Solutions to Skill-Assessment Exercises ‘ORPTER 2 24 The Liiglier tratsfotin of 7 48 3 using Table 24, ler 3. Using Table 22, tem 4, I A) -TF 22 Expeining P(e) by partial actions yield 4,5, ¢,D Fy) 442 +54) Syed Gap ees) where, ot art 2ils “Taking the inverse Laplace transform yields, oy .# se2t 4 Mw po Fafa se% 4 ie S 23 Taking the Laplace transform of the differential equation assuming xero initial eunditions yields: PC(S) + BEC) THC (s) + SC(5) = PR(s) + ERGs) +3.R(0) Callecting terms, (P4344 7 £5)C(9) = (P+ 484+3).R(0) Thus +3 T+5 coyote Ry) +3 Scanned with CamScannerSolutions toSkill-Assessmen! Exercises 1 C(x) Gis) = Ri (Cross multiplying yielus ede ir Tee ety rte 2s Cir) = Rls) Gis) = where 1 A-Tplior Thus 2.6 Mosh Anulysis Translorming the network yields, wi B. ; Hai eH ot) Now, writing the mesh equations, (s+ BAG) — stint — tata) = sh (9) + 20+ TL) — ee = ifs) = fais) + (0+ 266) Solving the mech equations for £3(+), (40) Ku) -1 oo At hey = 1 oO (s+2) 242541) ¥Es) Tea TL] e454) (241) 1 1 (s+ Scanned with CamScannerChupter2 Solutions to Skill Assesment Exercises a But, Vi (s} = tals) Hence, Sahel Nodal Analysis ‘Writing the nodal equations i (+2}re00 = Vals) = Vir) Vill Get )n =! ve) (+2) Via) tye “1 e+t) Solving for VCs), (24264 1)VE) Vile) = ett (+42) Kilts} P4240 q7 Invering Noninverting (fue) ty) = Zul + 200 horas (7) 28 ‘Writing the equations of motion, (84 3r+ 1) (5) — Gre IY —(30 + 1M (a) + (7 4+ 4r + 1). Scanned with CamScannerSolutions toSkill-Assessmen! Exercises Solving lor X2(s), (P4341) FE +n 0 +3841) 3141) | -(r41) (A 44r+t) (s+ LIFES} 484340) Ml = Hence, Xs) Be+1) “Fy > x 7 S41) 1 ‘Writing the equations of motion, (FR +t 1pA(s) - 42 )0(8) = Ts) (6+ LCs) + 2 +2)8568) <0 Where @() is the angular displacement of the inertia Solving for #45) (et tedt) Te) +a | ts tii) (etetl) —G+h) 26 sae tT set) r+) From whieh, after simplification, aioe! nol =a pra 2.10 ‘Transforming the network jo one without gears by reflecting {he-4 N-mw/radl spring to the left and multiplying by 25S0F, we obiain, ” & Newent EE] ‘Writing the equations of motian, (+5) (8) — 8, (8) = Fhe) =s0is) + (0+ 18a) = 0 ‘where @,(s) is the angular displacement of the 1-kg inertia. Solving fot (5), sFia} Pets Scanned with CamScannerChupter2 Solutions to Skill Assesment Exercises 5 From whieh, ait Ti) PS 404i mn ao) Ths ats} Ti) U2 +541 an First Gnd the mechunical constunts, Now find the electrical constants. From the terquue-speed equation, set ain =0 tor find stall tarque and set Ty =O to find no-load speed. Hence, Toot = 200 ys taad = 25 which, TT), kik i saz) (Da ARE) ale where @u(s) is the angular displacement of the armature. Now #60) = Bale). Ths 22 Letting 8.) SeoyCs) fx 43(9) =an(s) fs Scanned with CamScannerSolutions toSkill-Assessmen! Exercises in Eqs. 2.127, we obtain (Jr Dia Dante) Fonts] = Fe) oats + (v4 01+ Soni) From these equations we can draw bath series and parallel analogs by considering these to be mesh or nodal equations, respectively. by 4 TOT me #4 ¥ an, Semieranalog 1 aun zo 1 1 om 1 3 Dt Sh Pall alog 1.13 ‘Wriling the nexlal equation, av og th-2=itt) c= vets tar Substituting these relationship into the dilfereitial equation, les $80) aon +t ay ‘We now linearize The general farm is Substituting the function, f(+) =e", with » hott wll Scanned with CamScannerChupter3 Solutions to Skill Assesment Exercises 7 Solving far ote, Substituting into Eq, (1) (2) Setting i{t) =0 and letting the cireuit reach steady slate, the capacitor acts Hike an ‘open circuit. Thus vy = vp wilh dp =2 But J, =e" oF vy = Inde Mence, va = #93, Substituting this value of x, inl Eq. (2) yields dey at = itt) Taking the Laplace transform, (e+2)av(s) =) Solving for the transfer function, we obtain av(a)_ Ts) 2 Vi) Fay Tags Shoutequilbrium ‘CHAPTER 3 aa Identifying appropriate variables on the eireuit ylelds ® {i Ae i Le fe wage |B. lez i iy ‘Writing the derivative relations am Scanned with CamScannerSolutions toSkill-Assessmen! Exercises Using Kirehhol's current and voltage laws, je = th tde ite ee LTR ve fey =! (ee Substituting these relatianships into Eqs (1) and simplifying yields the slate ‘equations as dee 2 Nye ty de ROO Re 7a" dit 1 Pac Eo te the aie, dt RG RG RC," ‘where Ube elput «4 ualion is Putting the equations in yector-matrix form, 1a it 1 TRG CRG] | RE, 1 ae ooo fet] e fae 1 1 1 RCE REL, RE: y=[0 0 1s a2 Writing the equations of motion {44+ HMO) Nas) aM u(s) + fr +54 1) Maly) —¥ils) Mali) + (441) Taking the inverse Laplace transform and simplifying. S=-hontitf 4-honty %=-h- ta ‘Defining state varivbles, 34 = Hts = Scanned with CamScannerChupicr3 Solutions ta Skill Assesment Exercises 9 ‘Writing the stale equations using the definition of the state variables and the inverse teansform of the differen tial equation, ntht feats si —ay tars nay tis o 16 0 00 0 -l1-1 0 1 0 0 1 oo 0 1 0 0 4 oot ct tb a PE fg [fiy=l0 0 © 0 1 Oe oo 0 oo 4 0 oo 1 6 4-1 0 a3 First derive the state equations far the transfer (unetion. without 2erex, Xin Ris) ES ‘Cross multiplying yields (P4784 9)¥i1 = RI] Taking the inverse: Laplace transform assuming zero initial conditions, we get g4Teeeas Defining the sate variables as, Ti+ r= 94 Ta te Using the zecos of the transfer function, we Bind the output equation to be, =2i+ =nt2n Pulling all equation in vectormatris form yields 2h Scanned with CamScanner10 Solutions toSkill-Assessmen! Exercises a4 ‘The state equation is converted [oa transier function using Gis) =CaI—Ay'B ay where aa [7 US]ne[2] auce is oa 4g} Pe [g} amte=l | ‘Evaluating (oA) yields wt4 1S wmf 9) Taking the inverse we obtain " 1 -Ls WAN = aya ye L4 ml ‘Substituting all expressions int Eq, (1) yields B45 OU) ae as ‘Writing the differential equation we obtain dr SF 42s7 = 104 a at aria Letting x = so+dx and substituting inte Ey, (L} yields sy + ae) See Mae + as) = 10+ a) Q Now, linearize x7 2 (50 + ax)? — a) ar = Probe eorn which (x +dx}? = 33 +2,dr Bg Substituting Eq. (3) inte Ey. (1) and performing the ind us the litearized intermediate dilferential equation, ed differentiation gives sx et tnde 2h +104 470) @ “The farce of the spring al equilibrium is 10 N. Thus, since F = 2x40 = 2x2 from which gave Scanned with CamScannerChupier4 Solutions ta Skill Assesment Exercises " Substituting this value of x, into Ey, (4) gives us the Ginal linearized eifterential equation. Pax SS v5 ar = apt aft!) Selecting the state variables » ‘Writing the stite and output equations AVEn +4ft0) (Converting to vedar-matrix farm yields the Bnal result as © 17, fo += [06 ab [1] ye[L Of counerte 4 44 For a step input LOfs +4h(e +6) a C= ates mts Taking the inverse Laplace transform, 3 + De + Be c(t) = A+ Bet + Ce 42 Since a =50, T; = au. Since poles are al —6 41948, c(s) =A + Be-Meus{ 19.0814 6), b. Since poles are al 78.54 and 11.46, c(t) =—A+ Be-™ 4 Cet, Since poles are double on the real asis at —15 cla) =A + Be“™*4 Cte“ € Since poles ace al +)25, e{f) =A +B cos(25i-+ 9) 4d May = VER = 2 nd 2foy = 12) ¢, = 03 andaystem is unlerdamped. Ving = 30 and2cum 2S = 1S and ayy — as, = VAIS = 28 antl fey = Bb oy 1 Sandsystem is overdamped. 1 analsystem is eritically damped. = and system is undam ped. Scanned with CamScanner2m Solutions toSkill-Assessmen! Exercises 4s a= VI01 =19 und Mea, = 16; Now, T)=—) = 05s and 7, tax From Figure 4.16, aj,7,— 14998 Therefore, T, = 0.0795. Finally, Siaes =e! — © 6 100 = 23.3% 46 a. The second-order approsimation is valid, sinee the darninit poles have axel part of ~2 and the higher-order pole is al —15, Le. moce than five-time further bb. Thesecond-order approximation isnot valid,since the dominant poles havea eal part of —Land he higher-arder pole ixal —4, Le. nol move than five-timesCurther AI : : _t 9.902 Leas 0303 a. Expanding Gls) by partial fractions yiekls Gis) ==+ 2°57 — 25> 2S Bul -0.3023 is notun ordere{ magnitude less thn residues of second-order terms (term 2 and 3). Therefore, a second-order approximation is nat valid. 109782 L978 007M b, Expanding G(s) by partial fractions yiells Gls) ==+5 55 —- Fag— pees But 0.0704 is an order of magnitude less than residues of second-order terms (term 2 and 3}, Therefore, a secund-order approximation is valid. 48 ‘See Figure4.31 inthe texthook for the Simulink black diagram and the auiput respunses, 49 = 1 1 [res 2) a Since I-A. [i a (lay =aml's | Als BUi= 9 [en] The state vector is XU) = G1 -AY' (01+ BUC = Fy Ty * 8842-4 WAT GFZ +3) 2x2 + Te+-7) wads 6 os 2 17s SET pea type Taking the inven Laplace transform yields y(4) = Set — 12 4.17 Se. b. The eigenvalues are given by the routs of jal — Al =s° + Sy+6, er —2 and —3 4.10 The output is ¥¢ [1 3]Xey a. Since (A) = [i ee 1 pnts 2 seen 5 | Taking the Laplace transform of each term, the state transition muirit is given by Scanned with CamScannerChupier5 Solutions ta Skill Assesment Exercises n eee Daya 2 en _2, Bb Since bl¢— r= Bu(r) = Thus, x(2) = rrx(0) + far — 2) to a4 BUtjdr=| 3, 4 afer tet thew ey) =[2 dp ‘CHAPTER 5 5a Combine the parallel block in the forward path, Then, push to the Te past the pickol! point uot et LJ 2 cu Combine the parallel feed back paths and get 2s, Then, apply the feedback formula, e4t simplify, and get, T(x) ==> rly, and gel, TN = 55 eae 52 Find the clised-loop transfer function, Fs) = 16 ssa) if and A(s) = 1. Thus ax =4 und 2604 =a, from which ¢ = -*(m) und Gis) But, for 5% overshoot, Scanned with CamScanner4 Solutions toSkill-Assessmen! Exercises 53 Label nades, no ‘ To. al mae Ny Nac 1 Mal [eer win Draw nodes ey MO EY Cp o © 8 6 6 6 Nyse ay eo 9 Ngeb ° ‘Connect nodes and label subsystems, Scanned with CamScannerChupter5 Solutions ta Skill Assesment Exercises 1s 54 Forward-palh gains are G\G.G, and GG; Loop gains are ~GGulh,, —Galh, and —Gy Nontouching lowps are [-GiGzFi|| Gils] = GiGaGuth Hy ana [Gsth||-Gults] = GG uthatty, Also, 8 = 14+ GyGilhh + GH, + GM, + GG: Gul HT + G.Gyllaly Finally, By = 1 and EPA, Substituting Wiese values into TEx) -ia A vietos GiNGu(ah]t -+Gx(0)] 70 ein + ifr SACS Gp] 55 The slate equations are, 00s 45 Fam Gs) = ets lund add the feedback. we draw the signal-low graph in euntroller canonical form Scanned with CamScanner16 Solutions toSkill-Assessment Exercises ‘Writing the state equations from the signal-fow diagram, we obtain 10s S06 1 x z+] |r 1 0 0 y=[10 500) 52 ‘From the transformation equalions, Taking the inverse, _ pos —02 ~ Wt 03 Now, 1 3 ]fos 02 “85 all oa is 1 —4}[s}~ [-t 04-0: Ff °) [ox -1.4] o1 -03 Therefore, “85 3 at ats} [-11 [ox —14j: 58 First Gnd the eigenvalues movil IL Sea! 2 oa Ls -4 até From which the eigenvalues are —? and —3, Now ure An = dx, for each eigenvalue, tay ["] For k= Scanned with CamScannerClupicr6 Solutions to Skill Assesment Exercises WwW Thus 3 Park Thus a 0.7553; from which we let r= [ orm 2) “(L077 08 Takitig the inveme yields 2[5S% 23) “Ls os Hence, S657 4MM3)[ 1 37/0707 -06) [2 oO D=P'AP = ss J-4 -6]|-0707 a8 0 ‘S677 42433] [1] [1sa9 PB = 5 5s |i 20 a70T -06 cp=[1 4] -21m 26] 0.07 08 Finally, 20 18.39) a4 us o -3 20 -21N 26|2 ‘CHAPTER 6 61 Make a Routh table. a 3 6 T 2 r ’ 4 8 6 ’ abs 4990323233 ° ® a ~435714286 8 6 o 2 Bw ams229508 ° ° ? 10, 17026684 6 a 9 # 11855742 0 ° ° # ‘ 0 ® o Since there are four sign changes and no complete row of zerex there are four right hhall-plane poles and three left half-plane poles 62 ‘Make a Routh table. We encounter a raw af zeros on {hes row. The even polynomial ig contained in the previous row as-—6e# 402 46 Taking the derivalive yields Scanned with CamScanner18 Solutions toSkill-Assessmen! Exercises =e! 4.0, Replacing the row of zeren with the coefFicients of the derivative yields the s*row. We alse encounter a zero in the frst column at the s*row. We replace the zero with «and continue the table. The final result is shown now as 1 -1 6 s 1 0 = 0 a 6 0 6 0 e 4 0 a 0 Roz e e 6 a 0 " Lae 0 a 0 # 6 0 a 0 ‘There is ene sign change below the even polynomial, Thus the even pol ynurnial (4° order) has one right half-plane pole, one left hal Cplane pole, andl 2 imaginary axis poles. From the tap af the table down to the even polynomial yields one sign change, Thus the rest of the polynomial has one right hal plane root, and one left half-plane toot. The itl for the system is two right half-plane poles two left half- plane poles, aiid 2 imaginary pols. 63 K(r+20) +20) Since G1) = ————., Ts) =«§ ——— =< ——— =a aes! 7 “Teag, T ester RPT aR Form the Routh table ? 1 (+a) 2 5 wK 40 15K : ap 5 p 20K From the st row, K <2. From the "raw, K 0. Thus, for stability, 0< K <2 64 First Gnd soo 211 jw—aj=|fo x of/-}a 7 4 |f= oos 34-5 —49 - r+ SL ‘Now form the Routh table. # L # 4 st ! -1035 2 a ‘There are two sign changes. Thus, Lhere are Lwo thp poles and one Ihp quale. Scanned with CamScannerChupier7 Solutions ta Skill Assesment Exercises ww ‘CHAPTER 7 mW a Pit check stably Gis) _ 0s? + 50s een Lys + 30\6 +20) Ths) = TSG in 4 TOS + 1375 + ON HB) +37. +O.USS) Poles are inthe Lip. There ore, the system is stable, Stability also could be checked ‘via Roulh-Murwilz using the denuininatar of 7{s}. This, is 1s Bute? ewe) = T= = is is EStutt) © emeel 8) = y= Te 2S 2 x 18H) fanned = pr = T= oe, snee f[18"] = b. First checks stability. 10s" + Str + 6000 THG)) PTF TSS 4 ITA 7 Se} 10(s + 30)(s +26 = (FF SOOU s+ 351(r +25] — 718e — OF 0.187 Tin) = From the second-order {erm in the denominalar, wesee thal the system is unstable. Instability could alw be determined using the Routh-Hurwite criteria on the denominator of 7{s), Sine the system is unstable, calculations about stestly-stale error cantnot be made. 72 2. The sysiem is stable, since yy) = 0 1000(6+8) Loodis +8) “THG) G4HG47) + OWE +8) + LLG AO and is of Type 0. Therelare, toons lig i) 2127 Kimo <0 HGwj)=0 col) = t= 780-08 ~TeimGi) 127 1 L Time ~ 6 1 lin GG) 07 eoaaph0C) = pads (2 Scanned with CamScanner20 Solutions toSkill-Assessmen! Exercises 73 System is stable for positive K. System is Type 0. Therefore, far a step input 1 - 12K role) = [peg =O. Solving for Ky yields Kp x which we oblain K = 189. TA System is stable. Since Gi(s) = 1000, and Gais) = £42) ae ea) enloe el = 8.986 04 at 2+ 1000 1s ‘System is stable. Create a unily-feedback system, where H,(s) ‘The syslem is as falls Bs 5 coy Thus 100 eta Gis} wa 1o0(s + 1) “" T+GGVEG) ih ose pa 1-__ G64) Hence, the system is Type 0, Evaluating Ky yields 100 Kp ‘The steady-state error is given by eal) 3846. —02 1 Ku+7) _ 4. uo Since Gis) = ary 1g OV = Ty wrk Calculating the sensitivity, we get K oe x (2107 (104 7K7 Scanned with CamScannerChuptcr’8 Solutions to Skill Assesment Exercises a W Given [5 4] Using the final value theorem, = [te=t 1 Rte) =! €vwp(25) = imsR(a}[1—Ctst— A} 'B] cafe fT] “af ol diy im? #51422 era ‘Using input substitution, o 1)7¢yo wop(oc) =L4+CA"B =1-[1 al 3 4 () cos lps of ‘CHAPTER 6 B41 a F{-7 4j9) = EPH +27 +P + 410.089 (5+ /91(-3 +) 74 P74 P+ 3-14 AH +P +P SP S6— 7) __o.ca39 — 0.0809 = 0.086 < 1107" “oH oT 1b. The arrangement of veeiors is shown as follows: om Scanned with CamScannerSolutions toSkill-Assessmen! Exercises From the diagram, MM, (34-349) (66-772) F\T4+P) = stata = (+/+ PTF) OH = —0.0339 — j0.0899 = 0.095 <; —110.7° B2 a. First draw the vectors, From the diagram, angles = 180° ata ( *) ~tan-t (2) = 18° — 108.43" + 108.43" = 1997 bs Sinee the angle is 190°, the point is on the ral locus Tpolelengths (VE +¥) (VETS) co tmkiogs Sone aio iTeero fengihs T aa Fim, find the asym plates Scanned with CamScannerChupter8 Solutions to Skill Assesment Exercises Next draw rool locus following the rules far sketching aa so 40250) 12D ed Ae 1b, Using the Routh-Murwilz eriletia, we first find the elised-loop transfer fun tian. ® Kir +2) Tal b+ OK 40) iy ) Using the denominator of 7(s), make a Routh table Fe 1 2K 413 ! K-40 o a 2x 413 o We gel a mol zerus for K =4.From the 2 row wilh & = 422421 <0, From, Which We evaluate the imaginary axiseresing al v1 ‘e. From part (bp, K = 4 @. Searching for the minimum gain to the left of -2 on the real axis yields —T at a gainof 18. Thus the breakin point ig al —7 aa Scanned with CamScanner24 Solutions toSkill-Assessmen! Exercises First, draw vectors to a point c close to the eumplex pole. io ALthe point celase lo the camples pole, the angles must add up ta aero, Hence, angle fram zera— angle from pale in 4! quadrant —angle from pole is 1" quadrant wo, oe unt(2) 900-10 Song the ale of depre o=-231 BS gens ie Scanned with CamScannerChupicr8 Solutions ta Skill Assesment Exercises as B. Search along the imaginary axis and find the 180° point al s = = #4.06. ‘Por the result in part (b), & = 1 Searching between 2 and on the realaxis or the minimum gain yields the break-in ats = 239, ‘e. Searching along (= 0S for the 180° paint we find 1 = 4. For the result in part (€), 108 fe Using the resull from purl (c} aiid the rout locus, K< 1 86 242+ 18 1 Searching along the ¢= 0.591 (10% overshoot) line fur the 180° point yields 2.028 4 72.768 with K =45 55 eta ta4t Hi9n t= “TRE 20s Tiny 2a rise-time chart and graph in Chapter 4. Since ay, is the radial distance to the pole, toy — VIDE $2 768 = 3.431. Thus, T, - 0.53: K 4558 Kp= Sy 0949. Thus, LISS: 0,7, = L8M6 from the ince the sysiem is Type 0, ast Enploe) = +Ky a Seurching the real axis to the Jef af —6 for the point whose gain is 45.$S, we Cind, -794. Comparingthis valuctothe real part of the darinant pole, ~2.028, we Cind, that iL is nal five mes Curther. The second-order appeeisimalion is nol vali a7 Find the clased-lovp transfer fuinetion and put it the farm that yields p, as the root focus variable. Thus, 10 yy = 100 wo eto =TyGal~ Papal FIO ps Ly Ba P+ Scanned with CamScanner26 Solutions toSkill-Assessmen! Exercises Henee, KGts) HU) = The Following shows the root locus, hi Fy ores x ag p10 a8 Following the tiles fir ploiting the roel locus of punilive-leedbuck systems we ‘obuain the fallowing root locus 49 The chsed-loup transfer function i Ts) = sop pay, pI Dilleremtiating the denominator with respeet Lo Kyields ox a ‘ Net el) = +42 at +1) =0 =te+ 0) Kas _ Kiet) ot Thus, Si = a eirth 4+K43 = WOK, Oise EY a+ Ty = 20, From the denominalor of T(s), ‘Substituting K =20 yielus 8,4 = Now find the clased-loop pales when A 2105, — 095, when K = 20. For the pole al 21.05, AK =10(-2105 +1) As =s(5, Sea] G(-2G +0 =1205( os = 1.9975 Scanned with CamScannerChupicr® Solutions ta Skill Assesment Exercises ar For the pole al -0195 AK 0¢-0.95 + 1) r= Seu) 2X = 095 (HOS +H Vo gs Ar=atSex) O88 G 095-11 Jens ates, ‘CHAPTER 9 on a. Searching along the 15% overshoo! line, we Gnd the point on the root locus at =354j58 at a gain of K 4584, Thus for the uncompensated system, K, =lim sGs) = Kf? =4584/7 =6.55 Hence, Cin sssyenisitc) = 1/K, = 0.1827 1B, Compensalor zero should be 20r further to the Jefl than Lhe cumpensialor pale. (6402) eeool & Inser! compensator and search along the 15% overshot line and Gnd the root locus at -3.4 + /5.63 with a gain, = 44.61, Thus, for the compensated system, 4464002 1 i, = HEMOE a sade anpna®] =p = 0107 a Lomep ranged _ O.1S2T Arbitrarily select G(s) = 1958 Comp zompouet — ONTE 92 a. Searching along the 15% overshoo! line, we Gnd the point on the root locus at 35+ 5.8 al a gain of K =4584. Thus, for the uncompensated system, 44 y= “The 35 Las, B. The real part of the design point mitsl be three times larger than the un- compensated pole's real part. Thus the design point is 3(—35)+ /3(5.8) = =10.8+)174. The angular contribution of the plant's poles and compensatar zero al the design paint is 130.8" Thus the compensator pole must eontribute 180" — 1308" = 49.2". Using the following diagram, ja sia | opine te “10s we Bn 4 man 40.2% rm wh 26.2 Ang tol, we the gain al the design paint ia be K = 476.3. A higher-order dosed-loop pole is Found tobe al —11 3. This pole may not be close enough tothe closed-loop zero at —10. Thus, we should simulate the system to be sure the design requirements have been met Scanned with CamScanner28 Solutions toSkill-Assessmen! Exercises 93 a. Searching alung {he 20% overshoot line, we fine the paint an the root locus at —354+6.83 al a gain of K = $8.9. Thus, far the uncompensaled system, “ik bs. For the uncompensated system, X= lim G(s) = Chump sicsapacail (22) = L/K, = 0.1189. « Inandet la decrease the settling Lime by & factor of 2, the design point is twice the uncampensated value, or 7 +7 13,66, Adding the angles from the plant's poles land the compensalur’s zerw al —3 Lo the design poi, we obluin —100.8°. Thus, the compensalor pole must contribute 1)° —100.8° = 72°, Using the following, diagram, AL. Hence, we Gnd, tn792°, from which, pe = 9.61. Adding this pale, we Gnal Lhe Pe gain at the design point to be & = 204.8, Evaluating Ky for the lead-compensated syste: Ky = Lim G(s) Gas = K(3}/((7H(941)] = 204-9) (3}/(7)(9.61)] = 9.138, K, for the uncornpensated system was 8.41. Fara 10x improvement in steady-state cervor, K, must be (841) (10) = 84.1. Since lead compensation gave us Ky = 9.138, we need. an improvement of #4.1/9,138 = 92 Thus, the lag compensator zero should be 92 further Uo the lef than the eompencalor pale, Arbitrarily select Gq(n) O21 e (+001) Using all plant and compensator poles, we Gna the yuin al the design point to ‘be K =205.4. Summarizing the forward path with plant, compensaior, and gain yields DSA (sr +3) (+ +0.092) Go = TEE TT ela Higher-order poles are found at 0.928 and —2.6. I would be advisable to simulate the system to see if there is indeed pole-rer@ cancellation. Scanned with CamScannerChupicr® Solutions ta Skill Assesment Exercises 29 a4 ‘The configuration for the system is shown in the figure below, «> [ae Minoc Loop Design: For the minut loup, G(s}4A(s) = Using the following diagram, we GF T+ 10) End thal the minor-lorp raot locus intersects the @7 damping ralio Tine at 854/867. The imaginary part was found as follows: 8 = ans“'¢ = 45.57". Hence, In 2 = tan45.57°, from which Im =8.67. BS ? The gain, Ky, 4 found from the vector lengths ats Vis +86P V LS + 867 = 77.42 K ‘Major: Loop Design: Using the clesed-loop poles of the minor loop, we have an equivalent ferward-path transfer Cunction of —__K __ @7) ~s(e Fe FTA) aise eS Using the three poles of G(s} as open-loop poles to plot a root locus, we search along ¢=0.5 and find thal the rool lacusinterseets this dampingratialine at—$34 + J7S1 at a gain, K =66.3 Scanned with CamScanner30 Solutions toSkill-Assessmen! Exercises ts An acte PID contr mat ee, Welsh item ne lai figure Gi where he inpanes a homme lls 4 mo ne Aer 2h Mitching the given transfer function with the transfer function of the PID controller yields Ga) (e401 +5) asinias vest 4 5 Equating coe(licienls a) (2) @ In Bq, (2) we arbitrarily let Cy = 10°, Thus, Ry = 10°. Usin gt hese values along with Eqs, (U) and (3) we find C = 100, and Ry =201e0 b. The lay-lead compensaior can be implemented with the follawing passive net~ work, sittce the ralio af the lewd pole-lo-zeru is the inverse-ef Lie rao of the lag pole-tozero: n ih a % Scanned with CamScannerClupter 10 Solutions ta Skil Assesment Exercises, a1 ‘Matchingthe giventransferfunctionwiththe transfer function ofthe passive lay-lead. compensalar yields (sO) + 2) tee Otte +29 (FOU + 20 FF QOOL OD (me\rrme) T nate ma)! REO Ga) Equating coefficients at (y) RG 1 man! (2) 1 1 1 (aa BGR mat a Substituting Eqs. (1) and (2) in Ey, (3) ylelds 1 ment! 4) 1004 Fin Eq, (1) yields Ry = 100.40. 100 4F inte Ey, (4) yields Rs = 558.40. SS8AN into Ey, (2) yields C2 = 900 uF. CHAPTER 10 Asbitrarily letting C, Substituting C Substituting R t 1 ; C= Tareas! OM) - pala he Mla) = f(a)? + (G0)? bas B Far ai < VE, $(al) — (ean! ; b For as < VB @ (al =-ut( ane (deg: Ape 8) rt we mt uF espn ations Scanned with CamScanner32 Solutions toSkill-Assessmen! Exercises * ho 10.2 Bes = 40d ikiee .« 2 om stoduibe A 1m ia hs a 1 10 00 Frpency ct) [aa] 72 tH sas i Sy $10 2 sone i [ase fan : [Aromas ‘| ae ui l om ; tt mi ii Frspeney ah Scanned with CamScanner 1000Clupter 10 Solutions ta Skil Assesment Exercises, 33 103 The frequency response iy 1/8 al an angle of zero degrees at w = 0, Each pole rotates SA” in going Grom a =O te @ =oc. Thus the resullant rotates —18)° while ibs muynitude goes to x10. The result is shawn below. tn 10d a. The frequency response is 1/48 at an angle of mera degrees at ai = 0. Each pole rolates 0” in going fram w = 0 io oi = oc Thus the resullamt rotates —270” while its magnitude goes to zeta The resull is shown below. 1 L b Substituting jar into Gly [eg FFs 4 Bi [48 — 1207} — j(44u —ar') j implighng, we bakin Gi) = Po ag THe Nyx iagrarn, crases the real axis when the imaginary part of Goi} is2ere. Thus, the Nyquist lageam cramses the real cis at o = 44, or e1 = Vib =6.63 rad/s AL this fre quency (ja) = Ww Thus, the system is stable for K < 486. Scanned with CamScanner105 a = 100, the Nyquist diagram. will inlemect the real axis al 480 (00/490, Thus, Gy = 20log [7 = 1262 UD. From Skill-Assexsment Exercise Solution 10.4, the 1A frequency is 6.63 rads 10.6 0 00 “20 “140 “rie ae 1 im 00 ain Scanned with CamScannerChupter 1 Solutions ta Skill Assesment Exerises. as 10.8 160) (6750000 — 1012857) + j1.380(a7 — 1380) Boh +P BaH + WTPSMar + 250000 For asange of values for a, superimpose Gifs} onthe a, Mand N circles, anal on the B. Nichols earl For both paris find that Glas) = Scanned with CamScannerSolutions toSkill-Assessmen! Exercises Plotting the clased-loup frequency response from u. or b. yields the follawing plot: 0 = ps 0 [> 0 20g MF a 10 Frneecy (ch 10.9 The open-luop frequency respunse is shown in the follawing Ggure: uw Ww w Te Scanned with CamScannerClupter 10 Solutions ta Skil Assesment Exercises, 37 ‘The oper-loup frequency respanse is —7 al w = 14.5 rad/s. Thus, the estimated bandwidth is cua = 145 rad/s. The apen-leep frequency response plot goes through zero dB al a frequency of 9.4 rads, where the phase is 151 98°. Hence, the phase margin is 180° — 181.98" = 28.02* This phase margin corre sponds to 025, Therefore, %08 = VE) 199 = 44.4% T= 4 fe) 4 ie = 16d ane, ouwe (1-28) + Jae AE <0. wat 10.10 ‘The initial slope is 40 UBilse, Therefore, the system is Type 2. The initial slape inlerects OUB al a =9 Srad/s Thus Ky 90.25 and K, = K, =s0. 10.11 10 to Jala) oxf—a +7 0 Salving fer ay avaF $1 = 10, ar a. Without delay, G (jw) . from which the zero dB fre- quency fs found asfallows: MT = avert falter squaring both sides and rearranging, a +a*—100 = 0. Solving for the fools, at = —10S1, 951, Taking the square rout of the positive rool, We find the 0 UB frequency to be 3.08 radi At this frequency, the phase angle, @ = = U(-a+ f) = 4-308 +)) = =1@". Therefore the phase margin is 180° —W6r =18 b. With a delay of 6.15, e- {(-w 4 j) — aT = —1(-3.08 +4) — (3.08) 0.1)(180/pi) = 162 — 17.68 = -17945° Therefore the phase margin is 180? — 179.65" = 035°. Thux the system is table With a delay of 3s = Hla 4) — aT = =1(-3.08 +f) - (3.08)(8)(180/p i) = =~ @LAL" =28.59 deg 142” —S29.41" Therefore the phase margin is 28.59 — 18) = -1S141 deg, Thus, the system is unstable w12 Drawing judicially selected slopes an the magnitude and phase plot as shawn below yields a first estimate. Scanned with CamScannerSolutions toSkill-Assessmen! Exercises pinot Gamay Phaatdesh Pliseeh NM wi m0 so iM Fagan etic We see an initial slope an the magnitude plol of —2 dBiuec We also see a final 20 dB/dee slope witha break frequency around 24 rad/s ‘Thus, an inilial estimate ix Gifs) = Subtracting Gi(s} fram the eriginal frequeney response yields the w+ 21) frequency response shown below. Expeeiea] Mins 1804421) 8 CERT 2 Gait \ ¥ a 8 ‘ nal ® ae LF Aw 2 a 12 Sa sem we iw Sa wD wn Fangpeney eathc Scanned with CamScannerClupter11 Solutions ta Skill Assesment Exerises, 39 Drawing judicially selected slopes on the magnitude and phase plol as shown, yields a final estimale. We see first-order zero behavior on the magnitude and ise plots with a break frequency af aboul $7 vadle and a de gain of aboul HUB = 20log(5.7K), or K = 27.8 Thus, we estimate Gs(s) = 27.8{s +7). Thus, T8457) Gir) = Gils) Gals) Wot Mis +5) ve 0) is interesting to note that the original problem was developed from G(1) = CHAPTER 11 Wt The Bode plot for K= 1 is shawn below. ode Diagrams 1m Me gf Maga as wi wi ue Feguscyiatect A20% overshuol requires = $6. Thisdlamping ratioimplies a phase margin of 4810, which & oblained when the phase angle = —180) + 48,10 = 131.9". This phase angle occurs at a1 =27.6 rad/s. The magnitude at this requency a= 4.0. 5isx10* S15 x 10°* Since Lhe magnitude must be unity K = na ‘Tu meet the steady.sule error requirement, = 1,942,000, The Bode plat for this gain is shown below. Scanned with CamScanner40 Solutions toSkill-Assessmen! Exercises MateDigame Ekoess et) Magee ay mae 250 a wi 0 ew i wt Preguney (eather) ~te( i) r log? (a) implies a phase margin of 48.1% Adding 10° 10 compensate for the phase angle contribution of the lag, We use S81". This, we look for a phise angle of 18) 458.1° = 19.9", The frequency at which this phase occurs is 204 radi At this frequency the magnitude plot must ga through zero dB, Presenily, the ‘magnitude plotis23.2UB, Therefore draw the high frequency asymptote of the lag ‘compensator at =23.2 UB. Insert a break at 0.1(20-4) = 204 rad/s A this frequency, draw —25.2 dBldee slope until it intemeds 0 UB. The frequency of intersection will be the lw frequency break or O14 madés Hence the compensator is A 20% overshoot requires ¢= = 0456, This damping ralio +208) . Gate) = Rega t whece the gain is ehanen to ick dR at low Eseries or K, =0.141/204 = 00601 In summary, —ocent 2#2M a gy ——_bo2.001 Geto) = 0 0601 ra YO = sae + 113 EJ ~loe( a) I. a io is then calculated as apy Fvl-2e+ (ie FEF 2 = $7.9 caus In order ‘ K ay 300,000. The uncompensated Bade plot for this gain is shown below. A20% overshoot requires ¢ = = 0.456, The required bandwidth to meet the stewly-state error requirement of X, ‘we calculate K Scanned with CamScannerClupter11 Solutions ta Skil Assesment Exercises. a1 Ake Ma doe = 3 9 4g -| i> ~ Fw i ” ~ TK aw i 0! oF 1 Fegan feathens The uncompensated system's phise margin measurement is taken where the muynitude plot crosses O UB. We find that when the magnitude plot crosses 0 JB, the phise uigle is 448°. Therefore, the une mpensated system's phase margin is 180" 144-8? = 35.2". The required phase margin based! on the required damping = 481 Adding a 10° correction factor, the (28+ vie required phase margin is 581°. Hence, the cumpensaler musi comicibute L mux = 58.1" — 35.7 = 229° Using dar = sin“ ratios by) = tan The compensator's peak magnitude is caleulated as Mau. the frequeney a which the uncompensated system has a magnitule 1/Maay oF 3S UB. From the Bode plot, this magnillde oeeuts al digix = SI tad/s. The 1 1 eompenstor’s 2em0 is al 3, =, digas = =e Therefore, x, = 3.2 penal te 7 ean = 5 Ze The ‘compsnsator’s ‘pole ia'at P= or =754. The compensator gain is chosen to yield unity: gain al de Hence, Ke =75.4/382=227 Summarizing, Gels) = 227 304 0 s(e-FS01r + 12g) (44332) (F754) Gir) Scanned with CamScanneraz Solutions toSkill-Assessmen! Exercises 14 A 10% overshoot requires ¢ =< 991, The required bandwidth is then calculated as ov aw =———— y/ (1-26) + W444 2 = 7.53 rad/s, Tvi—eY i; In onder to meet the steady-state error requirement of Ky = N= we ealculate K = 2400, The uncompensated Baile plo| fur this gain is shown below, Bde Diagrams Bebkbeous | ‘Phase (eg); Naginle (dl) 1 =8.93, Finally, Kas = 2.19, Summarizing, B — iy page (+ OK12) ar tt4Ol ape Guy = (6) = 0456 ya7g)' Ginls) = 2.19) and: = 2400 CHAPTER 12 m1 We first find the desired churucteristie equation. A. S% overshoot requires la) acteriticequation is? + 2cus-+a =17 4+ 19.971 -+209 4 Adding a pole at 10 to cancel the wero a! 10 yields the desired characteristic equation, 24 19.975 4 209.4) (x 4-10) =! +2997 + 409.144 2004, The compensated sys- tem matrix in phuse-variable farm is = 14,47 rad/s, Thus, the chur evi = a 1 0 A-BK=| 0 0 1 The characleristic equation for this —thi) (+h) —(15 +45). sysiem is |st— (A — BK) + (IS + ks}? + (36 + Aa}y+ (Ay), Equating coefi- Gents of this equation with the eoeificients of the desired characteristic equation yields the gains as K=[ky ks hs] = [2088 373.1 14.97] 12 2101 The controllability matrix is Cu=[B AB A?B]=]1 4 -9], Since 1-41 16 {Cael = $0, Cyc is full tank, that is, rank 3, We conclude that the system iscon irallable. 23 First cheek controllability. The controllability matrix is Cue =[B AB A’B] = oo ft 0 1 =17 | Since (C,| = 1-9 8 the system is controllable. We now find the desired characteristic equation. A20% “ni 4, Cones full ran, that is, rank 3, Weeunelude that evershool requires ¢ =O _ 9.456, Also, ay = = 4386 rad/s. fee + 0g (* aa + (i) Scanned with CamScanner44 Solutions toSkill-Assessmen! Exercises Thus the characteristicequation iss? + 2tays + 449-4 19.24, Adding apole al =4 to cancel the zere at ~6 yields the rexul ting desired characteristic equation (PF +4e4 19.28) (6 46) 8 $10? + 0.2404 11545, +6) 46 Sine Gl) — ae NG HEE GE EE om We the ae o 1 0 a variable represeniaion os A= fod aI sos 191 —24 1 [6 LO) The compensated system mutris in phase-varluble farm is Ay — BpKy = 0 1 © 6 6 1 The churacteristie equation for this (S084) —(191 ths) 24+ 4a) ssjstem is [al — (Ay —BpKp)| = 5" + (24 + kale? + (191 + da)s + (SO4-+ ki), Equat- Ing coeicients of this equation with the coefficients of the desired characteristic ‘equation yields the gains as Kp=[k, fy] =[—388S5 —147.7 14], We ‘now develop the transformation matrix Lo transform back lo the cesystem. ooo 1 Ca: Cee 1-9 at ooo 8 Ca oo1 -34 1-24 38s Therefire, oO 0 1 )fi a6 1 1 oo o 1 -7])% 1 of-;7 10 1-9 sij[i oo) [wt io a Hence, asass 14776 —uj]—7 1 49 15 1 = [#023 62.24 —14] 1214 (44h) 10 Far the given systeme, = (A —LC}e,= | (191 +4) 0 1 Jey, Theeharacteristic (+4) 0 0 polynomial is given by |[pL—(A-LO||=s9+ (24h) + (9b + Ade + (S444). Now we find the desived characteristic equation. The daminamnt poles trom Skill-Assexsment Exercise 123 come from (5+ 4r + 19.24). Factoring yields (2+ 8.9) and (—2 — 59). Increasing these poles by a factor of 10 and adding a third pole 10 times the real part of the dominant second-order poles yields the Scanned with CamScannerClupter 12 Solutions ta Skil Assesment Exercises, 45 desired characteristic polynennial, (x +20 + j39)(s +20 — 9) (9 4 200) = 23 4 240s" +992 L5 + 384200. Equuting coe ficientsof the desired characteristic equation to the 26 syslem's characteristic equation yields L= | 9730 383606 2S c 4 6 8 The observability matrix is Oy=| CA] =|-64 -9 78], where cat 674 HS BI4 2 23 32 APs] -T 4-11]. The matrix is of full rank, that is rank 3, sinee 1795 44 [0.1] =—1876, Thereftre the system is observable 16 The system is represented in cascade farm by the following state and output equations: a 100 0 0-8 tfet]olw a 0-9 1 yl 0 of G 1 00 The observaility matrix is Ous=] GA, [=]-7 1 a], 49-15 Gal 1 49-15 1 1 where AZ= | 0 64 -17]. Since G(s) =———+ _ TAWA 0 oO aL (e+ (r+ Bi(s4 9) 1 FEST Tote pau ME Sat Wile the observable eananieal form as 410 0 a=|-1 0 tfxs fala 1 sol 0 0 [1 0 oO G 1 0 0 The observabilily matrix for this form is Ow =|GA,| =|-24 tof, cat MS 24 1 Scanned with CamScanner46 Solutions toSkill-Assessmen! Exercises where BS 41 Ai= | 4030-191 0 12096 50h. ‘We next find the desired characteristic equation. A 10% overshoot Tequires “s(ra) 4 0.591. Also, a), = = 67.66 rad /s. Thus theecharacteristic ‘equation is 2 + 2tans + a3 = s+ 8ily + 457842. Adding a-pole al —400, or 10 times the real part of the dominant second-order poles, yields the resulting desired character- istic equation, (+ 80y 4 4578.49) (s 4 400) = Fy 480P 4 3689004 13LrO For the system reprewenied in observaNe canmnical form © =(Ay—~ LC.) 6 = -4+h) 10 (1944) 0 Lfe. The characteristic polynomial is given by Ody) 0 0 [lt (A, — Ey) Se? 4 (244 At 4 (19 4 + (Sh), Equating eel ienls of the desired characteristic equation to Lhe system's characteristic extn 486 ylelk Ly = | 36,389 1,280, 4% ‘Now, develop the transformation matrix between the observer canonical and cascade forms he 49 -1s t] [ass -24 1 Leoy. ag so is 1] [ass -2 1 1 00 =|-17 4 sl 9 1 Finally 1 0 OF 436 458 456 L,=PL,=]-17 1 0]} 36,399 |=] 2867 || 28,640 ai -9 1] [1,830,496] [1,880.08] [1,540,000 Scanned with CamScannerClupter 12 Solutions ta Skil Assesment Exerises, 47 7 ‘We fimt find the desired characteristic equation. A 10% overshoot requires % ~s(ica) ‘Also, ayy =——7 = 1,948 rad/s. Thus, the characteristic equation is s+ Twl-e een tod =s?-+2.3143.79. Adding a pole at —4, which corresponds to the ‘original system's zere location, yields the resulling desired characteristic equation, (2423543 W]e 44) ab 46 2E 4 Le 4 S16 vow [2] =[ Te? OLD free te a] where o 41)_fo 0 7-9) Lk ke sme-[4 fu a ~ [eae “e+iy] c=[4 4] mf [f] Thus ay a t 0 m1 a or ve] =|-74k) -9 44a) ke | foe + [poet 1 olf ss]. 1 4 -1 0} [ay ay Finding the characteristic equation of this system yields ABR) BK, soo 0 1 ooo jx-[' Te BN J=|[o « o]-|-o+i) -e+6) & ~ os 4 -1 0 5 -1 0 =|PT +e) 4 (9+ ka) he |] 08+ 94 habe +07 + det ede ty 4 1 : Equating this polynornial to the desired characteristic equation, PEGA HW HIST +O FAH Hh + belt tthe Solving fr the k's, 2-2.) ane, =3.79 Scanned with CamScannerSolutions toSkill-Assessmen! Exercises CHAPTER 13 13.1 J men(atTy 0) =F sated UG ET; Fisj= Ysin(akT Bu, é Thus eMer ger rs “Heel pea sin(wi7) aie 13.2 z = 46.875. — 1475 7-05 i Fiz) = 46.875. 143 Hence, G.(z) Scanned with CamScannerClupter 13 Solutions ta Skil Assesment Exerises, 49 Therelure, Gz For T= q mA ‘Add phantom saimplets lo the Lnpul, fecdbuck aller H7(3}, and to the output, Push, G,()G_(0) along with its input sampler, tothe rightpast the pickaff point and obtain the block diagram shawn below. ews, may | G06, LF Hence, T(z) ns 20 Gi)_ 0s tet Gis) = 28 tet G(s) S204 taking the inverse TE = Gr aa ene Laplace transfarm and lelling 1= AT, g.(£7) = 4—4e-4¥ Taking the 2teansform ; 4z(t-e7) yields Gx(z) Now, Ge that the pole is greater than tif T > 12s Hence, the syslem is stable far Oc T0122 136 +1 Substituting = into D(z) =z? — 2 — 0.82 +03, we obtain D(s) =f — 8 =21s 6, The Raulh table far this polynomial is shown below: s 1 -7 ge -8 -6 * —2a5 a 2 ~6 a Since there isone signehunge, we conclude that the system has one pole outside the unit circle and two poles inside the unit drele, The table did not produce a row of zeros and thus, there are no jai poles, The system is unsluble hecause of the pole outside the unit circle. Scanned with CamScanner50 Solutions toSkill-Assessmen! Exercises 137 Defining G(s) as G(s) in cascade with w serw-order-hold, =m(l-e [4 7 MA 2/5 =m a mit G49 +5). Taking the <-Lransform yields Glx) =™ (1-2 Hence far T= 0.1 seeund, Ky =A tim(e —1'Gtz) =0. Checking for stability, we find that the system is 7 1.109 stable for T=01 second, since Te ste inside the unit cireleat —0.957and + 0,735. Again, checking far stability, we find that the system ig unswble for F=OS8 seeond, since F(z}= 02 — 0.653 D4 2hiDe — 0677? 3 OL, respectively 13.8 Draw the rout locus superimpused aver the £— 05 curve shawn below: Searching along a $4.3” line which intersects the rool locus and the ¢ = 0S curve, we final the ‘paint 0.587542" — (OMS + j0468) and K—= O31. has piles inside and outside the unit eirele al 0.208 and i, i 19 Let 1k 2384283) 3a L289 Gals) = GIGS) = ee cease sie iF TON FOZ) ste Fis + LON) FZ] Scanned with CamScannerClupter 13 Sclutions ta Skil Assesment Exerises. s1 The following shows the frequency response of G, (ja) Hae Diagrams k ‘Magic fl) = - -m -250 ~~ ar ae i rs io! Frequency grades} We find that the zero dB Erequetey, any, for G,(jo) is 39 radia Using Astromn’s guideline the value of F should be in the range, 0.15/ay, =0.0038 second io. O5fow, =0.0128 second. Let us use F=OA0L second, Now find the Tustin transformation for the ‘compenialor,, ‘Substituting =F ine Gtr) = 238s +253) J 22) with T= 001 seco yields 0975 Gc) = 2H EO. ae ao (Crens-multiply and obtain (2 — 1.908 + 0907S (z} = (1899 — 3761z + 1861) E[z}. Sulve for the highest power of x operating on the oulpui, X{z), and obtain <*¥(z)= (1890=* —376iz + 1861) Elz) — (—1908z +0975) Xz), Solving for X(c) on the left-hand side yields =) Scanned with CamScanner52 Solutions toSkill-Assessmen! Exercises Xz) = (1809 —376te- + LBA} Efe) (-L90Be-# 4 0.90785-2) Xz}. Finally, ‘we implement this lust equation with tie follawing Gow chart eo x 1 1a I Day Delay OU sean (4 secon! =m -goy fxeau Day Delay 4 sean 4 second leva me Be! ant aos Scanned with CamScanner