.623wg2) – 20 log wg2 – 20 log FH 1 w IK

g2
5
– 20 log FH 1 w IK = 0; this gives w

g2 g2 = 56.234
20
8.21 The low-frequency asymptote has a slope of – 6 dB/octave and has a
magnitude of 11 dB at w = 3. K/s is therefore a factor of the transfer
function with 20 log (K/3) = 11. This gives K = 10.64.
10.64
G(s) =
FH
1
s s +1
1 IK FH
s +1 IK
3 8
1 1
Ð G(jw) = – 90º – tan–1 w – tan–1 w
3 8
Ð G(jw) = – 180º at w = 4.9
The gain obtained from asymptotic magnitude plot at w = 4.9 is
10.64 4.9
20 log - 20 log = 2.5 dB
4.9 3
Therefore, GM = – 2.5 dB
8.22 Revisit Review Example 8.3.
1
s 5 1+ F I
G(s) =
10 H K
F
1
s 1+ s 1+
0.6
s+ I LM
1 2
s OP
H
2 50 KN
2500 Q
8.23 From the asymptotic magnitude plot we find that the system is type-0 with
a double pole at s = – 3. The transfer function obtained from the magnitude
plot is
0.1
G(s) =
FH 1 IK
s +1
2
3
Ð G(jw) vs w may be compared with the given phase characteristics to
check the accuracy of identification of corner frequency at wc = 3.
——
CHAPTER 9 FEEDBACK SYSTEM PERFORMANCE

BASED ON THE FREQUENCY
RESPONSE
9.1 For derivation of the result, refer Section 9.3; Eqn. (9.9).
9.2 For derivation of the result, refer Section 9.3; Eqn. (9.18).
9.3 For derivation of the result, refer Section 9.3; Eqns (9.15) – (9.16).
9.4 The relations
1 2
z4 – z2 + 2
= 0 ; wr = w n 1 - 2z
4 Mr
yield z = 0.6 and wn = 21.8
Note that Mr – z relation gives two values of z for Mr = 1.8; z = 0.6 and
z = 0.8. We select z = 0.6 as damping ratio larger than 0.707 yields no peak
above zero frequency.
The characteristic equation of the given system is
s2 + as + K = s2 + 2zwns + w 2n = 0
This gives K = 475 and a = 26.2
4
ts = = 0.305 sec
zw n
1/ 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4
= 25.1 rad/sec
9.5 From the response curve, we find
M p = 0.135, tp = 0.185 sec
(ln M p ) 2
z2 = gives z = 0.535 for Mp = 0.135
(ln M p ) 2 + p 2
p
= 0.185 gives wn = 20
wn 1-z2
The corresponding frequency response performance indices are:
1
Mr = = 1.11 ; wr = w n 1 - 2z 2 = 13.25
2z 1 - z 2
1/ 2
wb = w n 1 - 2z 2 + 2 - 4z 2 + 4z 4 = 24.6
9.6 z » 0.01fm
The characteristic equation of the system is
t s2 + (1 + KKt)s + K = 0
This gives
1 + KK t
wn = K /t ; z = = 0.01fm
2 Kt
1
K= 2 ´ 10 -4 f 2mt - Kt ± 2 ´ 10 -2 f m t 10 -4 f 2mt - Kt
Kt
9.7 The polar plot of G(jw) crosses the real axis at w = 1/ t 1t 2 . The
magnitude |G(jw)| at this frequency is given by
Kt 1t 2
|G(jw)| =
t1 + t 2
Therefore
Kt 1t 2
Gm × =1
t1 + t 2
This gives
K=
1 1 FG
+
1 IJ
H
Gm t 1 t 2 K
9.8 (a) It can be determined from the Bode plot that wg = 1 rad/sec and
FM = 59.2º
2z
(b) FM = tan–1
4z + 1 - 2z 2
4
FM = 59.2º ® z = 0.6
wg = wn 4z 4 + 1 - 2z 2
This gives wn = 1.4
Therefore,
M p = e - pz / 1-z 2
= 9.48%
SOLUTION MANUAL 91
4
ts = = 4.76 sec.
zw n
9.9 The low-frequency asymptote has a slope of – 20 dB/decade and intersects
the 0 dB-axis at w = 8; 8/s is a factor of the transfer function. The forward-
path transfer function can easily be identified as
1
s 1+ sFH
1
8 1+ IK FH IK
G(s) = 2 4
FH
1
s 1+ s 1+
1
s 1+
1IK FH
s IK FH IK
8 24 36
The phase curve can now be constructed.
From the phase curve and the asymptotic magnitude curve, we obtain
FM = 50º ; GM = 24 dB
Phase margin of 50º gives z = 0.48 which corresponds to Mp » 18%.
9.10 (a) From the Bode plot, we get FM = 12º
(b) For a phase margin of 50º, we require that G(jw) H(jw) = 1 Ð – 130º
for some value of w. From the phase curve of G(jw)H(jw), we find that
Ð G(jw)H(jw) ~ - –130º at w = 0.5. The magnitude of G(jw)H(jw) at
this frequency is approximately 3.5. The gain must be reduced by a
factor of 3.5 to achieve a phase margin of 50º.
(c) FM of 50º gives z = 0.48 which corresponds to Mp ~
- 18%.
K ( jw + 2 )
9.11 G(jw) =
( jw ) 2
w
Ð G(jw) = tan–1 – 180º = – 130º
2
This equation gives w = 2.3835
The magnitude of G(jw) must be unity at w = 2.3835.
K ( jw + 2 )
=1
( jw ) 2 w =2 . 3835
This equation gives K = 1.826.

Since the phase curve never reaches – 180º line, the gain margin = ¥ .
9.12 (a) From the open-loop frequency response table, we find that wf = 10
1
rad/sec and GM = 20 log = 3.88 dB; wg = 8 rad/sec and FM = 10º.
0.64
(b) For the desired gain margin of 20 dB, we must decrease the gain by
(20 – 3.88) = 16.12 dB. It means that magnitude curve must be lowered
by 16.12 dB, i.e., the gain must be changed by a factor of b, given by
20 log b = – 16.12. This gives b = 0.156.
(c) To obtain a phase margin of 60º, we must first determine the frequency
at which the phase angle of G(jw) is – 120º, and then adjust the gain so
that |G(jw)| at this frequency is 0 dB. From the Bode plot, we find that
lowering the magnitude plot by 16.65 dB gives the desired phase
margin. It equivalently means that the gain should be changed by a
factor of a where 20 log a = – 16.65. This gives a = 0.147.
9.13 A 9.48% overshoot implies z = 0.6. For this damping, required phase
margin is 59.2º.
100 K
G(s) =
s ( s + 36 )( s + 100 )
K / 36
=
sF
H 36 s + 1IK FH 100 s + 1IK
1 1
Make a Bode plot for say K = 3.6.

From the plot we find that at w = 14.8 rad/sec, Ð G(jw) = – 120.8º. At
w = 14.8, the gain is – 44.18 dB. The magnitude curve has to be raised to 0
dB at w = 14.8 to yield the required phase margin. The gain should be
changed by a factor of a where 20 log a = 44.18. This gives a = 161.808.
Therefore,
K = 3.6 × 161.808 = 582.51
wg = 14.8 = wn 4z 4 + 1 - 2z 2
This gives
wn = 20.68
p
tp = = 0.19 sec
wn 1-z2
9.14 (a) From the Bode plot, it can easily be determined that GM = 5 dB and
FM = 30º. The gain crossover frequency wg = 0.83 rad/sec.
(b) The magnitude plot should be lowered by 5 dB to obtain a gain margin
of 10 dB. This is achieved by reducing the gain by 5 dB.
(c) The gain at w = 1.27 is –4.8 dB. Therefore, the gain should be
increased by 4.8 dB to obtain a gain crossover frequency of 1.27
rad/sec.
(d) Gain at the frequency which gives Ð G(jw) = – 135º, should be 0 dB.
SOLUTION MANUAL 93
From the Bode plot we find that this requires reducing the gain by 3.5
dB.
9.15 The requirements on FM and wg are satisfied if we increase the gain to the
limit of zero GM with a phase margin ³ 45º. From the Bode plot we find
that K = 37.67 meets this requirement.
9.16 (a) From the Bode plot we find that 0 dB crossing occurs at a frequency of
0.47 rad/sec with a phase angle of – 145º. Therefore, the phase margin
is 35º. Assuming a second-order approximation, FM = 35º ® z =
0.33, Mp = 33%.
(b) The zero dB crossing occurs with a phase angle of – 118º. Therefore
the phase margin is 62º. FM = 62º ® z = 0.64, MP = 7.3%.
9.17 The 0 dB crossing occurs at w = 0.8, with a phase angle of – 140º when tD
= 0, and – 183º when tD = 1. Therefore phase margin of the system without
dead-time is 40º; and with dead-time added, the phase margin becomes
– 3º. We find that with the dead-time added, the system becomes unstable.
Therefore, the system gain must be reduced in order to provide a reasonable
phase margin.
We find from the Bode plot that in order to provide a phase margin of
30º, the gain would have to be decreased by 5 dB, i.e., by a factor of b
where 20 log b = 5. This gives b = 1.78.
We find that the dead-time necessitates the reduction in loop gain is order
to obtain a stable response. The cost of stability is the resulting increase in
the steady-state error of the system as the loop gain is reduced.
9.18 Make a polar plot of
50 / 18
G(jw) =
jw (1 + jw / 3)(1 + jw / 6 )
25
G( jw ) w =0 = - - j¥ ; G( jw ) w =¥ = 0 Ð – 270º
18
The polar plot intersects the negative real axis at w = 4.24.
The polar plot is tangential to the M = 1.8 circle (refer Eqn. (9.22)).
Therefore, the resonance peak Mr = 1.8.
The bandwidth of a system is defined as the frequency at which the
magnitude of the closed-loop frequency response is 0.707 of its magnitude
at w = 0. For the system under consideration, closed-loop gain is unity at w
= 0; therefore, bandwidth is given by the frequency at which the M = 0.707
circle intersects the polar plot. This frequency is found to be 3.61 rad/sec.
Therefore wb = 3.61
1
z 4 – z2 + = 0 ; Mp = e - pz / 1-z 2
´ 100
4 Mr2
wb = wn (1 - 2z 2 ) + 4z 4 - 2z 2 + 2
ts = 4/zwn
The Mr – z relation gives z = 0.29, 0.96 for Mr = 1.8. We select z = 0.29
because damping ratio larger than 0.707 yields no peak above zero
frequency. z = 0.29 corresponds to Mp = 38.6%.
For z = 0.29 and wb = 3.61, we get wn = 2.4721. The setting time ts =
5.58 sec.
9.19 The polar plot is tangential to M = 1.4 circle (refer Eqn. (9.22)) at a
frequency w = 4 rad/sec. Therefore Mr = 1.4 and wr = 4.
1
z4 – z2 + =0
4 M r2
wr = wn 1 - 2z 2
Mr = 1.4 ® z = 0.39.
The corresponding Mp = 26.43%.
wr = 4 and z = 0.39 ® wn = 4.8. The settling time ts = 2.14 sec.
The Mr – z relationship has been derived for standard second-order
systems with zero-frequency closed-loop gain equal to unity. The answer is
based on the assumption that zero-frequency closed-loop gain for the
system under consideration is unity.
9.20 From the Bode plot, we find that
wg = 8.3 rad/sec ; wf = 14.14 rad/sec;
GM = 8.2 dB ; FM = 27.7º
For each value of w, the magnitude and phase of G(jw) are transferred from
the Bode plot to the Nichols chart. The resulting dB vs phase curve is
tangential to M = 6.7 dB contour of the Nichols chart at w = 9 rad/sec.
Therefore Mr = 6.7 dB and wr = 9. The dB vs phase curve intersects the
– 3 dB contour of the Nichols chart at w = 13.6. Therefore bandwidth wb
= 13.6 rad/sec.
The following points are worth noting in the use of Nichols chart.
(i) The frequency parameters (wr or wb) can be easily determined by
transferring the dB and/or phase data from the dB vs phase curve to the
Bode plot.
SOLUTION MANUAL 95
(ii) The open-loop dB vs phase plot may not be tangential to one of the
constant-M contours of the Nichols chart. One must do a little
interpolation. In the present problem, Mr = 6.7 dB has been obtained
by interpolation.
9.21 Plot the given frequency response on a dB scale against phase angle. From
the dB vs phase curve, we obtain,
GM = 7 dB ; FM = 17º
The dB vs phase curve when transferred on Nichols chart gives Mr = 10 dB;
wr = 2.75 rad/sec; wb = 4.2 rad/sec
Note that the –3dB bandwidth definition is applicable to systems having
unity closed-loop gain at w = 0. We have made this assumption for the
system under consideration.
9.22 For parts (a) and (b) of this problem, refer Problem 9.10.
(c) Since the data for –3dB contour of the Nichols chart has been
provided, we don’t require the Nichols chart for bandwidth
determination. On a linear scale graph sheet, dB vs phase cure of the
open-loop frequency response is plotted with data coming from Bode
plot. On the same graph sheet, the – 3dB contour using the given data
is plotted.
The intersection of the two curves occurs at w = 0.911 rad/sec.
Therefore bandwidth wb = 0.911.
2z
(d) FM = tan–1
4z 4 + 1 - 2z 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4
FM = 50º ® z = 0.48 ; Mp » 18%

wb = 0.911 and z = 0.47 ® wn = 0.7025 ; ts = 11.93 sec.
9.23 The frequency-response data from the Bode plot of G(jw) when transferred
to the Nichols chart, gives the following result.
Mr = 1.4 ; wr = 6.9 rad/sec
From the relations
1
Mr = ; wr = wn 1 - 2z 2
2z 1 - z 2
we obtain
z = 39 ; wn = 8.27 rad/sec
Note that the given type-0 system has zero-frequency closed-loop gain
= 54/(25 + 54) = 0.6835. The approximation of the transient response of
the system by z = 0.39 and wn = 8.27 has large error since the correlations
(Mr, wr) ® (z, wn) used above, have been derived from systems with unity
zero-frequency closed-loop gain.
9.24 (a) Transfer the frequency-response data from the Bode plot of G(jw) to
the Nichols chart.
Shifting the dB vs phase curve down by 5.4 dB makes this curve
tangent to the M = 20 log 1.4contour. Therefore gain must be changed
by a factor of b, where 20 log b = – 5.4. This gives b = 0.54.
(b) The gain-compensated system intersects the – 3 dB contour of the
Nichols chart at w = 9.2. Therefore bandwidth wb = 9.2 rad/sec.
Note that the – 3dB bandwidth definition given by Eqn. (9.2b) is applicable
to systems having unity closed-loop gain at w = 0. The given system does
not satisfy this requirement. The answer, therefore, is an approximation of
the bandwidth.
9.25 (a) From the Bode plot we find the phase crossover frequency wf = 2.1
and GM = 14 dB. For the gain margin to be 20 dB, the magnitude plot
is to be brought down by 6 dB. The value of K corresponding to this
condition is given by the relation
20 log K = – 6
which gives K = 0.5
(b) From the Bode plot it is observed that FM = 60º will be obtained if
gain crossover frequency wg is 0.4 rad/sec. This is achieved if
magnitude plot is brought down by 7 dB. This condition corresponds
to K = 0.446.
(c) From the dB-phase plot on the Nichols chart, we find that for this plot
to be tangent to M = 1 dB contour, the dB-phase curve must be brought
down by 4 dB. This condition corresponds to K = 0.63. The
corresponding value of wr (read off from Bode plot) is 0.5 rad/sec.
The value of bandwidth (wb) is the frequency at which the dB-phase
plot intersects the – 3dB contour. It is found that wb = 1 rad/sec.
(d) The dB vs phase plot on the Nichols chart when raised by 2.4 dB,
intersects the –3 dB contour at w = 1.5 rad/sec. This condition
corresponds to K = 1.35.
9.26 Plot the given frequency response on a dB scale against phase angle. From
this dB vs phase curve, we obtain
GM = 16.5 dB ; FM = 59º
SOLUTION MANUAL 97
Transfer the dB vs phase curve on the Nichols chart. We find that this curve
when raised by about 5 dB, touches the M = 20 log1.4 contour of the
Nichols chart. Therefore the gain should be increased by a factor of b,
where 20 log b = 5. This gives b = 1.75.
The gain-compensated system has GM = 11.6 dB and FM = 42.5º.
9.27 The dB vs phase plot becomes tangential to 20 log1.4 dB contour on
Nichols chart if the plot is lowered by about 11 dB. This means that the
gain K must be reduced by a factor of a where 20 log (1/a) = –11. This
gives a = 3.5.
Phase margin of the gain-compensated system is 42.5º
Mr = 1.4 ® z = 0.387 ; FM = 42.5º ® z = 0.394
The following comments may be carefully noted.
(i) Zero-frequency closed-loop gain has been assumed to be unity.
(ii) One is usually safe if the lower of the two values of z is utilized for
analysis and design purposes.
1 G - ( jw )
1
9.28 SGM (jw) = =
1 + G( jw ) 1 + G -1 ( jw )
Magnitude of SGM (jw) can be obtained by plotting G–1(jw) on the Nichols

chart.
The dB vs phase plot of G–1(jw) is tangent to M = 20 log 2.18 dB contour of
Nichols chart. Therefore
| SGM (jw)|max = 2.18

The peak occurs at w = 7 rad/sec.
CHAPTER 10 COMPENSATOR DESIGN USING

BODE PLOTS
10.1 (a) From the Bode plot of G(jw)H(jw), we find that GM = 6 dB and
FM = 17º
(b) Now the gain and phase of the compensator with Kc = 1 are added to
the Bode plot. From the new Bode plot we find that the gain must be
raised by 1.5 dB to have a gain margin of 6 dB.
20 log Kc = 1.5 gives Kc = 1.2
10.2 (a) From the Bode plot of G(jw)H(jw) we find that wg = 4.08 rad/sec; FM
= 3.9º; GM = 1.6 dB
(b) Now the gain and phase of the compensator are added to the Bode plot.
From the new Bode plot, we find that
wg = 5 rad/sec; FM = 37.6º; GM = 18 dB
The increase in phase and gain margins implies that lead compensation
increases margin of stability. The increase in wg implies that lead
compensation increases speed of response.
10.3 (a) Kv = lim sD(s)G(s) = K = 12
s® 0
(b) From the Bode plot and Nichols chart analysis of the system with
K=12, we find that FM = 15º; wb = 5.5 rad/sec; Mr = 12 dB; wr = 3.5
rad/sec
(c) The phase margin of the uncompensated system is 15º. The phase lead
required at the gain crossover frequency of the compensated magnitude
curve = 40º – 15º + 5º = 30º
1 - sin 30 º
a = = 0.334
1 + sin 30 º
The frequency at which the uncompensated system has a magnitude of
– 20 log (1/ a ) = – 4.8 dB is 4.6 rad/sec. Selecting this frequency as
gain crossover frequency of the compensated magnitude curve, we set
1
= 4.6
at
The transfer function of the lead compensator becomes
12 ( 0 .376 s + 1)
D(s) =
0 .128 s + 1
(d) FM = 42º; wb = 9 rad/sec; Mr = 3 dB;
wr = 4.6 rad/sec
SOLUTION MANUAL 99
10 ( 0.5s + 1)
10.4 Lead compensator D(s) = meets the phase margin and steady-
0.1s + 1
state accuracy requirements. These requirements are also met by the lag
10 (10 s + 1)
compensator D(s) =
100s + 1
In this particularly simple example, specifications could be met by either
compensation. In more realistic situations, there are additional performance
specifications such as bandwidth and there are constraints on loop gain.
Had there been additional specifications and constraints, it would have
influenced the choice of compensator (lead or lag).
105. The settling time and peak overshoot requirements on performance may be
translated to the following equivalent specifications:
z = 0.45 ; wn = 2.22
z is related to the phase margin by the relation
z
FM » = 45º
0.01
wn is related to the bandwidth wb by the relation
1/ 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4
For a closed-loop system with z = 0.45, we estimate from this relation

wb = 1.33 wn
Therefore, we require a closed-loop bandwidth wb ~
- 3. The gain K of the
compensator
K (t s + 1)
D(s) =
at s + 1
may be set a value given by K = w 2n . This gives K ~- 5. To provide a

suitable margin for settling time, we select K = 10.
The phase margin of the uncompensated system is 0º because the
double integration results in a constant 180º phase lag. Therefore, we must
add a 45º phase lead at the gain crossover frequency of the compensated
magnitude curve. Evaluating the value of a, we have
1 - sin 45º
a = = 0.172
1 + sin 45º
To provide a margin of safety, we select a = 1/6.

– 20 log (1/ a ) = – 7.78 dB is 4.95 rad/sec. Selecting this frequency as
the gain crossover frequency of the compensated magnitude curve, we set
1
= 4.95
at
The closed-loop system with the compensator
10 ( 0 .083s + 1)
D(s) =
0.5 s + 1
satisfies the performance specifications.
A A
10.6 Kv = = = 20
ess 0.05 A
K = 20 realizes this value of Kv.
From the Bode plot of
20
G(jw) =
jw ( j 0.5w + 1)
we find that the phase margin of the uncompensated system is 18º. The
phase lead required at the gain crossover frequency of the compensated
magnitude curve = 45º – 18º + 3º = 30º.
1 - sin 30 º
a = = 0.334
1 + sin 30 º
– 20 log (1/ a ) = – 4.8 dB is 8.4 rad/sec. Selecting this frequency as the
gain crossover frequency of the compensated magnitude curve, we set
1
= 8.4
at
Therefore the compensator
0.2 s + 1
D(s) =
0.0668s + 1
The phase margin of the compensated system is found to be 43.7º. If we
desire to have exactly a 45º phase margin, we should repeat the steps with a
decreased value of a.
From the Nichols chart analysis of the compensated and uncompensated
systems, we find that the lead compensator has increased the bandwidth
from 9.5 rad/sec to 12 rad/sec.
SOLUTION MANUAL 101
10.7 From the Bode plot of
20
G(jw) =
jw ( j 0.5w + 1)
we find that the phase margin of the uncompensated system is 18º. To
realize a phase margin of 45º, the gain crossover frequency should be
moved to w g¢ where the phase angle of the uncompensated system is:
– 180º + 45º + 5º = – 130º.
From the Bode plot of uncompensated system, we find that w g¢ = 1.5. The
attenuation necessary to cause w g¢ to be the new gain crossover frequency
is 20 dB. The b parameter of the lag compensator can now be calculated.
20 log b = 20
This gives b = 10. Placing the upper corner frequency of the compensator a
decade below w g¢ , we have 1/t = 0.15.
Therefore, the lag compensator

6.66 s + 1
D(s) =
66.6 s + 1
As a final check, we numerically evaluate the phase margin and the
bandwidth of the compensated system. It is found that that FM = 45º and
wb = 2.5 rad/sec.
10.8 From the steady-state requirement, we set K = 100. From the Bode plot of
100
G(jw) =
jw ( j 0.1w )( j 0.2w + 1)
we find that the phase margin is – 40º, which means that the system is
unstable. The rapid decrease of phase of G(jw) at the gain crossover
frequency wg = 17 rad/sec, implies that single-stage lead compensation may
be ineffective for this system. (The reader should, in fact, try a single-stage
lead compensator). For the present system, in which the desired Kv is 100,
a phase lead of more than 85º is required. For phase leads greater than 60º,
it is advisable to use two or more cascaded stages of lead compensation
(refer Fig. 10.15). The design approach may be that of achieving a portion
of the desired phase margin improvement by each compensator stage.
We first add a single-stage lead compensator that will provide a phase
lead of about 42.5º, i.e., the compensator will improve the phase margin to
about 2.5º.
Since the phase curve of the Bode plot of the uncompensated system at the
gain crossover frequency has a large negative slope, the value of a = 0.19
given by
1 - sin 42.5º
a =
1 + sin 42.5º
will not yield a phase margin of 2.5º. In fact, when we set a = 0.08 and
t = 0.1, the single-stage compensator improves the phase margin to 3º.
0.1s + 1
Therefore D1(s) =
0.008s + 1
Notice that the single-stage lead compensator not only improves the phase
margin, but also reduces the slope of the phase curve of the gain crossover
frequency. By adding another stage of the compensator with D2(s) = D1(s),
we obtain
100( 0.1s + 1)
D2(s)D1(s)G(s) =
s( 0.2 s + 1)( 0.008s + 1) 2
Note that pole and zero at s = – 10 cancel each other.
The final compensated system has a phase margin of 45º.
2500 K
10.9 G(s) =
s ( s + 25)
K = 1 satisfies the steady-state performance requirement. The phase margin
of the uncompensated system, read at the gain crossover frequency wg = 47
rad/sec, is 28º.
The phase lead required at the gain crossover frequency of the
compensated magnitude curve = 45º – 28º + 8º = 25º
1 - sin 25º
a = = 0.405
1 + sin 25º
– 20 log (1/ a ) = – 3.93 dB is 60 rad/sec. Selecting this frequency as gain
crossover frequency of the compensated magnitude curve, we set
1
= 60
at
The transfer function of the lead compensator is
0.026 s + 1
D(s) =
0.01s + 1
SOLUTION MANUAL 103
The phase margin of the compensated system is found to be 47.5º. By

Nichols chart analysis, it is found that the lead compensator reduces the
resonance peak from 2 to 1.25 and increases the bandwidth from 74 to 98
rad/sec.
10.10 The phase margin of the uncompensated system
2500 K
G(s) = ;K=1
s ( s + 25)
read at the gain crossover frequency wg = 47 rad/sec is 28º. To realize a
phase margin of 45º, the gain crossover frequency should be moved to w ¢g
where the phase angle of the uncompensated system is:
– 180º + 45º = – 135º.
From the Bode plot of the uncompensated system we find that w g¢ = 25.
Since the lag compensator contributes a small negative phase when the
upper corner frequency of the compensator is placed at 1/10 of the value of
w g¢ , it is a safe measure to choose w g¢ at somewhat less than 25 rad/sec,
say, 20 rad/sec.
The attenuation necessary to cause w ¢g = 20 to be the new gain crossover
frequency is 14 dB.
The b parameter of the lag compensator can now be calculated.
20 log b = 14. This gives b = 5
Placing the upper corner frequency of the compensator a decade below w g¢ ,
we have 1/t = 2. Therefore the lag compensator
0.5s + 1
D(s) =
2.5s + 1
From the Bode plot–Nichols chart analysis we find that the compensated
system has
FM = 51º; Mr = 1.2 and wb = 27.5 rad/sec.
10.11 Kv = lim sG(s) = 5
s®0
From the Bode plot we find that the uncompensated system has a phase
margin of – 20º; the system is therefore unstable.
We attempt a lag compensator. This choice is based on the observation
made from Bode plot of uncompensated system that there is a rapid
decrease in phase of G(jw) near wg. Lead compensator will not be effective
for this system.
To realize a phase margin of 40º, the gain crossover frequency should be

– 180º + 40º + 12º = – 128º

From the Bode plot of the uncompensated system, it is found that w g¢ = 0.5
rad/sec. The attenuation necessary to cause w g¢ to be the new gain crossover
frequency is 20 dB. The b parameter of the lag compensator can now be
calculated.
20 log b = 20. This gives b = 10
Since we have taken a large safety margin of 12°, we can place the upper
corner frequency of the compensator at 0.1 rad/sec, i.e., 1/t = 0.1. Thus the
transfer function of the lag compensator becomes
10 s + 1
D(s) =
100 s + 1
From the Bode plot of compensated system we find that the phase margin is
about 40° and the gain margin is about 11 dB.
10.12 It easily follows that K = 30 satisfies the specification on Kv. From the
Bode plot of
30
G(jw) =
jw ( j 0.1w + 1)( j 0.2w + 1)
we find that gain crossover frequency is 11 rad/sec and phase margin is
– 24º. Nichols chart analysis gives wb = 14 rad/sec.
If lead compensation is employed, the system bandwidth will increase still
further, resulting in an undesirable system which will be sensitive to noise.
If lag compensation is attempted, the bandwidth will decrease sufficiently
so as to fall short of the specified value of 12 rad/sec, resulting in a sluggish
system. These facts can be verified by designing lead and lag compensa-
tors. We thus find that there is need to go in for lag-lead compensation.
Since the full lag compensator will reduce the system bandwidth
excessively, the lag section of the lag-lead compensator must be designed
so as to provide partial compensation only. The lag section, therefore,
should move the gain crossover frequency to a value higher than the gain
crossover frequency of the fully lag-compensated system. We make a
choice of new gain crossover frequency as w g¢ = 3.5 rad/sec. The
attenuation necessary to cause w g¢ to be the new gain crossover frequency
is 18.5 dB. This gives the b parameter of the lag section as
20 log b = 18.5; b = 8.32, say, 10
SOLUTION MANUAL 105
Placing the upper corner frequency of the lag section at 1/t1 = 1, we get the
transfer function of the lag section as
t 1s + 1 s +1
D1(s) = =
bt 1s + 1 10 s + 1
It is found that the lag-section compensated system has a phase margin of
24º.
We now proceed to design the lead section. The implementation of the lag-
lead compensator is simpler if a and b parameters of the lead and lag
compensators, respectively, are related as a = 1/b. Let us first make this
choice. If our attempt fails, we will relax this constraint on a.
The frequency at which the lag-section compensated system has a
magnitude of – 20 log (1/ a ) = – 10 dB is 7.5 rad/sec. Selecting this
frequency as gain crossover frequency of the lag-lead compensated
magnitude curve, we set
1
= 7.5
at2
The transfer function of the lead-section becomes

t 2s + 1 0 .422 s + 1
D2(s) = =
at 2 s + 1 0.0422 s + 1
The analysis of the lag-lead compensated system gives FM = 48º and

wb = 13 rad/sec.
(ln M p ) 2
10.13 z 2 =
(ln M p ) 2 + p 2
M p = 0.2 ® z = 0.456
p
tp =
wn 1-z2
tp = 0.1 ® wn = 35.3
wb = wn [1 - 2z 2 + 2 - 4z 2 + 4z 4 ]1/ 2
= 46.576
2z
FM = tan–1
4z + 1 - 2z 2
4
~
- 48º
In order to meet the specification of Kv = 40, K must be set at 1440. From

the Bode plot of
144000
G(jw) =
jw ( jw + 36)( jw + 100)
we find that the gain crossover frequency is 29.7 rad/sec and phase margin
is 34º.
The phase lead required at the gain crossover frequency of the compensated
magnitude curve = 48º – 34º + 10º = 24º
1 - sin 24 º
a = = 0.42
1 + sin 24 º
– 20 log (1 / a ) = – 3.77 dB is 39 rad/sec. Selecting this frequency as gain
crossover frequency of the compensated magnitude curve, we set
1
= 39
at
The transfer function of the lead compensator becomes
1440(0.04 s + 1)
D(s) =
0.0168s + 1
It can easily be verified by Nichols chart analysis that the bandwidth of the
compensated system exceeds the requirement. We assume the peak time
specification is met. This conclusion about the peak time is based on a
second-order approximation that should be checked via simulation.
10.14 K = 2000 meets the requirement on Kv. We estimate a phase margin of 65º
to meet the requirement on z.
(a) From the Bode plot we find that the uncompensated system with K =
2000 has a phase margin of zero degrees. From the Bode plot we
observe that there is a rapid decrease of phase at the gain crossover
frequency. Since the requirement on phase lead is quite large, it is not
advisable to compensate this system by a single-stage lead
compensator (refer Fig. 10.15).
(b) Allowing 10º for the lag compensator, we locate the frequency at
which the phase angle of the uncompensated system is:
– 180º + 65º + 10º = – 105º. This frequency is equal to 1.5 rad/sec. The
gain crossover frequency w g¢ should be moved to this value. The
necessary attenuation is 23 dB. The b parameter of the lag com-
pensator can now be calculated.
20 log b = 23. This gives b = 14.2
SOLUTION MANUAL 107
Placing the upper corner frequency of the compensator one decade

below w g¢ , we have 1/t = 0.15. Therefore the lag compensator
6.66 s + 1
D(s) =
94.66 s + 1
The phase margin of the compensated system is found to be 67º.
(c) The bandwidth of the compensated system is found to be wb = 2.08
rad/sec.
10.15 Approximate relation between fm and z is z » 0.01fm
z= 0.4 ® fm = 40º
Let us try lag compensation.
The realize a phase margin of 40º, the gain crossover frequency should be
– 180º + 40º + 10º = – 130º. From the Bode plot of the uncompensated
system we find that, w g¢ = 6. The attenuation necessary to cause w g¢ to be
the new gain crossover frequency is 9 dB.
20 log b = 9. This gives b ~
- 3
Placing the upper corner frequency of the lag compensator two octaves
below w g¢ , we have 1/t = 1.5.
The lag compensator
0.67s + 1
D(s) =
2s + 1
Nichols chart analysis of the compensated system gives wb = 11 rad/sec.
Using second-order approximation
1/ 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4
we get wn = 10
Therefore ts = 4/zwn = 1 sec
Note that the zero-frequency closed-loop gain of the system is nonunity.
Therefore, the use of – 3 dB bandwidth definition, and the second-order
system correlation between wb and z & wn may result in considerable error.
Final design must be checked by simulation.
10.16(a) From the Bode plot of uncompensated system we find that FM = 0.63º
(b) Phase margin of the system with the second-order compensator is

9.47º. There is no effect of the compensator on steady-state
performance of the system.
(c) The lead compensator
1 + 0.0378s
D(s) =
1 + 0.0012 s
meets the requirements on relative stability.
10.17 Kv = 4.8
CHAPTER 11 HARDWARE AND SOFTWARE

IMPLEMENTATION OF COMMON
COMPENSATORS
E( s) RD TD s
11.1 (a) = – =– ; a = R/RD ; TD = RD CD
Y ( s) R + 1 / CD s aTD s + 1
E( s) R K (T s + 1)
(b) =– =– c D
Y ( s) R1 + R2 / (1 + sR2 C) aTD s + 1
R R1
Kc = ;a= ; TD = R2C
R1 + R2 R1 + R2
11.2 Z1(s) = R2 + R1/(1 + R1Cs); Z2(s) = R1 + R2
E2 ( s ) Z ( s)
= – 2 [ -1]
E1 (s) Z1 ( s)
t s +1 R2
=
at s + 1 ; t = R1C, a = R + R < 1
1 2
Refer Section 11.2 (Fig. 11.4) for the Bode plot and filtering properties of
the lead compensator.
11.3 Z1(s) = R1 + R2 ; Z2(s) = R2 + R1/(1 + R1Cs)
E2 ( s) Z (s ) t s +1 R1 R2 R + R2
=– 2 =– ;t= C, b = 1 >1
E1 (s) Z1 (s) bt s + 1 R1 + R2 R2
Add an inverting amplifier of gain unity. Refer Section 11.2 (Fig. 11.7) for
the Bode plot and filtering properties of the lag compensator.
11.4 Z1(s) = (R1C1s + 1)R3/[(R1 + R3)C1s + 1]
Z2(s) = (R2C2s + 1)R4/[(R2 + R4)C2s + 1]
FG
Kc s +
1 IJ FG s + 1 IJ
E2 ( s) LM OP
Z2 (s ) R6 H t1 KH t K 2
E1 (s) = – Z ( s) - R =
1 N Q FG s + 1
5 IJ FG s + 1 IJ
H at 1 K H bt K 2
R1 R + R4
t1 = (R1 + R3)C1 ; t2 = R2C2 ; a = ;b= 2 ;
R1 + R3 R2
Kc =
R2 R4 R6 R1 + R3 FG IJ
R1 R3 R5 R2 + R4 H K
11.5 Z1(s) = R1/(1 + R1Cs); Z2(s) = R2 + 1/C2s
E2 ( s) Z (s ) R4
=– 2 -
LM OP
= Kc 1 +
1
+ TD s
LM OP
E1 (s) Z1 ( s) R3 N Q T1s N Q
R4 ( R1C1 + R2 C2 )
Kc = = 39.42; TI = R1C1 + R2C2 = 3.077
R3 R1C2
R1 R2 C1C2
TD = = 0.7692
R1C1 + R2 C2
These equations give
R1 = R2 = 153.85 kW; R4 = 197.1 kW
11.6 Z1(s) = R1/(1 + R1C1s); Z2(s) = R2/(1 + R2C2s)
E2 ( s ) Z ( s) R4
= - 2 -
LM OP
E1 (s) Z1 (s) R3 N Q
=
FG
R4 R2 R1C1s + 1
= 2.51
IJ F
0.345s + 1 I
H
R3 R1 R2 C2 s + 1 K H
0.185s + 1 K
This equation gives
R1 = 34.5 kW; R2 = 18.5 kW; R4 = 45.8 kW
11.7 By Trapezoidal rule for integration:
kT
z e(t )dt = T LM e(0) + e(T ) + e(T ) + e(2T ) +...+ e(k - 1)T + e(kT ) OP
0
N 2 2 2 Q
LM e(i - 1)T + e(iT ) OP
k
=T
MNå
i =1
T PQ
By backward-difference approximation for derivatives:
de(t ) e( kT ) - e(( k - 1)T )

=
dt t = kT T
A difference equation model of the PID controller is, therefore, given by
SOLUTION MANUAL 111
RS
u(k) = Kc e( k ) +
T k
å
e(i - 1) + e(i ) TD
+
UV
[e( k ) - e( k - 1)]
T TI i =1 2 T W
11.8 Taking sampling frequency twenty times the closed-loop natural frequency
(which is a measure of bandwidth), we have
2p
ws = 20wn = ; this gives T = 0.5 sec
T
Settling time ts = 4/zwn = 13
1
th of ts is 1.3 sec; T = 0.5 sec is therefore a safe choice.
10
U ( s) 2.2( s + 0.1)
=
E( s) s + 0.01
u& (t) + 0.01 u(t) = 2.2 e& (t) + 0.22 e(t)

1 2.2
[u(k) – u(k – 1)] + 0.01 u(k) = [e(k) – e(k – 1)] + 0.22 e(k)
T T
This gives
2 4.62 4.4
u(k) = u(k – 1) + e(k) – e(k – 1)
2.01 2.01 2.01
Configuration of the digital control scheme is shown in Fig. 11.19.
11.9 (a) u& (t) + au(t) = K e& (t) + Kb e(t)
By backward-difference approximation:
u( k ) - u( k - 1) K
+ au( k ) = [e(k) – e(k – 1)] + Kbe(k)
T T
By backward-rectangular rule for integration:
t t
z
u(t) = u(0) – a u(t )dt + Ke(t ) - Ke(0) + Kb e(t )dt
0
z
0
u(k) = u(k – 1) – aT u(k) + K e(k) – K e(k – 1) + Kb T e(k)

By both the approaches of discretization, we get the following
computer algorithm.
1 K (1 + bT ) K
u(k) = u( k - 1) + e( k ) - e(k - 1)
1 + aT 1 + aT 1 + aT
(b) u(k) = u(k – 1) – aT

LM u(k) + u(k - 1) OP + Ke(k) – Ke(k – 1)
N 2 Q
+ KbT
LM e(k) + e(k - 1) OP
N 2 Q
K F1 +
bT I
K F1 -
aT bT I
1- H K H
2 2 2 K
= u(k – 1) + e(k) – e(k – 1)
aT aT aT
1+ 1+ 1+
2 2 2
11.10 For a choice of T = 0.015 sec, sampling frequency ws = 2p /T = 418.88

rad/sec which is about 11 times the closed-loop bandwidth. This is a safe
choice.
s2 112
. s
2 + +1
U ( s) (36) 36
=
E ( s) F s
+1
2
I
H740 K
1.826 × 10–6 u&&(t) + 2.7 × 10–3 u& (t) + u(t)
= 7.7 × 10–4 &&
e (t) + 0.03 e& (t) + e(t)
Using the results of Eqns (11.36) – (11.37), we get
1.826 × 10–6
LM u(k) - 2u(k - 1) + u(k - 2) OP
N T 2
Q
+ 2.7 × 10 M –3 L u(k) - u(k - 1) OP + u(k)
N T Q
7.7 × 10 L –4 e ( k ) - 2e ( k - 1) + e( k - 2) O
=
MN T 2 PQ
+ 0.03 LM
e( k ) - e( k - 1) O
N T PQ + e(k)
This gives
1.1881 u(k) – 0.1962 u(k – 1) + 0.0081 u(k – 2)
= 6.42 e(k) – 8.84 e(k – 1) + 3.42 e(k – 2)
By direct digital design, we will be able to achieve the desired closed-loop
performance using longer value of sampling interval.
SOLUTION MANUAL 113
B(s) Kt s
11.11 =
Y ( s) t s + 1
t b& (t) + b(t) = Kt y& (t)

t
b(t) = b(0) –
1
t z
0
K
b(q )dq + t [ y(t ) - y(0)]
t
b(k) = b(k – 1) –
LM
T b( k ) + b( k - 1) KOP
+ t [ y( k ) - y( k - 1)]
t N 2 tQ
1 - T / 2t Kt / t Kt / t
= b(k – 1) + y( k ) - y( k - 1)
1 + T / 2t 1 + T / 2t 1 + T / 2t
11.12 The set-point control, proportional action and derivative action are all
included in the op amp circuit of Fig. 11.43. Only the integral action is to
be added. Connect the integral-action unit of Fig. 11.41 in cascade with
the proportional action unit of Fig. 11.43; the output e4 of the proportional-
action unit of Fig. 11.43 becomes input to the integral-action unit (output
e3).
The resulting op amp circuit is governed by the following relation (refer
Examples 11.6 and 11.7);
E3(s) = Kc (1 + TDs) 1 +
FG 1 IJ [Y(s) – R(s)]
H TI s K
R2
Kc = ; TD = RDCD ; TI = RI CI
R2¢
11.13 E2(s) = Y(s) – R(s) ; E3(s) = – TD sY(s) ; TD = RDCD
R2
E4(s) = Kc [E3(s) – E2(s)] ; Kc =
R2¢
= Kc [R(s) – (1 + TDs) Y(s)]
11.14 Kcu = 1.2, Tu = 4.5 min
From the tuning rules given in Table 11.1:
1
Kc = 0.45Kcu = 0.54 or × 100 = 185% PB
0.54
1
TI = Tu/1.2 = 3.75 min or = 0.266 repeats/min
3.75
(b) Kc: 110% PB ; TI: 0.355 repeats/min ; TD: 0.45 min

11.15 From the process reaction curve (refer Section 11.9) we obtain
tD = 6 sec, t = 12 sec, K = 1
From tuning rules given in Table 11.2;
Kc = 1.8, TI = 19.98 sec
11.16 The model obtained from process reaction curve (refer Section 11.9):
K = 1 ; t = 1.875 ; tD = 1.375
From tuning rules given in Table 11.2:
(a) Kc = 1.36
(b) Kc = 1.23 ; TI = 4.58 min
11.17 tND = 0.2 for process A, 0.5 for process B, and 0.5 for Process C. Process
A is more controllable than processes B and C, which are equally
controllable.
11.18 (a) From the tuning rules given in Table 11.2:
K c¢ = 3 ; TI¢ = 4 min ; TD¢ = 1 min
1 1
(b) tCD = tD + T = 2 min + × 8 sec = 2.067 min.
2 2
Replacing tD by tCD in the tuning formulas, we obtain
K c¢ = 2.9 ; TI¢ = 4.13 min ; TD¢ = 1.03 min
1
11.19 Replace tD in tuning formulas of Table 11.2 by tCD = tD + T. Increase
2
in sampling time demands reduced Kc and increased TI and TD.
11.20 From tuning rules given in Table 11.1:
Kc = 2.25 ; TI = 28.33 sec
Correction to account for sampling is not required since the test has
directly been conducted on the digital loop.
CHAPTER 12 CONTROL SYSTEM ANALYSIS USING

STATE VARIABLE METHODS
12.1
if ia qM qM qL
u
1 Kg + 1 KT 1 1
n
sLf + Rf – s (La + Lg ) + Ra +Rg sJe + Be s
x4 x3 x2 x1
Kb
Je = n2J = 0.4 ; Be = n2B = 0.01

x&1 = x2 ; 0.4 x& 2 + 0.01x2 = 1.2x3
0.1 x& 3 + 19x3 = 100 x4 – 1.2x2 ; 5 x& 4 + 21x4 = 4
or x& = Ax + bu
LM0 1 0 0 0 OP LM OP
- 0.025 0
A = MM00 -12
3 0
-190 1000
;b=
0
PP MM PP
MN0 0 0 - 4 .2 0.2
PQ MN PQ
y = qL = nx1 = 0.5x1
12.2
u 1 if 1 q 1 q
KA KT
sLf + Rf + 1 x3 Js + B x2 s x1
x&1 = x2 ; 0.5 x& 2 + 0.5x2 = 10x3
20 x& 3 + 100x3 = 50u ; y = x1
LM0 1 0 OP 0 LM OP
-1 20 ; b = 0 ; c = 1 0 0
A =
MM00 0 -5
PP MM PP
N Q 2.5 N Q
12.3 x1 = qM ; x2 = q& M , x3 = ia ; y = qL
x&1 = x2
2 x& 2 + x2 = 38 x3
2 x& 3 + 21x3 = ea – 0.5 x2
k
e a = k1(qR – qL) – k2 q& M = k1qR – 1 x1 – k2x2
20
LM 0 1 0
OP L 0 O
M P
A= M 0 19 P ; b = M 0 P ; c = LM OP
1
- 0.5 0 0
MM k ( k + 0.5)
P MM k PP N 20 Q
- P
21 1
MN- 40 1
- 2
2 2 PQ N2Q
12.4 x 1 = w ; x2 = ia
J w& + Bw = KT ia
dia
Raia + La = ea – Kbw
dt
e a = Kcec = Kc [k1 (er – Kt w) – k2 ia}
LM - B KT OP
A = MM -(k K KJ + K )
1 t c b
J
PP
-( Ra + k2 Kc ) ;
MN L a La PQ
LM k 0K OP
b =
MN L PQ ; c = 1 0
1
a
c
12.5 A = –1
P AP = M
L-11 6OP
N-15 8Q
b = –1 L1 O
P b = M P ; c = cP = 2 -1
N2 Q
Y (s ) P1 D1 s -2 1
= = -1 -2
= 2
U ( s) D 1 - ( -3s - 2s ) s + 3s + 2
SOLUTION MANUAL 117
1 s –1 X2 1 s –1
U X1 = Y
–3
–2
Y (s ) P D + P2 D 2 + P3 D 3 + P4 D 4
= 1 1
U ( s) D
2s -1 (1 - 8s -1 ) + 15s -2 (1) + ( -2s -1 )[1 + 11s -1 ] + 2s -1 (6s -1 )2[1]

=
1 - [ -11s -1 + 8s -1 + ( -15s -1 )(6 s -1 )] + [( -11s -1 )(8s -1 )]
1
=
s + 3s + 2
2
s –1 X1
1 2
–11 –15
U Y
6
2 –1
s –1 X2
12.6 A=
LM0 1OP ; b = LM0OP
N0 0 Q N1 Q
–1
A = P AP = M
L 1 1 OP ; b = P –1
b=
LM0OP
N–1 –1Q N1 Q
|lI – A| = |lI – A | = l2
12.7 X(s) = (sI – A)–1 x0 + (sI – A)–1 b U(s)
= G(s)x0 + H(s) U(s)
1
LMs(s + 3) s+3 1 OP L1O
1M P
G(s) =
D MM --1s s( s + 3)
-1
s ; H(s) =
s PQ
P DM P
s
MNs PQ
N 2 2
D = s3 + 3s2 + 1
12.8
0 0 0
x3 x2 x1
+ + +
x3 x2 x1
u + + + +
+
+
–3
+
–1
12.9 Taking outputs of integrators as state variables, we get (x1 being the output
of rightmost integrator),
x&1 = x 2
x& 2 = – 2x2 + x3
x& 3 = – x3 – x2 – y + u
y = 2x1 – 2x2 + x3
LM 0 1 0 OP0 LM OP
-2 1 ; b = 0 ; c = 2 -2 1
A =
MM-02 1 -2
PP MM PP
N Q
1 NQ
12.10 (a) G(s) = c (sI – A)–1 b
s+3
=
( s + 1)(s + 2)
1
(b) G(s) =
( s + 1)(s + 2)
12.11 x&1 = – 3x1 + 2x2 + [– 2x1 – 1.5x2 – 3.5x3]
x& 2 = 4x1 – 5x2
x& 3 = x2 – r
SOLUTION MANUAL 119
LM-5 0.5 -3.5 OP0 LM OP

A = -5 0 ;b= 0 ;c= 0 1 0
MM 40 PP
-1
MM PP
N 1 0 Q N Q
14
G(s) = c(sI – A)–1 b =
( s + 1)( s + 2)( s + 7)
12.12 (a) x 1 = output of lag 1/(s + 2)
x 2 = output of lag 1/(s + 1)
x&1 + 2x1 = x2 ; x& 2 + x2 = – x1 + u
y = x2 + (– x1 + u)
A =
LM-2 1 OP ; b = LM0OP ; c = -1 1 ; d = 1
N -1 -1Q N1Q
(b) x 1 = output of lag 1/(s + 2)
x 2 = output of lag 1/s
x 3 = output of lag 1/(s + 1)
x&1 + 2x1 = y ; x& 2 = – x1 + u
x& 3 + x3 = – x1 + u ; y = x2 + x3
LM-2 1 1OP 0 LM OP
A =
MM --11 0 0 ;b= 1 ;c= 0 1 1
0 -1
PP MM PP
N Q 1 NQ
Y (s ) s+3 2 –1
12.13 (i) = = +
U ( s) ( s + 1)(s + 2) s+1 s+ 2
A =
LM-1 0 OP ; b = LM1OP ; c = 2 -1
N 0 -2Q N1Q
u + x1
2
+
+ y
–1
+
+ x2
–1
+
–2
Y (s ) b3 5
(ii) = 3 = 3
U ( s ) s + a 1s + a 2 s + a 3
2
s + 4 s + 5s + 2
2
From Eqns (12.46), the second companion form of the state model is given
below.
LM0 0 -2OP 5 LM OP
A = 0 -5 ; b = 0 ; c = 0 0 1
MM10 1 -4
PP MM PP
N Q 0 NQ
+ x1 + x2 + x3 = y
u 5 2
– – –
2 5 4
Y (s ) b s 3 + b 1s 2 + b 2 s + b 3 s 3 + 8s 2 + 17s + 8
(iii) = 03 =
U ( s) s + a 1s 2 + a 2 s + a 3 s 3 + 6s 2 + 11s + 6
From Eqns (12.44), the state model in second companion form is given
below.
SOLUTION MANUAL 121
LM 0 1 0 0 OP LM OP
A = 1 ;b= 0 ;c= 2 6 2
MM-06 0
-11 -6
PP MM PP
N 1 Q NQ
+ + + y
+ + +
1 8 17 8
u + x3 x2 x1
–
z z z
6 11 6
+ +
+ +
Y (s ) s +1 b 2s + b 3
12.14 (i) = = 3
U ( s) s + 3s + 2s s + a 1s 2 + a 2 s + a 3
3 2
From Eqns (12.46):
LM0 0 0 1OP LM OP
A = 1 0 -2 ; b = 1 ; c = 0 0 1
MM0 1 -3
PP MM PP
N 0 Q NQ
Y (s ) 1 b3
(ii) = = 3
U ( s) s + 6 s + 11s + 6
3 2
s + a 1s + a 2 s + a 3
2
From Eqns (12.44):
LM 0 1 OP LM0OP
0
A = ;b= 0 ;c= 1 0 0
MM-06 0
-11
1
-6 PQ
P MM1PP
N NQ
Y (s ) s 3 + 8s 2 + 17s + 8 -1 2 1
(iii) = 3 = 1+ + +
U ( s) s + 6s 2 + 11s + 6 s +1 s + 2 s + 3
LM-1 0 0 OP
1 LM OP
A = -2 0 b = 1 c = -1 2 1 ; d = 1
MM 00 0 -3
PP MM PP
N 1Q NQ
Y (s ) 1000 s + 5000 b 2s + b 3
12.15 (a) = 3 = 3
U ( s) s + 52 s + 100 s
2
s + a 1s 2 + a 2 s + a 3
From Eqns (12.44):
LM0 1 0 0 OP LM OP
A =
MM00 0 1 ; b = 0 ; c = 5000 1000 0
-100 -52
PP MM PP
N 1 Q NQ
Y ( s) 1000s + 5000 50 -31.25 -18.75
(b) = 3 = + +
U ( s) s + 52 s + 100 s
2
s s+2 s + 50
LM0 0 0 OP50 LM OP
A = -2 0 ; b = -31.25 ; c = 1 1 1
MM00 0 -50
PP
-18.75
MM PP
N Q N Q
Y (s ) 2s 2 + 6s + 5 1 1 1
12.16 = = + +
U ( s) ( s + 1) 2 ( s + 2) ( s + 1) 2 s + 1 s + 2
From Eqns (12.55):
LM-1 1 0 OP 0 LM OP
A = -1 0 ; b = 1 ; c = 1 1 1
MM 00 0 -2
PP MM PP
N Q1 NQ
t
x(t) = z
0
eA(t – t) bu(t)dt
LMe -t
te -t 0 OP
e –At
= L –1
[(sI – A) –1
]= M 0 e -t 0 PP
MN 0 0 e -2 t Q
SOLUTION MANUAL 123
LM t OP
MM z
0
(t - t )e -(t - t ) dt
PP L1 - e - te
-t -t OP
t
z e A( t -t ) bu(t )dt = MM t
z e - (t - t )
dt PP = MM1 - e
-t
PP
0 MM 0
t
PP MMN 12 (1 - e )
-2 t
PQ
MM
N z
0
e -2( t - t ) dt PP
Q
y = x1 + x2 + x3 = 2.5 – 2e–t – te–t – 0.5 e–2t
1 1
x2 + x1
u +
1
+
z –
z
–1 –1
+y
x3 +
+
1
+ z
–2
12.17 F = eAT =
LM0.696 0.246 OP
N 0.123 0.572 Q
g = (e–AT – I) A–1 b
L -3 -1 OP L-1O L-0.021O
=
LM– 0.304 0.246 OP MM 4 2
PP MN 5 PQ = MN 0.747 PQ
N 0.123 -0.428 Q M -41 -1
N 2 Q
c = 2 -4 ; d = 6
Y (s ) e -0 .4 s
12.18 =
U ( s) s +1
x&1 (t ) = – x1(t) + u(t – 0.4)

tD = 0.4 ; therefore, N = 0, D = 0.4, m = 0.6
F = e–1 = 0.3679
0.6 0. 4
g2 = z
0
e -s ds = 0.4512 ; g1 = e– 0.6 z0
e -q dq = 0.1809
x1(k + 1) = 0.3679 x1(k) + 0.1809 u(k – 1) + 0.4512u(k)

Introduce a new state x2(k) = u(k – 1)
x(k + 1) = Fx(k) = gu(k)
y(k) = cx(k)
F =
LM0.3679 0.1809 OP
;g=
0.4512 LM OP
N 0 0 Q 1 N Q
c = 1 0
12.19
1
0 0
x2 x2
s –1 s –1
1 s –1 1 s –1
u
x2 x1
–2 –2
G(s) =
LMG
11 ( s ) G12 ( s ) OP ; H(s) = LM H ( s) OP 1
NG
21 ( s ) G22 ( s )Q N H (s)Q 2
X1 ( s) s -1 (1 + 2s -1 )
= G (s) =
1 - ( -2s -1 - 2 s -1 + s -2 ) + ( -2s -1 )(-2 s -1 )
11
x10
SOLUTION MANUAL 125
s -1 (1 + 2 s -1 ) 1 / 2 1 / 2
= = +
D s +1 s + 3
X1 ( s) s -2 (1) 1 / 2 -1 / 2
= G 12 (s) = = +
x20
D s +1 s + 3
X2 ( s) s -2 (1) 1 / 2 -1 / 2
= G21(s) = = +
x10 D s +1 s + 3
X2 ( s) s -1 (1 + 2 s -1 ) 1 / 2 1 / 2
= G22(s) = = +
x 20 D s +1 s + 3
X1 ( s) s -2 (1) + s -1 (1 + 2 s -1 ) 1
= H1(s) = =
(
U s ) D s +1
X2 ( s) 1
= H2(s) =
U ( s) s +1
Zero-input response:
x(t) = eAt x0 = L-1 [G(s)x0]
=
LM
1 e -t + e -3t e - t - e -3t OP LMx OP
0
1
2 e - t - e -3t
N e - t + e -3t 0
Q Nx Q
2
Zero-state response:
t
LM1 - e OP
-t
x(t) = z
0
e A(t -t ) bu(t ) dt = L –1
[H(s)U(s)] = -t
N1 - e Q
12.20 A =
LM 0 1 OP ; eigenvalues are l 1 = – 1, l2 = – 2
N-2 -3Q
Y(s) = c(sI – A)–1 x0 + c(sI – A)–1 b U(s)
s+4 1
= +
( s + 1)( s + 2) s( s + 1)( s + 2)
3 2 1/ 2 1 1/ 2
= - + - +
s +1 s + 2 s s +1 s + 2
1 3
y(t) = + 2 e - t - e -2 t
2 2
12.21 x&1 = – 3x1 + 2x2 + [7r – 3x1 – 1.5 x2]
x& 2 = 4x1 – 5x2
A =
LM-6 0.5OP ; b = LM7OP ; c = 0 1
N4 -5 Q N0 Q
eAt = L –1
[(sI – A)–1]
LM 1 e -4 t
+
2 -7 t
e
0.5 -4t 0.5 -7t
e - e OP
= MM 34 e -4 t
3
4
- e -7 t
3 3
2 -4 t 1 -7 t
e + e
PP
N3 3 3 3 Q
t
y(t) = x2(t) = 7 z LMN
0
4 -4 ( t -t ) 4 -7 ( t -t )
3
e - e
3
dt OP
Q
=
28 1 LM 1
(1 - e -4 t ) - (1 - e -7t ) OP
3 4 N 7 Q
12.22 eAt =
LMe + te
–t -t
te - t OP
-t -t -t
N -te e - te Q
x(t) = e A ( t - t0 ) x ( t 0 )
Given: x1(2) = 2 ; t0 = 1, t = 2
Manipulation of the equation gives
x1(2) = 2e–1 x1(1) + e–1 x2(1) = 2
If x2(1) = 2k, then x1(1) = e1 – k
Thus
LMe - k OP is a possible set of states L x (1) O for any k ¹ 0

1
1
N 2k Q MN x (1)PQ 2
LM e OP = La bO L 1 O ; LM e OP = La b O L 1 O
-2 t -t
N-2e Q MNc d PQ MN-2PQ N-e Q MNc d PQ MN-1PQ

12.23 -2 t -t
This gives
eAt =
LMa bOP = LM 2e -t
- e -2 t e - t - e -2 t OP
-2 t
N c d Q N2 e - 2e - t 2 e -2 t - e - t Q
SOLUTION MANUAL 127
= L –1
[(sI – A)–1]
LM 2 - 1 1
-
1 OP
(sI – A) –1
= MM s +2 1 - s +2 2 s +1 s + 2
2
-
1 PP
Ns + 2 s +1 s + 2 s +1 Q
(sI – A) =
LM s -1 OP
N2 s + 3Q
A =
LM 0 1 OP
N-2 -3Q
LM c OP
cA
12.24 V= M PP is a triangular matrix with diagonal elements equal to unity;
MM M PQ |V| = (– 1) for all a ’s. This proves the result.
n
i
NcAn-1
12.25 U = [b Ab ... An–1 b] is a triangular matrix with diagonal elements equal

to unity; |U| = (– 1)n for all ai’s. This proves the result.
12.26 (i) U = [b Ab] =

LM1 -2OP
; r(U) = 2
N0 1 Q
Completely controllable
LM c OP = L 1 -1O ; r(V) = 1
V =
NcAQ MN-3 3 PQ
Not completely observable.
(ii) The system is in Jordan canonical form; it is controllable but not
observable.
(iii) The system is in controllable companion form. The given system is
therefore controllable. We have to test for observability property only.
LM c OP
r(V) = r M cA P = 3
MNcA PQ
2
The system is completely observable.
(iv) Given system is in observable companion form. We have to test for

controllability property only.
r(U) = r[b Ab A2b] = 3
The system is completely controllable.
12.27 (i) Observable but not controllable
(ii) Controllable but not observable
(iii) Neither controllable nor observable.
Controllable and observable realization:
A = –1 ; b=1 ; c=1
1
12.28 (i) G(s)= c(sI – A)–1 b =
s+2
Given state model is in observable companion form. Since there is a
pole-zero cancellation, the state model is uncontrollable.
s+4
(ii) G(s) =
( s + 2)( s + 3)
The given state model is in controllable companion form. Since there
is a pole-zero cancellation, the model is unobservable.
12.29 (a) |lI – A| = (l – 1) (l + 2) (l + 1)
The system is unstable.
(b) G(s) = c(sI – A)–1 b
1
=
( s + 1)(s + 2)
The G(s) is stable
(c) The unstable mode et of the free response is hidden from the transfer
function representation
10 b2
12.30 (a) G(s) = = 2
s2 + s s + a 1s + a 2
A =
LM0 1 OP ; b = LM0OP ; c = [10 0]
N0 -1Q N1Q
(b) Let us obtain controllable companion form realization of
10( s + 2) 10 s + 20 b 2s + b 3
G(s)= = 3 =
s( s + 1)(s + 2) s + 3s 2 + 2 s s + a 1s 2 + a 2 s + a 3
3
SOLUTION MANUAL 129
LM0 1 0 0OP LM OP
A = 0 1 ; b = 0 ; c = 20 10 0
MM00 -2 -3
PP MM PP
N 1 Q NQ
(c) Let us obtain observable companion form realization of
10( s + 2)
G(s) =
s( s + 1)( s + 2)
LM0 0 0 OP 20 LM OP
0 -2 ; b = 10 ; c = 0 0 1
A =
MM10 1 -3
PP MM PP
N Q 0 N Q

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CHAPTER 2 DYNAMIC MODELS AND DYNAMIC RESPONSE

2.1 Revisiting Examples 2.4 and 2.5 will be helpful.

(b) The following result follows from Review Examples 2.2.

4 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Y (s) s+3 s+3

X = 0.27cm ; I = 0.6 amps

2.9 Mx&& + Bx& + Kx = K1 ( y - x )

Force transmitted to the ground

6 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Peak amplitude of machine vibration

2.13 Refer Example 11.6

2.15 The following result follows from Example 12.9.

x1 = f, x 2 = f& , x 3 = z, x 4 = z&, r = F(t )

(Qi + qi ) r cq H + [Q - (Qi + qi )] r cq C = Qr c(Qi + q i )

From these equations, we get

θ& 1 = −1.92 θ 1 + 1.92 θ 2 + 4.46 q m

θ& 2 = 0.078 q 1 - 0.2 q 2 + 0.125 q i

8 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

0 = Q2 r 2 c2 (q i 2 - q 2 ) - UA(q 2 - q 1 ); this gives q1 = 40 º C

0 = Q1r1c1[q i1 - q1] + UA[q 2 - q1 ]; this gives

0 = Q1 + Q2 - Q ; this gives Q = 30 litres/sec

10 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Q(t) = K H(t ) = f(H)

0 = C1Q1 + C2Q2 - CQ ; this gives C = 15

CHAPTER 3 MODELS OF INDUSTRIAL CONTROL DEVICES AND

P1 = G1G2; P2 = G1G3; P3 = G4H2G1G2;

14 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Y2 G1G4G5G6 H2 Y2 G4G5G6 (1 + G1G2 )

3.8 TM = K1 ec + K 2θ& M = J&eq q&& M + Beq q& M

K2 = slope of the characteristic lines shown in Fig. P3.8b

16 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

(ii) A sketch of multi-loop configuration may be made on the lines of

TM = JM q&&M + B(q& M - q& L ) + K (q M - q L )

B(q& M - q& L ) + K (q M - q L ) = JL q&&L + TW

18 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Revisiting Example 2.7 will be helpful.

3.17 Let z(t) = displacement of the power piston

dh2 rgh1 rgh2

20 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

22 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Rearranging this equation and taking Laplace transform yields

t 2 = 544.5; K1′ = 0.423; K 2′ = 0 .577

1.82 ´ 1000 ´ 4184

( -27 + q 1 ) ´ 1000 ´ 4184

q 1 and Q1 are obtained from the following energy-balance equations at

Q1r 1c1 (q i1 - q 1 ) + UA(q 2 - q 1 ) = 0

With these parameters,

CHAPTER 4 BASIC PRINCIPLES OF FEEDBACK CONTROL

| SGM ( jw )|w =1 = 0.0289

4.4 For G(s) = 10/ (t s + 1), and R(s) = 1/s,

For G'(s) = 11/ (t s + 1) , and R(s) = 1/s,

ess |open-loop = – 0.1

ess |closed-loop = 0.009

The steady-state response of the closed-loop system is less sensitive to

W (s) 0.4 + Y(s)

26 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

For W(s) = 1/s,

4.8 A unity-feedback configuration of the given system is shown below.

For Er(s) = 50/s,

28 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

KA = 0.192 gives woss = 9.61 for wr = 10.

S KMA < S KGA ; SwMg < SwGg