BANS 10/21/2014 9:49:58 Page 889

Answers to Selected
Problems

Chapter 1


2 2 8
20. c. x…t† ˆ e 4t
cos 3t ‡ sin 3t
5 5 15
21. b. x…t† ˆ e t ‡ 9te t ‡ 5e 2t
‡t 2

Chapter 2
15 3 18 1
4. b. x…t† ˆ e 2t
e 4t
cos 3t sin 3t
26 10 65 65
Y…s† s3 ‡ 4s2 ‡ 6s ‡ 8
8. ˆ
X…s† s3 ‡ 3s2 ‡ 5s ‡ 1

d3 x d2 x dx df
9. c. 3
‡ 11 2
‡ 12 ‡ 18x ˆ ‡ 3f …t†
dt dt dt dt
V o …s† 1
17. a. ˆ
V i …s† s ‡ 2

V o …s† s2 ‡ 2s ‡ 2
19. b. ˆ 4
V i …s† s ‡ 2s3 ‡ 3s2 ‡ 3s ‡ 2

θ2 …s† 3
36. ˆ
T…s† 20s2 ‡ 13s ‡ 4

θ2 …s† 0:011
37. ˆ
T …s† …s ‡ 0:29†…s ‡ 2:26†

θ 2 …s† 0:08
46. ˆ
E a …s† s…s ‡ 0:8†

889
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890 Answers to Selected Problems

Chapter 3
1.
2 3 2 3 2 3
di2 2 1 1 2
6 dt 7 6 5 10 10 7 2 3 6 7
6 7 6 7 i2 657
6 di4 7 6 1 4 4 76 7 6 1 7
7 6
6 7 6 4 i4 5 ‡ 6 7
6 dt 7 ˆ 6 5 7 7 vo
6 7 6 5 5 7 657
4 5 4 2 8 2 5 vo 425
dvo
dt 5 5 5 5
2 3
i2
6 7
y ˆ vo ˆ ‰ 0 0 1 Š6
4 i4 5
7

vo
Note: L1 is left-most inductor in Figure P3.1 in the text.

11. a. 2 3 2 3
0 1 0 0 0
6 7 6 7
6 0 0 1 07 607
x_ ˆ 6
6
7x ‡ 6 7r…t†
7 607
4 0 0 0 15 4 5
13 5 1 5 1

c…t† ˆ ‰ 10 8 0 0Šx

Y…s† 10
14. a. ˆ 3
R…s† s ‡ 5s ‡ 2s ‡ 3
2

2 3
Deq Kt N1
0 2 3 203
6 J J N 7 ωL
6 eq eq 2 7
18. x_ ˆ 6 0 7 4 5 607
6 1 0 7 θ L ‡ 4 1 5 ea
4 Kb N2 Ra 5 ia
0 La
La N1 La
2 3
  ωL
N2
yˆ 0 0 4 θL 5
N1
ia

Chapter 4
pffiffiffiffiffi pffiffiffiffiffi ! " pffiffiffiffiffi !#
1 1 11 1 11 1 11
14. x…t † ˆ e 0:5t
cos t ‡ pffiffiffiffiffi sin t ˆ 1 1:091e 0:5t
cos t o
16:78 :
6 6 2 11 2 6 2

20. a. ζ ˆ 0:375; ωn ˆ 4 rad/s; T s ˆ 2:67 s; T p ˆ 0:847 s; %OS ˆ 28:06

23. a. s ˆ 6:67  j9:88

38. s ˆ 1:5  j3:428

39. a. s3 8s2 11s ‡ 8 ˆ 0 b. s ˆ 9:11; 0:534; 1:64

2 2 5t
43. y…t† ˆ e
5 5
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Answers to Selected Problems 891

" #
0:20871t 4:7913t 0:20871t 4:7913t
1:0455e 0:045545e 0:21822e 0:21822e
46. Φ…t† ˆ
0:21822e 0:20871t
‡ 0:21822e 4:7913t
0:045545e 0:20871t
‡ 1:0455e 4:7913t

 
1:0455e 0:20871t 0:045545e 4:7913t
x…t† ˆ
0:21822e 0:20871t ‡ 0:21822e 4:7913t

y…t† ˆ 0:60911e 0:20871t

‡ 0:39089e 4:7913t

77. D ˆ 0:143 N-m-s/rad

80. R ˆ 912 Ω

Chapter 5
C…s† G3 …G1 G2 ‡ 1†
2. ˆ
R…s† 1 ‡ G1 H 1

C…s† G1 G2 ‡ G3
4. ˆ
R…s† 1 ‡ G3 H ‡ G1 G2 H ‡ G2 G4

C…s† G1 G5
6. ˆ
R…s† 1 ‡ G1 G2 ‡ G1 G3 G4 G5 ‡ G1 G3 G5 G6 G7 ‡ G1 G5 G8

C…s† G4 G6 ‡ G2 G5 G6 ‡ G3 G5 G6
9. ˆ
R…s† 1 ‡ G6 ‡ G1 G2 ‡ G1 G3 ‡ G1 G2 G6 ‡

G1 G3 G6 ‡ G4 G6 G7 ‡ G2 G5 G6 G7 ‡ G3 G5 G6 G7
C…s† G1 G2 G3 G4
26. ˆ
R…s† 2 ‡ G2 G3 G4 ‡ 2G3 G4 ‡ 2G4

C…s† G1 G6 G7 …G2 ‡ G3 †…G4 ‡ G5 †

27. ˆ
R…s† 1 G6 G7 H 3 …G2 ‡ G3 †…G4 ‡ G5 † G6 H 1 G7 H 2 ‡ G6 G7 H 1 H 2

C…s† s3 ‡ 1
28. ˆ 4
R…s† 2s ‡ s2 ‡ 2s

30. c. 2 32 3
2 1 0 0 0
6 7 6 7
6 0 2 0 07 617
x_ ˆ 6
6 0
7x ‡ 6 7r
7 617
4 0 5 05 4 5
0 0 0 6 1
 
1 1 1 1
y ˆ x
6 72 9 8

37. 2 2 3
3
0 1 0 0 0
6 7 6 7
6 2 0 1 07 607
x_ ˆ 6
6 0
7x ‡ 6 7r
7 607
4 0 0 15 4 5
5 1 0 0 1
y ˆcˆ‰ 5 1 0 0Šx
65. DL ˆ 3560 N-m-s/rad
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892 Answers to Selected Problems

Chapter 6
1. 2 rhp, 3 lhp, 0 jω
3. 3 rhp, 2 lhp, 0 jω
4. 1 rhp, 0 lhp, 4 jω
5. 0 rhp, 2 lhp, 2 jω
9. Unstable
17. 1 rhp, 2 lhp, 4 jω
3
23. K > ; K < 1
4
39. a. 4 < K < 20:41; b. 1:36 rad/s
41. a. 0 < K < 22:22; b. K ˆ 22:22; c. s ˆ  j1:1547; 6:393; 2:607
2
42. <K<0
3

Chapter 7
4. estep …∞† ˆ 0; eramp …∞† ˆ 93:33; eparabola …∞† ˆ ∞
7. e_ …∞† ˆ 0:9
10. a. %OS ˆ 14:01; b. T s ˆ 0:107 sec; c. estep …∞† ˆ 0;
d. eramp …∞† ˆ 0:075; e. eparabola …∞† ˆ ∞
1
13. a. Kp ˆ ; Kν ˆ 0; Ka ˆ 0; b. e…1† ˆ 37:5; 1; 1; respectively;
3
c. Type 0
20. K ˆ 70000
27. ⠈ 1; K ˆ 1:16; α ˆ 7:76; or ⠈ 1; K ˆ 5:16; α ˆ 1:74
32. a. K ˆ 831; 744; a ˆ 831:744
36. K 1 ˆ 156:8; K f ˆ 7:44
40. a. Step: e…∞† ˆ 0:1622; ramp: e…∞† ˆ ∞

Chapter 8
16. Breakaway point ˆ 2; asymptotes: σa ˆ 13/3; jω-axis crossing ˆ  j6:3
7
19. b. Asymptotes: σ a ˆ ; c. K ˆ 60:2; d. K ˆ 1:88
3
20. K ˆ 9997; α ˆ 7
5
23. a. σ a ˆ ; b. s ˆ 1:38; 3:62; c. 0 < K < 126; d. K ˆ 10:3
2
26. b. K ˆ 9:4; c. T s ˆ 4:62 s; T p ˆ 1:86 s; d. s ˆ 4:27; e. 0 < K < 60
30. α ˆ 4
39. a. 0 < K < 4; b. K ˆ 1090; c. K ˆ 690
42. a. K ˆ 170:1; b. K ˆ 16:95

Chapter 9
s ‡ 0:7
1. Gc …s† ˆ ; K ' 13:8 for both cases; K pO ˆ 1:38; K pN ˆ ∞;
s
%OSO ˆ %OSN ˆ 9:48; T sO ˆ T sN ˆ 4:36 s
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Answers to Selected Problems 893

9. a. s ˆ 3:33  j5:519; b. Angle ˆ 73:309°; c. s ˆ 4:985

d. K ˆ 187; e. s ˆ 1:66; 11:7
10. a. s ˆ 2:4  j4:16; b. s ˆ 6:06; c. K ˆ 29:12;
d. s ˆ 1:263; f. K a ˆ 4:8
s‡7
14. a. Gc …s† ˆ ; K ˆ 5452; dominant poles ˆ 4:13  j10:78
s ‡ 37:42
24. a. K uc ˆ 10; K c ˆ 9:95; b. K puc ˆ 1:25; K pc ˆ 6:22;
c. %OSuc ˆ %OSc ˆ 4:32;
d. Uncompensated: exact second-order system, approximation OK;
compensated: closed-loop pole at 0:3, closed-loop zero at 0:5, simulate
e. Approach to final value longer than settling time of uncompensated system
404:1…s ‡ 0:5†…s ‡ 4†
f. GLLC …s† ˆ yields approximately a 5 times
…s ‡ 2†…s ‡ 4†…s ‡ 0:1†…s ‡ 28:36†
improvement in speed.
…s ‡ 7:71†…s ‡ 0:1†
25. Gc …s† ˆ ; K ˆ 1:683
s
29. Poles ˆ 0:758  j1:48; 2:54; zeros—none

Chapter 10
10. System 1: 0 < K < 490:2; System 2: 0 < K < 1:4; System 3: 1 < K < ∞
(Answers are from exact frequency response)
11. a. System 1: GM ˆ 6:38 dB; ΦM ˆ 20:3°
(Answers are from exact frequency response)
15. c. ωBW ˆ 2:29 rad/s
23. System 2: T s ˆ 2:23 sec, T p ˆ 0:476 s, %OS ˆ 42:62
(Answers are from exact frequency response)
40. GM ˆ 6:59 dB, ΦM ˆ 46:9° (Answers are from exact frequency response)

Chapter 11
1. a. K ˆ 2113 (Answer is from exact frequency response)
2. a. K ˆ 2365 (Answer is from exact frequency response)
3. a. K ˆ 575 (Answer is from exact frequency response)
4:611…s ‡ 1:8†
12. Gc …s† ˆ ; K ˆ 2000
…s ‡ 8:3†
(Answer is from exact frequency response)
…s ‡ 0:092†…s ‡ 2:392†
21. Gc …s† ˆ ; K ˆ 27:01
s
(Answer is from exact frequency response)

Chapter 12
s‡3
1. d. For function i: T…s† ˆ
s2 ‡ …k2 ‡ 8†s ‡ …k1 ‡ 16†
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894 Answers to Selected Problems

6:25 27:5 71:25 200…s2 ‡ 7s ‡ 25†

3. b. For function i: G…s† ˆ ‡ ; T…s† ˆ 3
s s ‡ 10 s ‡ 20 4s ‡ as2 ‡ bs ‡ c
where a ˆ …25k 3 110k2 ‡ 285k1 ‡ 120†
b ˆ …750k 3 2200k2 ‡ 2850k1 ‡ 800†
c ˆ 5000k3
and C ˆ ‰ 1 1 1 Š; B ˆ ‰ 71:25 27:5 6:25 ŠT was used
11. a. Uncontrollable; b. Controllable; c. Controllable
14. K ˆ ‰ 92:35 36:78 7 Š for a characteristic polynomial of
…s ‡ 6†…s ‡ 8s ‡ 45:78† ˆ s3 ‡ 14s2 ‡ 93:78s ‡ 274:7
2

23. L ˆ ‰ 671:19 1472:4 ŠT for a characteristic polynomial of s2 ‡ 144s ‡ 14; 400

Chapter 13
3. a. f …kT† ˆ 229:5…0:4†k 504…0:6†k ‡ 275:5…0:8†k

…z ‡ 0:2231†
6. c. G…z† ˆ 0:395
…z 0:2231†…z2 ‡ 0:1857z ‡ 0:04979†

z2 ‡ 2:2699z ‡ 0:2995
8. b. G…z† ˆ 0:0517
…z 1†…z 0:2231†…z 0:4065†

G1 …z†G2 …z†
9. a. T…z† ˆ
1 ‡ G1 …z†G2 H…z†

14. 0 < K < 15:76

1 2
15. a. K p ˆ ; e …∞† ˆ ; K ν ˆ 0; e …∞† ˆ ∞; K a ˆ 0; e …∞† ˆ ∞
2 3
17. K ˆ 18:42 for 15% of overshoot; 0 < K < 134:76 for stability