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Automatic Control Systems 9th Solutions Manual11
Automatic Control Systems 9th Solutions Manual11
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M
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Ninth Edition
AutomaticControlSystems,9thEdition
A
Chapter2Solution
ns
Golnarraghi,Kuo
C
Chapter
2
2
21(a)
Poless:s=0,0,1,
10;
(b) Poles:s=2,,2;
Zeross:s=2,,,.
Zeros:s=0.
Thepoleandzeroats=1ccanceleachotther.
( Poles:s=0,1+j,1j;
(c)
(d)Poles:s =0,1,2,.
Zeross:s=2.
2
2-2)
a)
b)
c)
2
2-3)
M
MATLABcode
e:
21
AutomaticControlSystems,9thEdition
Chapter2Solutions
clear all;
s = tf('s')
22
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Polesandzerosoftheabovefunctions:
(a)
Poles:00101
Zeros:2
(b)
Poles:2.00002.00001.0000
Zeros:01
(c)
Poles:
0
1.0000+1.0000i
1.00001.0000i
Zeros:2
Generatedtransferfunction:
(d)usingfirstorderPadeapproximationforexponentialterm
Poles:
0
2.0000
1.0000+0.0000i
1.00000.0000i
Zeros:
1
23
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
10 22 + 2 1 + 2 102 + 2
;
2 ( 2 + 1)( 2 + 100)
10( j + 2)
2
2
2
1 = tan 1 2 +
( j + 1)( j + 10)
2
10( j + 2)
( j + 1)( j + 10)
22 + 2
=
2
( j + 1)( j + 10) ( j + 1)( j + 10)
2
10( j + 2)( j + 1)( j + 10)
a) =
2 = tan 1 1 +
2
2
2
1
( + 1)( + 100)
1+ 2
j + 2 j + 1 j + 10
=R
22 + 2 1 + 2 102 + 2
2
2
= R(e j1 e j2 e j3 )
3 = tan 1 10 +
10
102 + 2
= 1 + 2 + 3
R=
10 1 + 2 9 + 2
;
( 2 + 1) 2 ( 2 + 9)
10
2
1 1 +
2
=
tan
1
( j + 1) ( j + 3)
1
10
( j + 1)( j + 1)( j + 3)
1+ 2
=
2
10( j + 1)( j + 1)( j + 3)
1 1 +
b) =
=
tan
2
1
( 2 + 1) 2 ( 2 + 9)
1+ 2
j + 1 j + 1 j + 3
R
=
1+ 2 1+ 2 9 + 2
2
= R (e j1 e j2 e j3 )
3 = tan 1 9 +
3
9 + 2
= 1 + 2 + 3
24
AutomaticControlSystems,9thEdition
Chapter2Solutions
10
j ( j 2 + 2 2 )
10 j
(2 2 j 2 )
=
( j 2 + 2 2 ) (2 2 j 2 )
10(2 (2 2 ) j )
c) =
(4 2 + (2 2 ) 2 )
=R
2 (2 2 ) j
= R (e
4 2 + (2 2 ) 2
j
10 4 2 + (2 2 ) 2
10
R=
=
;
2
2 2
2
(4 + (2 ) ) 4 + (2 2 ) 2
2 2
= tan 1
4 2 + (2 2 ) 2
2
4 + (2 2 ) 2
2
R=
1
10 2 + 2 1 + 2
e 2 j
10 j ( j + 1)( j + 2)
1
22 + 2
=
tan
1
j ( j + 1)( j + 2) 2 j
=
e
10 ( 2 + 1)( 2 + 2)
d)
j + 2 j + 1 2 j j / 2
=R
e
2
2
2
2
2 + 1+
2 = tan 1 1 +
= R (e j1 e j2 e j3 )
2
2 + 2
2
1
1+ 2
= 1 + 2 + 3
MATLABcode:
clear all;
s = tf('s')
25
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Nyquist(Ga)
Nyquistplots(polarplots):
Part(a)
26
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-300
-250
-200
-150
-100
-50
Real Axis
Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.5
0.5
Real Axis
Part(c)
27
1.5
2.5
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
80
60
40
Imaginary Axis
20
-20
-40
-60
-80
-7
-6
-5
-4
-3
-2
-1
Real Axis
Part(d)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
28
0.2
0.4
AutomaticControlSystems,9thEdition
2-5)
Chapter2Solutions
G ( j ) =
10
10( j + 2)
10
=
=
2
( j 2)
( + 4)
( 2 + 4)
2
Re {G ( j )} = cos =
a)
( 2 + 4)
Im {G ( j )} = sin =
( 2 + 4)
,
,
= tan 1
( 2 + 4)
( 2 + 4)
R=
10
( 2 + 4)
lim 0 G ( j ) = 5; = tan 1 1
= 90o
0
lim G ( j ) = 0; = tan 1 0 = 180o
1
Real axis intersection @ j = 0
Imaginary axis int er sec tion does not exist.
b&c)
=1
0o
=0
-180o
Therefore:
Re{ G(j) } =
Im {G(j)} =
29
Golnaraghi,Kuo
2 j
( 2 + 4)
AutomaticControlSystems,9thEdition
If Re{G(j )} = 0
If Im{ G(j )} = 0
If = n
Chapter2Solutions
0
0
90
If = n and = 1
If = n and
If = n and
d)
G(j) =
lim
lim
e)
- 90o
G j =
G
j =
-180o
|
G(j) =
= tan-1 ( T) L
210
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
26
Chapter2Solutions
MATLABcode:
clear all;
s = tf('s')
%Part(a)
Ga=10/(s-2)
figure(1)
nyquist(Ga)
%Part(b)
zeta=0.5;
%Part(c)
zeta=1.5;
wn=2*pi*10
Gc=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(3)
nyquist(Gc)
%Part(d)
T=3.5 %assuming value for parameter T
Gd=1/(s*(s*T+1))
figure(4)
nyquist(Gd)
211
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
%Part(e)
T=3.5
L=0.5
Ge=pade(exp(-1*s*L),2)/(s*T+1)
figure(5)
hold on;
nyquist(Ge)
notes:InordertouseMatlabNyquistcommand,parametersneedstobeassignedwithvalues,andPade
approximationneedstobeusedforexponentialterminpart(e).
Nyquistdiagramsareasfollows:
212
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Part(a)
Nyquist Diagram
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-5
-4
-3
-2
-1
Real Axis
Part(b)
Nyquist Diagram
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
213
0.2
0.4
0.6
0.8
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
Part(d)
214
0.2
0.4
0.6
0.8
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Nyquist Diagram
60
40
Imaginary Axis
20
-20
-40
-60
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
Part(e)
Nyquist Diagram
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-0.8
-0.6
-0.4
-0.2
0
Real Axis
215
0.2
0.4
0.6
0.8
AutomaticControlSystems,9thEdition
2-7)
a)
G(j) =
Chapter2Solutions
(1)
(2)
(3)
(4)
b)
0:
90
0
0:
:
=
90
0:
90
G(s) =
|G(j)|
2.5 /
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
G(j):
(1) for term 1/s the phase starts at -90o and at = 2 the phase will be -180o
(2) for higher frequencies the phase approaches -270o
c)
0.01
0.01
for term
1
9
(2)
(3)
d)
G(j) =
G(j)| =1 = 0
G(j)| = 2 = -180o
<1 is zero
= 1, slope = -1 or -10 dB/decade
(3) As is a damping ratio, then the magnitude must be obtained for various when
01
217
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
The high frequency slope is twice that of the asymptote for the single-pole case
Steps for plotting
G:
= 5. For
(2) As is a damping ratio, the phase angles must be obtained for various when
01
28)Usethisparttoconfirmtheresultsfromthepreviouspart.
MATLABcode:
s = tf('s')
218
AutomaticControlSystems,9thEdition
Chapter2Solutions
Part(a)
219
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
-60
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Part(b)
Bode Diagram
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
Frequency (rad/sec)
220
10
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Part(c)
Bode Diagram
60
Magnitude (dB)
40
20
0
-20
-40
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
Frequency (rad/sec)
Part(d)
221
10
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Bode Diagram
10
Magnitude (dB)
0
-10
-20
-30
-40
-50
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
Part(e)
Bode Diagram
0
Magnitude (dB)
-20
-40
-60
-80
-100
Phase (deg)
-120
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
222
10
10
AutomaticControlSystems,9thEdition
2-9)
Chapter2Solutions
Golnaraghi,Kuo
a)
1 2 0
A = 0 2 3
1 3 1
0 0
B = 1 0
0 1
u1 (t )
u (t ) =
u 2 (t )
b)
1
2
3
2
0
4
0
1
1
2 0
0 1
0 0
1
1
2
sG s
g t
g 0
sG s g 0
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
then
, which means:
Which means:
2-13) Consider:
f(t) = g1(t)
g2(t) =
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
1
2
Then
Where
therefore:
1
2
2-14) a)
G s
We know that
=
= sG(s) + g(0)
225
G s
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
0
As
0
Therefore:
b)
0
As
Therefore
which means:
215)
MATLABcode:
clear all;
syms t
s=tf('s')
f1 = (sin(2*t))^2
L1=laplace(f1)
226
AutomaticControlSystems,9thEdition
Chapter2Solutions
% f2 = (cos(2*t))^2 = 1-(sin(2*t))^2
Golnaraghi,Kuo
f3 = (cos(2*t))^2
L3=laplace(f3)
2
MATLABsolutionfor L sin 2t is:
8/s/(s^2+16)
2
2
Calculating L cos 2t basedon L sin 2t
L cos 2 2t =(s^^3+8s)/(s^4+16s^2)
2
verifying L cos 2t :
(8+s^2)/s/(s^2+16)
216)(a)
G ( s ) =
(d)
G ( s ) =
( s + 5)
1
2
s +4
(b)
G ( s ) =
(e)
(s
4s
2
+4
(c)
G ( s) =
1
s+2
kT ( s + 5 )
k =0
227
G ( s ) =
1
1 e
T ( s +5 )
4
2
s + 4s + 8
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
MATLABcode:
clear all;
syms t u
f1 = 5*t*exp(-5*t)
L1=laplace(f1)
f2 = t*sin(2*t)+exp(-2*t)
L2=laplace(f2)
f3 = 2*exp(-2*t)*sin(2*t)
L3=laplace(f3)
f4 = sin(2*t)*cos(2*t)
L4=laplace(f4)
(a) g (t ) = 5te 5t u s (t )
Answer:5/(s+5)^2
(b) g ( t ) = ( t sin 2t + e 2t )us ( t )
Answer:4*s/(s^2+4)^2+1/(s+2)
(c) g ( t ) = 2e 2t sin 2t u s (t )
Answer:4/(s^2+4*s+8)
228
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Answer:2/(s^2+16)
(e) g ( t ) =
5 kT
( t kT )
where(t)=unitimpulsefunction
k =0
218(a)
g (t ) = u s (t ) 2u s (t 1) + 2u s ( t 2) 2u s (t 3) + L
G(s) =
1
s
gT (t ) = u s (t ) 2u s (t 1) + u s (t 2)
GT ( s ) =
1
s
g ( t ) =
s 1+ e
0t2
(1 2e s + e 2 s ) = (1 e s )
1 e
(1 2e s + 2e 2 s 2e 3s + L) =
( t 2 k )u s ( t 2 k )
T
G( s) =
k =0
s (1 e
s 2 2 ks
) e
k =0
1 e
s(1 + e
(b)
G ( s ) =
GT ( s ) =
2
s
2
s
1 2e
0.5 s
+ 2e
1.5 s
( 0.5s )
) s 2 1 + e0.5s
(
)
2 1 e
+L =
(1 2e0.5 s + e s ) = s 2 (1 e0.5 s )
g (t ) = gT (t k )us (t k )
k =0
2e
G ( s) =
k =0
0 t 1
2
s
(1 e
0.5 s 2
ks
0.5 s
(
)
= 2
0.5 s
s (1 + e
)
2 1 e
219)
229
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
G ( s ) =
1
s
(1 e s e 2 s + e 3s ) + s (1 2e s + e 3s )
2-20)
1
1
2-21)
1
1
2-22)
0
230
AutomaticControlSystems,9thEdition
Chapter2Solutions
223
MATLABcode:
clear all;
syms t u s x1 x2 Fs
f1 = exp(-2*t)
L1=laplace(f1)/(s^2+5*s+4);
Eq2=solve('s*x1=1+x2','s*x2=-2*x1-3*x2+1','x1','x2')
f2_x1=Eq2.x1
f2_x2=Eq2.x2
f3=solve('(s^3-s+2*s^2+s+2)*Fs=-1+2-(1/(1+s))','Fs')
HereisthesolutionprovidedbyMATLAB:
Part(a):F(s)=1/(s+2)/(s^2+5*s+4)
Part(b):X1(s)=(4+s)/(2+3*s+s^2)
X2(s)=(s2)/(2+3*s+s^2)
Part(c):F(s)=s/(1+s)/(s^3+2*s^2+2)
231
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
224)
Chapter2Solutions
MATLABcode:
clear all;
syms s Fs
f3=solve('s^2*Fs-Fs=1/(s-1)','Fs')
Answer from MATLAB: Y(s)=1/(s-1)/(s^2-1)
225)
MATLABcode:
clear all;
syms s CA1 CA2 CA3
v1=1000;
v2=1500;
v3=100;
k1=0.1
k2=0.2
k3=0.4
f1='s*CA1=1/v1*(1000+100*CA2-1100*CA1-k1*v1*CA1)'
f2='s*CA2=1/v2*(1100*CA1-1100*CA2-k2*v2*CA2)'
f3='s*CA3=1/v3*(1000*CA2-1000*CA3-k3*v3*CA3)'
Sol=solve(f1,f2,f3,'CA1','CA2','CA3')
CA1=Sol.CA1
CA3=Sol.CA2
CA4=Sol.CA3
232
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
SolutionfromMATLAB:
Chapter2Solutions
Golnaraghi,Kuo
CA1(s)=
1000*(s*v2+1100+k2*v2)/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+
1100*k1*v1+k1*v1*k2*v2)
CA3(s)=
1100000/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+1100*k1*v1+k1*
v1*k2*v2)
CA4(s)=
1100000000/(1100000000+1100000*s*v3+1000*s*v1*k2*v2+1100000*s*v1+1000*k1*v1*s*v2+1000*k1*v1*k
2*v2+1100*s*v1*k3*v3+1100*s*v2*k3*v3+1100*k2*v2*s*v3+1100*k2*v2*k3*v3+1100*k1*v1*s*v3+1100*k1
*v1*k3*v3+1100000*k1*v1+1000*s^2*v1*v2+1100000*s*v2+1100000*k2*v2+1100000*k3*v3+s^3*v1*v2*v3+
1100*s^2*v1*v3+1100*s^2*v2*v3+s^2*v1*v2*k3*v3+s^2*v1*k2*v2*v3+s*v1*k2*v2*k3*v3+k1*v1*s^2*v2*v3
+k1*v1*s*v2*k3*v3+k1*v1*k2*v2*s*v3+k1*v1*k2*v2*k3*v3)
2-26) (a)
G( s) =
1
3s
(b)
G( s) =
2( s + 2)
g (t ) =
3( s + 3)
1 2t 1 3t
e + e
3 2
3
t 0
2.5
s + 1 ( s + 1)
2.5
g ( t ) = 2.5e
s+3
+ 5te
+ 2.5e
3t
t 0
(c)
G(s) =
50
s
20
s +1
30 s + 20
2
s +4
g ( t ) = 50 20 e
( t 1)
] us (t 1)
(d)
1
G( s) =
g (t ) = 1 + 1.069e
(e)
s 1
s + s+2
0.5t
1
s
1
2
s + s+2
s
2
s + s+2
TakingtheinverseLaplacetransform,
[sin 1.323t + sin (1.323t 69.3o )] = 1 + e0.5t (1.447 sin 1.323t cos1.323t )
2 t
g ( t ) = 0.5t e
t 0
233
t 0
AutomaticControlSystems,9thEdition
Chapter2Solutions
b=
2
>>num =
1
>> denom1=[1 1]
denom1 =
1
>> denom2=[1 5 5]
denom2 =
1
>> num*2
ans =
2
10
>> b=num*2
b=
2
>> a=denom
a=
1
10
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
2.5889
-2.0000
0.4000
p=
-3.6180
-1.3820
-1.0000
0
k=[]
If there are no multiple roots, then
0.4
0.9889
2.5889
2
s s + 3.6180 s + 1.3820 s + 1
G s
2e
2e
2e
(h)
235
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
(i)
227
MATLABcode:
clear all;
syms s
f1=1/(s*(s+2)*(s+3))
F1=ilaplace(f1)
f2=10/((s+1)^2*(s+3))
F2=ilaplace(f2)
f3=10*(s+2)/(s*(s^2+4)*(s+1))*exp(-s)
F3=ilaplace(f3)
f4=2*(s+1)/(s*(s^2+s+2))
F4=ilaplace(f4)
f5=1/(s+1)^3
F5=ilaplace(f5)
f6=2*(s^2+s+1)/(s*(s+1.5)*(s^2+5*s+5))
F6=ilaplace(f6)
s=tf('s')
f7=(2+2*s*pade(exp(-1*s),1)+4*pade(exp(-2*s),1))/(s^2+3*s+2) %using Pade command
for exponential term
236
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
f8=(2*s+1)/(s^3+6*s^2+11*s+6)
F8=ilaplace(f8)
f9=(3*s^3+10^s^2+8*s+5)/(s^4+5*s^3+7*s^2+5*s+6)
F9=ilaplace(f9)
SolutionfromMATLABfortheInverseLaplacetransforms:
Part(a):
G ( s) =
1
s( s + 2)( s + 3)
G(t)=1/2*exp(2*t)+1/3*exp(3*t)+1/6
Tosimplify:
symst
digits(3)
vpa(1/2*exp(2*t)+1/3*exp(3*t)+1/6)
ans=.500*exp(2.*t)+.333*exp(3.*t)+.167
Part(b):
G ( s) =
10
( s + 1) 2 ( s + 3)
G(t)=5/2*exp(3*t)+5/2*exp(t)*(1+2*t)
237
AutomaticControlSystems,9thEdition
Part(c):
G( s) =
100( s + 2)
2
s( s + 4 )( s + 1)
Chapter2Solutions
Golnaraghi,Kuo
e s
G(t)=Step(t1)*(4*cos(t1)^2+2*sin(t1)*cos(t1)+4*exp(1/2*t+1/2)*cosh(1/2*t1/2)4*exp(t+1)cos(2*t2)
2*sin(2*t2)+5)
Part(d):
G ( s) =
2( s + 1)
s( s 2 + s + 2 )
G(t)=1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t))
Tosimplify:
symst
digits(3)
vpa(1+1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t)))
ans=1.+.143*exp(.500*t)*(7.*cos(1.32*t)+7.95*sin(1.32*t))
Part(e):
G ( s) =
1
( s + 1) 3
G(t)=1/2*t^2*exp(t)
Part(f):
G( s) =
2( s 2 + s + 1)
s( s + 15
. )( s 2 + 5s + 5)
G(t)=4/15+28/3*exp(3/2*t)16/5*exp(5/2*t)*(3*cosh(1/2*t*5^(1/2))+5^(1/2)*sinh(1/2*t*5^(1/2)))
Part(g):G ( s ) =
2 + 2 se s + 4e 2 s
s 2 + 3s + 2
238
AutomaticControlSystems,9thEdition
G(t)=2*exp(2*t)*(7+8*t)+8*exp(t)*(2+t)
Part(h):
G ( s) =
Chapter2Solutions
Golnaraghi,Kuo
2s + 1
s + 6 s 2 + 11s + 6
3
G(t)=1/2*exp(t)+3*exp(2*t)5/2*exp(3*t)
Part(i):
3s 3 + 10 s 2 + 8s + 5
G ( s) = 4
s + 5 s 3 + 7 s 2 + 5s + 6
G(t)= 7*exp(2*t)+10*exp(3*t)
1/10*ilaplace(10^(2*s)/(s^2+1)*s,s,t)+1/10*ilaplace(10^(2*s)/(s^2+1),s,t)+1/10*sin(t)*(10+dirac(t)*(exp(
3*t)+2*exp(2*t)))
239
AutomaticControlSystems,9thEdition
Ax t
2-28)
Chapter2Solutions
Golnaraghi,Kuo
Bu t
a)
2
b)
2
2
2
2
2-29) (a)
Y (s)
R( s)
(c)
3s + 1
3
s + 2 s + 5s + 6
Y (s)
R( s)
(b)
(d)
s ( s + 2)
4
s + 10 s + 2 s + s + 2
Y (s)
R( s)
Y (s)
R( s)
5
4
s + 10 s + s + 5
1 + 2e
2
2s + s + 5
e)
4
As X s
e Y s , then
240
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
Then:
f)
As a result:
230)
AftertakingtheLaplacetransform,theequationwassolvedintermsofY(s),andconsecutivelywasdividedby
inputR(s)toobtainY(s)/R(s):
MATLABcode:
clear all;
syms Ys Rs s
sol1=solve('s^3*Ys+2*s^2*Ys+5*s*Ys+6*Ys=3*s*Rs+Rs','Ys')
Ys_Rs1=sol1/Rs
sol2=solve('s^4*Ys+10*s^2*Ys+s*Ys+5*Ys=5*Rs','Ys')
Ys_Rs2=sol2/Rs
sol3=solve('s^3*Ys+10*s^2*Ys+2*s*Ys+2*Ys/s=s*Rs+2*Rs','Ys')
Ys_Rs3=sol3/Rs
sol4=solve('2*s^2*Ys+s*Ys+5*Ys=2*Rs*exp(-1*s)','Ys')
Ys_Rs4=sol4/Rs
241
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Chapter2Solutions
Golnaraghi,Kuo
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
MATLABAnswers:
Part(a):
Y(s)/R(s)=(3*s+1)/(5*s+6+s^3+2*s^2);
Part(b):
Y(s)/R(s)=5/(10*s^2+s+5+s^4)
Part(c):
Y(s)/R(s)=(s+2)*s/(2*s^2+2+s^4+10*s^3)
Part(d):
Y(s)/R(s)=2*exp(s)/(2*s^2+s+5)
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
231
MATLABcode:
clear all;
s=tf('s')
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
[num,den]=tfdata(Eq,'v');
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Chapter2Solutions
Golnaraghi,Kuo
[r,p] = residue(num,den)
%Part d
Eq=5*(pade(exp(-2*s),1))/(s^2+s+1); %Pade approximation oreder 1 used
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
[num,den]=tfdata(Eq,'v');
[r,p] = residue(num,den)
Thesolutionsarepresentedintheformoftwovectors,randp,whereforeachcase,thepartialfraction
expansionisequalto:
243
AutomaticControlSystems,9thEdition
Chapter2Solutions
r
r
r
b( s )
= 1 + 2 + ... + n
a( s ) s p1 s p 2
s pn
Followingarerandpvectorsforeachpart:
Part(a):
r=0.6944
0.9375
0.2431
0.4167
p=6.0000
4.0000
0
0
Part(b):
r=0.2500
0.25000.0000i
0.2500+0.0000i
0.2500
p=2.0000
1.0000+1.0000i
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AutomaticControlSystems,9thEdition
1.00001.0000i
Chapter2Solutions
Part(c):
r=0.1500
1.2500
1.4000
2.0000
p=5
1
0
0
Part(d):
r=10.0000
5.00000.0000i
5.0000+0.0000i
p=1.0000
0.5000+0.8660i
0.50000.8660i
245
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Part(e):
r=110.9400
110.9400
100.0000
p=4.3028
0.6972
0
Part(f):
r=0.2400+0.3200i
0.24000.3200i
4.4800
1.6000
4.0000
p=0.0000+1.0000i
0.00001.0000i
0.5000
0.5000
0
246
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AutomaticControlSystems,9thEdition
Part(g):
Chapter2Solutions
r=0.1000+0.0500i
0.10000.0500i
1.1000+0.3000i
1.10000.3000i
p=0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
Part(h):
r=5.0000
1.0000
9.0000
2.0000
1.0000
p=2.0000
1.0000
1.0000
0
0
247
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
232)
Chapter2Solutions
MATLABcode:
clear all;
syms s
%Part a
Eq=10*(s+1)/(s^2*(s+4)*(s+6));
ilaplace(Eq)
%Part b
Eq=(s+1)/(s*(s+2)*(s^2+2*s+2));
ilaplace(Eq)
%Part c
Eq=5*(s+2)/(s^2*(s+1)*(s+5));
ilaplace(Eq)
%Part d
exp_term=(-s+1)/(s+1) %pade approcimation
Eq=5*exp_term/((s+1)*(s^2+s+1));
ilaplace(Eq)
%Part e
Eq=100*(s^2+s+3)/(s*(s^2+5*s+3));
ilaplace(Eq)
%Part f
Eq=1/(s*(s^2+1)*(s+0.5)^2);
ilaplace(Eq)
248
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AutomaticControlSystems,9thEdition
Chapter2Solutions
%Part g
Eq=(2*s^3+s^2+8*s+6)/((s^2+4)*(s^2+2*s+2));
ilaplace(Eq)
%Part h
Eq=(2*s^4+9*s^3+15*s^2+s+2)/(s^2*(s+2)*(s+1)^2);
ilaplace(Eq)
MATLABAnswers:
Part(a):
G(t)=15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t
Tosimplify:
symst
digits(3)
vpa(15/16*exp(4*t)+25/36*exp(6*t)+35/144+5/12*t)
ans=.938*exp(4.*t)+.694*exp(6.*t)+.243+.417*tPart(b):
G(t)=1/4*exp(2*t)+1/41/2*exp(t)*cos(t)
Part(c):
G(t)=5/4*exp(t)7/5+3/20*exp(5*t)+2*t
249
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Part(d):
G(t)=5*exp(1/2*t)*(cos(1/2*3^(1/2)*t)+3^(1/2)*sin(1/2*3^(1/2)*t))+5*(1+2*t)*exp(t)
Part(e):
G(t)=100800/13*exp(5/2*t)*13^(1/2)*sinh(1/2*t*13^(1/2))
Part(f):
G(t)=4+12/25*cos(t)16/25*sin(t)8/25*exp(1/2*t)*(5*t+14)
Part(g):
G(t)=1/5*cos(2*t)1/10*sin(2*t)+1/5*(11*cos(t)3*sin(t))*exp(t)
Part(h):
G(t)=2+t+5*exp(2*t)+(1+9*t)*exp(t)
250
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
2-33)(a)Polesareat s = 0, 15
. + j16583
.
, 15
. j16583
.
Onepolesats=0.Marginallystable.
(b)Polesareat s = 5, j 2 , j 2
Twopoleson j axis.Marginallystable.
AllpolesintheLHP.Stable.
s = 13387
.
, 16634
.
+ j 2.164, 16634
.
j 2.164 TwopolesinRHP.Unstable.
.
j 22.6023
(f)Polesareat s = 22.8487 j 22.6376, 213487
TwopolesinRHP.Unstable.
2-34) Find the Characteristic equations and then use the roots command.
(a)
p= [ 1 3 5 0]
sr = roots(p)
p=
sr =
0
-1.5000 + 1.6583i
-1.5000 - 1.6583i
(b)
p=
1
10
251
AutomaticControlSystems,9thEdition
Chapter2Solutions
sr =
-5.0000
0.0000 + 1.4142i
0.0000 - 1.4142i
(c)
>> roots([1 5 5])
ans =
-3.6180
-1.3820
-5.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
(e) roots([1 -2 3 10])
ans =
1.6694 + 2.1640i
1.6694 - 2.1640i
-1.3387
252
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Alternatively
Problem234
MATLABcode:
% Question 2-34,
clear all;
s=tf('s')
%Part a
Eq=10*(s+2)/(s^3+3*s^2+5*s);
[num,den]=tfdata(Eq,'v');
roots(den)
%Part b
Eq=(s-1)/((s+5)*(s^2+2));
[num,den]=tfdata(Eq,'v');
roots(den)
%Part c
Eq=1/(s^3+5*s+5);
[num,den]=tfdata(Eq,'v');
roots(den)
253
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AutomaticControlSystems,9thEdition
Chapter2Solutions
%Part d
Eq=100*(s-1)/((s+5)*(s^2+2*s+2));
[num,den]=tfdata(Eq,'v');
roots(den)
%Part e
Eq=100/(s^3-2*s^2+3*s+10);
[num,den]=tfdata(Eq,'v');
roots(den)
%Part f
Eq=10*(s+12.5)/(s^4+3*s^3+50*s^2+s+10^6);
[num,den]=tfdata(Eq,'v');
roots(den)
MATLABanswer:
Part(a)
0
1.5000+1.6583i
1.50001.6583i
Part(b)
5.0000
254
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
0.0000+1.4142i
Chapter2Solutions
0.00001.4142i
Part(c)
0.4344+2.3593i
0.43442.3593i
0.8688
Part(d)
5.0000
1.0000+1.0000i
1.00001.0000i
Part(e)
1.6694+2.1640i
1.66942.1640i
1.3387
Part(f)
255
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
22.8487+22.6376i
Chapter2Solutions
Golnaraghi,Kuo
22.848722.6376i
21.3487+22.6023i
21.348722.6023i
2-35)
(a) s 3 + 25 s 2 + 10 s + 450 = 0
RouthTabulation:
10
25
450
250 450
25
= 8
Twosignchangesinthefirstcolumn.TworootsinRHP.
450
(b) s + 25 s + 10 s + 50 = 0
RouthTabulation:
10
25
50
250 50
25
=8
Nosignchangesinthefirstcolumn.NorootsinRHP.
50
(c) s 3 + 25 s 2 + 250 s + 10 = 0
RouthTabulation:
256
AutomaticControlSystems,9thEdition
250
25
10
6250 10
25
= 249.6
Chapter2Solutions
Golnaraghi,Kuo
Nosignchangesinthefirstcolumn.NorootsinRHP.
10
RouthTabulation:
5.5
10
5.5
55 11
10
= 4.4
24.2 100
4.4
10
10
= 75.8
10
Twosignchangesinthefirstcolumn.TworootsinRHP.
RouthTabulation:
20
15
16
16 15
2
33
= 0.5
40 16
2
16
= 12
48
257
AutomaticControlSystems,9thEdition
396 + 24
33
= 11.27
5411
. + 528
11.27
= 116
.
Chapter2Solutions
Golnaraghi,Kuo
16
0
Foursignchangesinthefirstcolumn.FourrootsinRHP.
(f) s + 2 s + 10 s + 20 s + 5 = 0
RouthTabulation:
10
20
20 20
2
=0
20 10
10
Twosignchangesinfirstcolumn.TworootsinRHP.
(g)
s8
20
16
s7
12
16
s6
12
16
s5
12
12
60
258
16
64
AutomaticControlSystems,9thEdition
Chapter2Solutions
s5
12
60
64
s4
16
3
s3
28
64
s2
0.759
s1
28
s0
-25.3075
0.1537 + 4.2140i
0.1537 - 4.2140i
b) roots([1 25 10 50])
ans =
-24.6769
-0.1616 + 1.4142i
-0.1616 - 1.4142i
c) roots([1 25 250 10])
ans =
-12.4799 + 9.6566i
-12.4799 - 9.6566i
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Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
-0.0402
d) roots([2 10 5.5 5.5 10])
ans =
-4.4660
-1.1116
0.2888 + 0.9611i
0.2888 - 0.9611i
e) roots([1 2 8 15 20 16 16])
ans =
0.1776 + 2.3520i
0.1776 - 2.3520i
-1.2224 + 0.8169i
-1.2224 - 0.8169i
0.0447 + 1.1526i
0.0447 - 1.1526i
f) roots([1 2 10 20 5])
ans =
0.0390 + 3.1052i
0.0390 - 3.1052i
-1.7881
-0.2900
g) roots([1 2 8 12 20 16 16])
260
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
ans =
0.0000 + 2.0000i
0.0000 - 2.0000i
-1.0000 + 1.0000i
-1.0000 - 1.0000i
0.0000 + 1.4142i
0.0000 - 1.4142i
AlternativelyusetheapproachinthisChaptersSection214:
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicbutton
261
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH =
[ 1, 10]
[ 25, 450]
[ -8, 0]
[ 450, 0]
Two sign changes in the first column. Two roots in RHP=> UNSTABLE
2-37) Use the MATLAB roots command same as in the previous problem.
262
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
2-38) To solve using MATLAB, set the value of K in an iterative process and find the roots such that at
least one root changes sign from negative to positive. Then increase resolution if desired.
Example: in this case 0<K<12 ( increase resolution by changing the loop to: for K=11:.1:12)
forK=0:12
K
roots([1251520K])
end
K=
ans =
0
-24.4193
-0.2904 + 0.8572i
-0.2904 - 0.8572i
K=
ans =
263
AutomaticControlSystems,9thEdition
Chapter2Solutions
-24.4192
-0.2645 + 0.8485i
-0.2645 - 0.8485i
-0.0518
K=
ans =
-24.4191
-0.2369 + 0.8419i
-0.2369 - 0.8419i
-0.1071
K=
264
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
ans =
-24.4191
-0.2081 + 0.8379i
-0.2081 - 0.8379i
-0.1648
K=
ans =
-24.4190
-0.1787 + 0.8369i
-0.1787 - 0.8369i
-0.2237
K=
265
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
ans =
-24.4189
-0.1496 + 0.8390i
-0.1496 - 0.8390i
-0.2819
K=
ans =
-24.4188
-0.1215 + 0.8438i
-0.1215 - 0.8438i
-0.3381
K=
7
266
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AutomaticControlSystems,9thEdition
Chapter2Solutions
ans =
-24.4188
-0.0951 + 0.8508i
-0.0951 - 0.8508i
-0.3911
K=
ans =
-24.4187
-0.0704 + 0.8595i
-0.0704 - 0.8595i
-0.4406
K=
267
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
ans =
-24.4186
-0.0475 + 0.8692i
-0.0475 - 0.8692i
-0.4864
K=
10
ans =
-24.4186
-0.0263 + 0.8796i
-0.0263 - 0.8796i
-0.5288
K=
268
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
11
ans =
-24.4185
-0.0067 + 0.8905i
-0.0067 - 0.8905i
-0.5681
K=
12
ans =
-24.4184
0.0115 + 0.9015i
0.0115 - 0.9015i
-0.6046
AlternativelyusetheapproachinthisChaptersSection214:
269
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicbutton
270
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH=
[1,15,k]
[25,20,0]
[71/5,k,0]
[125/71*k+20,0,0]
[k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.
271
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AlternativeProblem236
Chapter2Solutions
Golnaraghi,Kuo
UsingACSYStoolbarunderTransferFunctionSymbolic,theRouthHurwitzoptioncanbeusedtogenerateRH
matrixbasedondenominatorpolynhomial.Thesystemisstableifandonlyifthefirstcolumnofthismatrix
containsNOnegativevalues.
MATLABcode:tocalculatethenumberofrighthandsidepoles
%Part a
den_a=[1 25 10 450]
roots(den_a)
%Part b
den_b=[1 25 10 50]
roots(den_b)
%Part c
den_c=[1 25 250 10]
roots(den_c)
%Part d
den_d=[2 10 5.5 5.5 10]
roots(den_d)
%Part e
den_e=[1 2 8 15 20 16 16]
roots(den_e)
%Part f
den_f=[1 2 10 20 5]
roots(den_f)
272
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Chapter2Solutions
Golnaraghi,Kuo
%Part g
den_g=[1 2 8 12 20 16 16 0 0]
roots(den_g)
usingACSYS,thedenominatorpolynomialcanbeinserted,andbyclickingontheRouthHurwitzbutton,theR
HchartcanbeobservedinthemainMATLABcommandwindow:
Part(a):forthetransferfunctioninpart(a),thischartis:
RHchart=
[1,10]
[25,450]
[8,0]
[450,0]
Unstablesystemdueto8onthe3rdrow.
2complexconjugatepolesonrighthandside.Allthepolesare:
25.3075
0.1537+4.2140iand0.15374.2140i
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Chapter2Solutions
Golnaraghi,Kuo
Part(b):
RHchart:
[1,10]
[25,50]
[8,0]
[50,0]
Stablesystem>>Norighthandsidepole
Part(c):
274
AutomaticControlSystems,9thEdition
RHchart:
Chapter2Solutions
[1,250]
[25,10]
[1248/5,0]
[10,0]
Stablesystem>>Norighthandsidepole
Part(d):
RHchart:
[2,11/2,10]
[10,11/2,0]
[22/5,10,0]
[379/22,0,0]
[10,0,0]
Unstablesystemdueto379/22onthe4throw.
2complexconjugatepolesonrighthandside.Allthepolesare:
4.4660
1.1116
0.2888+0.9611i
0.28880.9611i
275
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Part(e):
RHchart:
[1,8,20,16]
[2,15,16,0]
[1/2,12,16,0]
[33,48,0,0]
[124/11,16,0,0]
[36/31,0,0,0]
[16,0,0,0]
Unstablesystemdueto33and36/31onthe4thand6throw.
4complexconjugatepolesonrighthandside.Allthepolesare:
0.1776+2.3520i
0.17762.3520i
1.2224+0.8169i
1.22240.8169i
0.0447+1.1526i
0.04471.1526i
Part(f):
RHchart:
[1,10,5]
[2,20,0]
276
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AutomaticControlSystems,9thEdition
[eps,5,0]
Chapter2Solutions
[(10+20*eps)/eps,0,0]
[5,0,0]
Unstablesystemdueto((10+20*eps)/eps)onthe4th.
2complexconjugatepolesslightlyonrighthandside.Allthepolesare:
0.0390+3.1052i
0.03903.1052i
1.7881
0.2900
Part(g):
RHchart:
[1,8,20,16,0]
[2,12,16,0,0]
[2,12,16,0,0]
[12,48,32,0,0]
[4,32/3,0,0,0]
[16,32,0,0,0]
[8/3,0,0,0,0]
[32,0,0,0,0]
[0,0,0,0,0]
Stablesystem>>Norighthandsidepole
277
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AutomaticControlSystems,9thEdition
6poleswtzerorealpart:
Chapter2Solutions
0
0
0.0000+2.0000i
0.00002.0000i
1.0000+1.0000i
1.00001.0000i
0.0000+1.4142i
0.00001.4142i
278
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AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
(a) s 4 + 25 s 3 + 15 s 2 + 20 s + K = 0
RouthTabulation:
s
15
25
20
375 20
25
= 14.2
284 25 K
14.2
= 20 176
. K
20 176
. K > 0 or K < 1136
.
K>0
Thus,thesystemisstablefor0<K<11.36.WhenK=11.36,thesystemismarginallystable.The
frequencyofoscillationis0.894rad/sec.
(b) s + Ks + 2 s + ( K + 1) s + 10 = 0
RouthTabulation:
s
K +1
K>0
10
K >1
2K K 1
K
K 1
K
10
9 K 1
9K 1 > 0
K 1
10
lastconditioncannotbemetbyanyrealvalueofK.Thus,thesystemisunstableforallvaluesofK.
279
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Chapter2Solutions
Golnaraghi,Kuo
(c) s + ( K + 2 ) s + 2 Ks + 10 = 0
RouthTabulation:
s
2K
K+2
10
K > 2
2 K + 4 K 10
K + 2K 5 > 0
K+2
10
orK>1.4495.Thus,theconditionforstabilityisK>1.4495.WhenK=1.4495thesystemis
Thefrequencyofoscillationis1.7026rad/sec.
(d) s + 20 s + 5 s + 10 K = 0
RouthTabulation:
20
10 K
100 10 K
20
= 5 0.5K
K>0
10 K
Theconditionsforstabilityare:K>0andK<10.Thus,0<K<10.WhenK=10,thesystemis
equationis s = 5. Thefrequencyofoscillationis2.236rad/sec.
280
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Chapter2Solutions
Golnaraghi,Kuo
(e) s + Ks + 5 s + 10 s + 10 K = 0
RouthTabulation:
s
10
K>0
10 K
5K 10 > 0 or K > 2
5 K 10
K
10 K
50 K 100
s
10 K
K
5K 10
50 K 100 10 K
5 K 10 K > 0
5 K 10
K
s
K>0
10 K
Theconditionsforstabilityare:K>0,K>2,and 5 K 10 K > 0.
UseMatlabtosolveforkfromlastcondition
>>symsk
>>kval=solve(5*k10+k^3,k);
>>eval(kval)
kval=
1.4233
0.7117+2.5533i
0.71172.5533i
SoK>1.4233.
Thus,theconditionsforstabilityis:K>2
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Chapter2Solutions
Golnaraghi,Kuo
(f) s + 12.5 s + s + 5 s + K = 0
RouthTabulation:
s
12.5
12.5 5
12.5
= 0.6
3 12.5 K
0.6
= 5 20.83 K
K>0
Theconditionforstabilityis0<K<0.24.WhenK=0.24thesystemismarginallystable.Theauxiliary
2
oscillationis0.632rad/sec.
2-39)
3
Thecharacteristicequationis Ts + ( 2T + 1) s + ( 2 + K ) s + 5 K = 0
RouthTabulation:
s
K+2
T
2T + 1
T >0
T > 1 / 2
5K
( 2T + 1)( K + 2 ) 5 KT
K (1 3T ) + 4T + 2 > 0
2T + 1
K>0
5K
Theconditionsforstabilityare:
T>0,K>0,and K <
282
4T + 2
3T 1
.Theregionsofstabilityinthe
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
TversusKparameterplaneisshownbelow.
240UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
283
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Chapter2Solutions
4. ThenpressthetransferfunctionSymbolicbutton.
284
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH=
[1,50000,24*k]
[600,k,80*k]
[1/600*k+50000,358/15*k,0]
[(35680*k1/600*k^2)/(1/600*k+50000),80*k,0]
[24*k*(k^221622400*k+5000000000000)/(k30000000)/(35680*k1/600*k^2)*(1/600*k+50000),
0,0]
[80*k,0,0]
6. FindthevaluesofKtomakethesystemunstablefollowingthenextsteps.
RouthTabulation:
600
50000
24 K
3 10 K
14320 K
600
600
21408000 K K
80 K
K < 3 10
80 K
16
11
7.2 10 + 3113256
.
10 K 14400 K
K>0
80 K
285
K < 21408000
7
12
K 2.162 10 K + 5 10
600(21408000 K )
0
3 10 K
< 0
AutomaticControlSystems,9thEdition
Chapter2Solutions
Conditionsforstability:
Fromthe s row:
Fromthe s row:
Fromthe s row:
K 2.162 10 K + 5 10
Fromthe s row:
K>0
K < 3 10
K < 2.1408 10
Thus,
0
Golnaraghi,Kuo
12
Thus,thefinalconditionforstabilityis:
When K = 2.34 10
When K = 2.1386 10
= 10.6 rad/sec.
= 188.59 rad/sec.
(b)Characteristicequation: s 3 + ( K + 2 ) s 2 + 30 Ks + 200 K = 0
Routhtabulation:
30 K
K+2
200 K
K > 2
30 K 140 K
K > 4.6667
K+2
K>0
200 K
StabilityCondition:K>4.6667
Thefrequencyofoscillationis11.832rad/sec.
(c)Characteristicequation: s + 30 s + 200 s + K = 0
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Chapter2Solutions
Golnaraghi,Kuo
Routhtabulation:
200
30
6000 K
K < 6000
30
K>0
StabililtyCondition:
Thefrequencyofoscillationis14.142rad/sec.
(d)Characteristicequation: s + 2 s + ( K + 3) s + K + 1 = 0
Routhtabulation:
K+3
K +1
K +5
K > 5
30
K > 1
K +1
K>1.WhenK=1thezeroelementoccursinthefirstelementofthe
Stabilitycondition:
s row.Thus,thereisnoauxiliaryequation.WhenK=1,thesystemismarginallystable,andone
ofthethreecharacteristicequationrootsisats=0.Thereisnooscillation.Thesystemresponse
wouldincreasemonotonically.
287
AutomaticControlSystems,9thEdition
Chapter2Solutions
242Stateequation:
Openloopsystem:
x& ( t ) = Ax ( t ) + Bu ( t )
1
A=
10
0
B=
1
Closedloopsystem:
1
A BK =
10 k1
2
0
Golnaraghi,Kuo
x& ( t ) = ( A BK )x ( t )
k 2
Characteristicequationoftheclosedloopsystem:
sI A + BK =
s 1
10 + k1
s + k2
= s + ( k 2 1) s + 20 2k1 k 2 = 0
2
Stabilityrequirements:
k 2 1 > 0 or k 2 > 1
Parameterplane:
243)Characteristicequationofclosedloopsystem:
s
sI A + BK = 0
k1
k2 + 4
s + k3 + 3
= s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
3
288
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
RouthTabulation:
k2 + 4
1
k3 + 3
(k
k 3 +3>0 or k 3 > 3
k1
+ 3 )( k 2 + 4 ) k1
(k
k3 + 3
k
+ 3) ( k + 4 ) k > 0
2
k >0
1
StabilityRequirements:
k3 > 3,
k1 > 0,
(k
+ 3 )( k 2 + 4 ) k1 > 0
244(a)SinceAisadiagonalmatrixwithdistincteigenvalues,thestatesaredecoupledfromeachother.The
secondrowofBiszero;thus,thesecondstatevariable, x 2 isuncontrollable.Sincetheuncontrollable
statehastheeigenvalueat3whichisstable,andtheunstablestate x3 withtheeigenvalueat2is
controllable,thesystemisstabilizable.
(b)Sincetheuncontrollablestate x1hasanunstableeigenvalueat1,thesystemisnostabilizable.
2-45) a)
If
If
, then
or
, then
. As a result:
1
1
289
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Chapter2Solutions
Golnaraghi,Kuo
As a result:
( K p + K d s)
Y ( s)
G ( s) H (s)
=
=
X ( s ) (1 + G ( s ) H ( s )) (( s + 1)( s 2 g / l ) + K p + K d s )
=
c) lets choose
10
( K p + K d s)
( s + ( ( g / l ) + 1) s 2 + K d s g / l + K p )
3
0.1.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
290
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Chapter2Solutions
4. ThenpressthetransferfunctionSymbolicbutton.
291
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheRouthHurwitzpush
button.
RH =
1/10,
kd]
eps,
kp-10]
[ (-1/10*kp+1+kd*eps)/eps,
[
kp-10,
0]
0]
For the choice of g/l or the system will be unstable. The quantity g/l must be >1.
Increase g/l to 1.1 and repeat the process.
292
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Chapter2Solutions
Golnaraghi,Kuo
d) Use the ACSYS toolbox as in section 2-14 to find the inverse Laplace transform. Then plot
the time response by selecting the parameter values. Or use toolbox 2-6-1.
UsetheapproachinthisChaptersSection214:
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicbutton.
293
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Chapter2Solutions
Golnaraghi,Kuo
5. EnterthecharacteristicequationinthedenominatorandpresstheInverseLaplaceTransform
pushbutton.
---------------------------------------------------------------Inverse Laplace Transform
----------------------------------------------------------------
294
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Chapter2Solutions
Golnaraghi,Kuo
G(s) =
kd
kp
[-----------------------[
------------------------------]
[1/10 s + s kd + kp - 10
1/10 s + s kd + kp - 10]
G(s) factored:
kd
[10 -------------------------[
kp
10 --------------------------]
[ s + 10 s kd + 10 kp - 100
s + 10 s kd + 10 kp - 100]
Lets chose g/l=1 and keep =0.1, take Kd=1 and Kp=10.
295
AutomaticControlSystems,9thEdition
Chapter2Solutions
( K p + K d s)
Y (s)
G (s) H (s)
=
=
X ( s ) (1 + G ( s ) H ( s )) (( s + 1)( s 2 g / l ) + K p + K d s )
(10 + s )
(10 + s )
=
2
3
(0.1s + (0.1(1) + 1) s + s 1 + 10) (0.1s + 0.9 s 2 + s + 9)
3
Using ACSYS:
RH =
[ 1/10,
1]
[ 9/10,
9]
[ 9/5,
0]
0]
9,
s + 10
------------------------3
1/10 s + 9/10 s + s + 9
296
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter2Solutions
Golnaraghi,Kuo
G factored:
Zero/pole/gain:
10 (s+10)
----------------(s+9) (s^2 + 10)
297
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Chapter2Solutions
Golnaraghi,Kuo
252)USEMATLAB
symst
f=5+2*exp(2*t)*sin(2*t+pi/4)4*exp(2*t)*cos(2*tpi/2)+3*exp(4*t)
F=laplace(f)
cltF=F/(1+F)
f=
5+2*exp(2*t)*sin(2*t+1/4*pi)4*exp(2*t)*sin(2*t)+3*exp(4*t)
F=
(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)
cltF=
298
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Chapter2Solutions
Golnaraghi,Kuo
(8*s^3+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4)/(1+(8*s^3
+44*s^2+112*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)/s/(s^2+4*s+8)/(s+4))
symss
cltFsimp=simplify(cltF)
NexttypethedenominatorintoACSYSRouthHurwitzprogram.
char=collect(s^4+16*s^3+68*s^2+144*s+160+8*2^(1/2)*s^2+16*2^(1/2)*s+2^(1/2)*s^3)
char=
160+s^4+(16+2^(1/2))*s^3+(8*2^(1/2)+68)*s^2+(16*2^(1/2)+144)*s
>>eval(char)
ans=
160+s^4+4901665356903357/281474976710656*s^3+2790603031573437/35184372088832*s^2+293
1340519928765/17592186044416*s
>>sym2poly(ans)
ans=
1.000017.414279.3137166.6274160.0000
HencetheCharacteristicequationis:
= s 4 + 17.4142 s 3 + 79.3137 s 2 + 166.6274 s + 160
USEACSYSRouthHurwitztoolasdescribedinpreviousproblemsandthisChapterssection214.
RH=
[1,5581205465083989*2^(46),160]
[87071/5000,5862680441794645*2^(45),0]
[427334336632381556219/6127076924293382144,160,0]
299
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Chapter2Solutions
Golnaraghi,Kuo
[238083438912827127943602680401244833403/1879436288300987963959490983755776000,
0,0]
[160,0,0]
Thefirstcolumnisallpositive,andthesystemisSTABLE.
Fortheothersection
symss
G=(s+1)/(s*(s+2)*(s^2+2*s+2))
g=ilaplace(G)
G=
(s+1)/s/(s+2)/(s^2+2*s+2)
g=
1/41/2*exp(t)*cos(t)+1/4*exp(2*t)
cltG=G/(1+G)
cltG=
(s+1)/s/(s+2)/(s^2+2*s+2)/(1+(s+1)/s/(s+2)/(s^2+2*s+2))
cltGsimp=simplify(cltG)
cltGsimp=
(s+1)/(s^4+4*s^3+6*s^2+5*s+1)
NexttypethedenominatorintoACSYSRouthHurwitzprogram.
2100
AutomaticControlSystems,9thEdition
Chapter2Solutions
RH=
[1,6,1]
[4,5,0]
[19/4,1,0]
[79/19,0,0]
[1,0,0]
STABLE
2101
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
Chapter 3__________________________________________________________________________
3-1)
a)
b)
c)
d)
Feedback ratio =
e)
3-2)
Characteristic equation:
31
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
3-3)
1 G1 H 1
H2
G2
G1
1 G1 H 1
G1G2
1 G1 H 1
G3 +
1
1
32
H2
G2
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
3-4)
G2
1 + G 2 G3 H 3
G1
-
G2
1 + G2G3 H 3 + G2 H 2
H1
33
G3
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
G1G2 G3
1 + G 2 G3 H 3 + G 2 H 2
H1
G3
3
3-5)
34
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
3-6) MATLAB
symss
G=[2/(s*(s+2)),10;5/s,1/(s+1)]
H=[1,0;0,1]
A=eye(2)+G*H
B=inv(A)
Clp=simplify(B*G)
G=
[ 2/s/(s+2),
10]
[
5/s, 1/(s+1)]
H=
1
0
0
1
A=
[ 1+2/s/(s+2),
10]
[
5/s, 1+1/(s+1)]
B=
[
[
s*(s+2)/(s^2-48*s-48),
-10/(s^2-48*s-48)*(s+1)*s]
-5/(s^2-48*s-48)*(s+1), (s^2+2*s+2)*(s+1)/(s+2)/(s^2-48*s-48)]
Clp =
[
[
-2*(24+25*s)/(s^2-48*s-48),
10/(s^2-48*s-48)*(s+1)*s]
5/(s^2-48*s-48)*(s+1), -(49*s^2+148*s+98)/(s+2)/(s^2-48*s-48)]
35
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3-7)
33-8)
36
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3-9)
3
3-10)
3
3-11)
37
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3-12)
3-13)
symst
f=100*(10.3
3*exp(6*t)0
0.7*exp(10*t))
F=laplace(f)
symss
F=eval(F)
Gc=F*s
M=30000
symsK
Olp=simplify(K
K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*K
Kt))
s=0
Ess=eval(Clp)
f=
10030*exp(6
6*t)70*exp(10*t)
F=
80*(11*s+75)/s/(s+6)/(s+1
10)
ans=
38
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
(880*s+6000)/s/(s+6)/(s+1
10)
Gc=
(880*s+6000)/(s+6)/(s+10
0)
M=
30000
Olp=
1/375*K*(11**s+75)/s/(s+6
6)/(s+10)
Kt=
0.1500
Clp=
2
20/3*K*(11*s
s+75)/(2500*s^3+40000*ss^2+150000*ss+11*K*s+75*K)
s
s=
0
E
Ess=
2
20/3
3
3-14)
39
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
3-15)
Note: If
G(s)=g(t),then
{easG(s)}=u(ta)g(ta)
symsts
f=100*(10.3*exp(6*(t0.5)))
F=laplace(f)*exp(0.5*s)
F=eval(F)
Gc=F*s
M=30000
symsK
Olp=simplify(K*Gc/M/s)
Kt=0.15
Clp=simplify(Olp/(1+Olp*Kt))
s=0
Ess=eval(Clp)
digits(2)
Fsimp=simplify(expand(vpa(F)))
Gcsimp=simplify(expand(vpa(Gc)))
Olpsimp=simplify(expand(vpa(Olp)))
Clpsimp=simplify(expand(vpa(Clp)))
f=
10030*exp(6*t+3)
F=
(100/s30*exp(3)/(s+6))*exp(1/2*s)
F=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)
Gc=
(100/s2650113767660283/4398046511104/(s+6))*exp(1/2*s)*s
M=
30000
Olp=
1/131941395333120000*K*(2210309116549883*s2638827906662400)/s/(s+6)*exp(1/2*s)
Kt=
0.1500
Clp=
310
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
Golnarraghi,Kuo
2
20/3*K*(2210
03091165498
883*s263882
27906662400
0)*exp(1/2*s)/(87960930
02220800000
0*s^2
5
52776558133
324800000*s+
+2210309116
6549883*K*eexp(1/2*s)*s2638827906
6662400*K*exxp(1/2*s))
s=
0
Ess=
2
20/3
Fsimp=
50*s)*(5.*s6
6.)/s/(s+6.)
.10e3*exp(.5
Gcsimp=
.10e3*exp(.5
50*s)*(5.*s6
6.)/(s+6.)
Olpsimp=
.10e2*K*exp
p(.50*s)*(17
7.*s20.)/s/(s++6.)
Clpsimp=
5
5.*K*exp(.50
0*s)*(15.*s1
17.)/(.44e4*ss^2.26e5*s+1
11.*K*exp(.5
50*s)*s13.*K
K*exp(.50*s)))
3-16)
311
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
3-17)
3-18)
1
1
1
0.5
0.5
0.5
1.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
u1
0.5
z1
3
0.5
1/s
0.5
0.5
u2
0.5
-1
1/s
-6
x2
1
x3
x1
0.5
0.5
-5
1.5
0.5
-0.5
312
1/s
z2
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
3-19)
B1
u
B0
1/s
1
x
313
y
-A1
-A0
3-20)
1/s
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3
3-21)
3
3-22)
314
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
33-23)
315
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3-24)
3
3-25)
3
3-26)
3
3-27)
316
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
33-28)
317
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
33-29)
318
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
3-31) MATLAB
symssK
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=sim
mplify(G/(1+G*H))
place(YN/s)
Yn=ilap
G=
100/(ss+1)/(s+5)
g=
25*exxp(t)+5*exp
p(5*t)+20
H=
K/s
319
Golnarraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
YN=
100*s/(s^3+6*s^2+5*s+100*K)
ApplyRouthHurwitzwithinSymbolictoolofACSYS(seechapter3)
RH=
[1,5]
[6,100*k]
[50/3*k+5,0]
[100*k,0]
Stabilityrequires:0<k<3/10.
320
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
Golnarraghi,Kuo
332)
321
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
Golnarraghi,Kuo
333)M
MATLABsolu
utionsarein
n334.
334)M
MATLAB
clear all
p = [1
1 5 6 10] % Define polynomial
p
s^3+5*s^2
2+6*s+10=0
roots(
(p)
G=tf(1
1,p)
step(G
G)
322
AutomaticControlSystems,9thEdition
Chapter3Solutions
p=
15610
ans=
4.1337
0.4331+1.4938i
0.43311.4938i
Transferfunction:
1
s^3+5s^2+6s+10
323
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
Alternatively:
clear all
syms s
G=1/( s^3 + 5*s^2 + 6*s + 10)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^3+5*s^2+6*s+10)
y =
1/10+1/5660*sum((39*_alpha^2-91+160*_alpha)*exp(_alpha*t),_alpha =
RootOf(_Z^3+5*_Z^2+6*_Z+10))
s =
0
yfv =
0.1000
ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 5 6 10 0] % Define polynomial s*(s^3+5*s^2+6*s+10)=0
[r,p,k]=residue(B,A)
B =
1
A =
1
r =
-0.0152
-0.0424
-0.0424
0.1000
p =
-4.1337
-0.4331
-0.4331
0
k =
[]
10
+ 0.0333i
- 0.0333i
+ 1.4938i
- 1.4938i
SopartialfractionofYis:
1 0.0152
0.0424 + 0.0333i
0.0424 - 0.0333i
+
+
+
s s 4.1337 s 0.4331 + 1.4938i s 0.4331 - 1.4938i
324
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
Golnarraghi,Kuo
335)M
MATLABsolu
utionsarein
n336.
325
AutomaticControlSystems,9thEdition
Chapter3Solutions
336)
clear all
p = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
roots(p)
G=tf(1,p)
step(G)
p =
1
ans =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
Transfer function:
1
----------------------------s^4 + 4 s^3 + 3 s^2 + 5 s + 1
326
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
Alternatively:
clear all
syms s t
G=1/(s^4+4*s^3+3*s^2+5*s+1)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^4+4*s^3+3*s^2+5*s+1)
y =
11/14863*sum((3955*_alpha^3+16873+14656*_alpha^2+7281*_alpha)*exp(_alpha*t),_alp
ha = RootOf(_Z^4+4*_Z^3+3*_Z^2+5*_Z+1))
s =
0
yfv =
1
ProblemfindingtheinverseLaplace.
UseToolbox251tofindthepartialfractionstobetterfindinverseLaplace
clear all
B=[1]
A = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
[r,p,k]=residue(B,A)
B =
1
A =
1
r =
-0.0235
-0.1068 + 0.0255i
-0.1068 - 0.0255i
0.2372
p =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
k =
[]
327
AutomaticControlSystems,9thEdition
A
Chapter3Solution
ns
Golnarraghi,Kuo
3-37)
M
3-38) MATLAB
Use TF
Fcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windo
ow).
TFcal
328
AutomaticControlSystems,9thEdition
Chapter3Solutions
329
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
3-39)
clear all
syms s
P1 = 2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6 % Define polynomial
P2 = s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16 % Define polynomial
solve(P1, s)
solve(P2, s)
collect(P2-P1)
collect(P2+P1)
collect((P1-P2)*P1)
P1 =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
P2 =
s^6+8*s^5+23*s^4+36*s^3+38*s^2+28*s+16
ans =
330
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
-1
-3
i*2^(1/2)
-i*2^(1/2)
-1/4+1/4*i*7^(1/2)
-1/4-1/4*i*7^(1/2)
ans =
-2
-4
i
-i
-1+i
-1-i
ans =
-s^6-s^5+8*s^4+11*s^3+13*s^2+14*s+10
ans =
3*s^6+17*s^5+38*s^4+61*s^3+63*s^2+42*s+22
ans =
-60+2*s^12+11*s^11+8*s^10-54*s^9-195*s^8-471*s^7-796*s^6-1006*s^5-1027*s^4848*s^3-524*s^2-224*s
Alternative:
clear all
P1 = [2 9 15 25 25 14 6] % Define polynomial
roots(P1)
P2 = [1 8 23 36 38 28 16] % Define polynomial
roots(P2)
P1 =
2
ans =
-3.0000
-0.0000
-0.0000
-1.0000
-0.2500
-0.2500
15
25
25
14
+ 1.4142i
- 1.4142i
+ 0.6614i
- 0.6614i
331
AutomaticControlSystems,9thEdition
Chapter3Solutions
P2 =
1
23
36
38
28
16
ans =
-4.0000
-2.0000
-1.0000
-1.0000
0.0000
0.0000
+
+
-
1.0000i
1.0000i
1.0000i
1.0000i
3-40)
clear all
syms s
P6 = (s+1)*(s^2+2)*(s+3)*(2*s^2+s+1) % Define polynomial
P7 = (s^2+1)*(s+2)*(s+4)*(s^2+s+1) % Define polynomial
digits(2)
vpa(solve(P6, s))
vpa(solve(P7, s))
collect(P6)
collect(P7)
P6 =
(s+3)*(s+1)*(2*s^2+s+1)*(s^2+2)
P7 =
(s^2+1)*(s+2)*(s+4)*(s^2+s+1)
ans =
-1.
-3.
1.4*i
-1.4*i
-.25+.65*i
-.25-.65*i
ans =
-2.
-4.
i
-1.*i
-.50+.85*i
-.50-.85*i
ans =
2*s^6+9*s^5+15*s^4+25*s^3+25*s^2+14*s+6
ans =
8+s^6+7*s^5+16*s^4+21*s^3+23*s^2+14*s
332
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
341)
UseToolbox251tofindthepartialfractions
clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
[r,p,k]=residue(B,A)
B =
1
15
56
70
108
80
26
45
46
40
A =
r =
-1.0600
-1.0600
0.9600
-0.1700
-0.1700
2.0000
p =
-1.0000
-1.0000
-2.0000
-0.2500
-0.2500
0
- 1.7467i
+ 1.7467i
+ 0.7262i
- 0.7262i
+ 2.0000i
- 2.0000i
+ 1.3919i
- 1.3919i
k =
[]
333
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
342)Usetoolbox332
clear all
B= conv(conv(conv([1 1],[1 0 2]),[1 4]),[1 10])
A= conv(conv(conv([1 0],[1 2]),[1 2 5]),[2 1 4])
G1=tf(B,A)
YR1=G1/(1+G1)
pole(YR1)
B=
115567010880
A=
29264546400
Transferfunction:
s^5+15s^4+56s^3+70s^2+108s+80
2s^6+9s^5+26s^4+45s^3+46s^2+40s
Transferfunction:
2s^11+39s^10+273s^9+1079s^8+3023s^7+6202s^6+9854s^5+12400s^4
+11368s^3+8000s^2+3200s
4s^12+38s^11+224s^10+921s^9+2749s^8+6351s^7+11339s^6+16074s^5
+18116s^4+15048s^3+9600s^2+3200s
ans=
0
0.7852+3.2346i
0.78523.2346i
2.5822
1.0000+2.0000i
1.00002.0000i
2.0000
0.0340+1.3390i
0.03401.3390i
0.2500+1.3919i
0.25001.3919i
0.7794
C= [1 12 47 60]
D= [4 28 83 135 126 62 12]
G2=tf(D,C)
YR2=G2/(1+G2)
pole(YR2)
C =
1
12
47
60
334
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
D =
4
28
83
135
126
62
12
Transfer function:
4 s^6 + 28 s^5 + 83 s^4 + 135 s^3 + 126 s^2 + 62 s + 12
------------------------------------------------------s^3 + 12 s^2 + 47 s + 60
Transfer function:
4 s^9+76 s^8+607 s^7+2687 s^6+7327 s^5+12899 s^4+14778 s^3+10618 s^2
+ 4284 s + 720
------------------------------------------------------------------------------4 s^9+76 s^8+607 s^7+2688 s^6+7351 s^5+13137 s^4+16026 s^3+14267 s^2+9924
s+4320
ans =
-5.0000
-4.0000
0.0716
0.0716
-1.4265
-1.4265
-3.0000
-2.1451
-2.1451
+
+
-
0.9974i
0.9974i
1.3355i
1.3355i
+ 0.3366i
- 0.3366i
335
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
------------------------------------------------------------------------------2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-8 s^12 - 92 s^11 - 522 s^10 - 1925 s^9 - 5068 s^8 - 9924 s^7 - 14588 s^6
- 15413 s^5 - 9818 s^4 - 406 s^3 + 7204 s^2 + 9760 s +
4800
------------------------------------------------------------------------------2 s^9 + 33 s^8 + 228 s^7 + 900 s^6 + 2348 s^5 + 4267 s^4 + 5342 s^3 + 4640 s^2
+
2400 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +
4.57e007 s^2
+
1.152e007 s
------------------------------------------------------------------------------16 s^21 + 448 s^20 + 5904 s^19 + 49252 s^18 + 294265 s^17 + 1.346e006 s^16
+ 4.909e006 s^15 + 1.465e007 s^14 + 3.643e007 s^13 + 7.648e007 s^12
+ 1.369e008 s^11 + 2.105e008 s^10 + 2.803e008 s^9 + 3.26e008 s^8 +
3.343e008 s^7
+ 3.054e008 s^6 + 2.493e008 s^5 + 1.788e008 s^4 + 1.072e008 s^3 +
4.8e007 s^2
336
AutomaticControlSystems,9thEdition
Chapter3Solutions
Golnaraghi,Kuo
+
1.152e007 s
Transfer function:
-16 s^21 - 448 s^20 - 5904 s^19 - 49252 s^18 - 294261 s^17 - 1.346e006 s^16
- 4.906e006 s^15 - 1.461e007 s^14 - 3.613e007 s^13 - 7.482e007 s^12
- 1.3e008 s^11 - 1.883e008 s^10 - 2.234e008 s^9 - 2.078e008 s^8 1.339e008 s^7
- 2.674e007 s^6 + 6.595e007 s^5 + 1.051e008 s^4 + 8.822e007 s^3 +
4.57e007 s^2
+
1.152e007 s
------------------------------------------------------------------------------8 s^20 + 308 s^19 + 5270 s^18 + 54111 s^17 + 379254 s^16 + 1.955e006 s^15
+ 7.778e006 s^14 + 2.471e007 s^13 + 6.416e007 s^12 + 1.383e008 s^11
+ 2.504e008 s^10 + 3.822e008 s^9 + 4.919e008 s^8 + 5.305e008 s^7 +
4.73e008 s^6
+ 3.404e008 s^5 + 1.899e008 s^4 + 7.643e007 s^3 + 1.947e007 s^2 +
2.304e006 s
337
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Chapter 4__________________________________________________________________________
4-1)
When the mass is added to spring, then the spring will stretch from position O to position L.
, then
41
AutomaticControlSystems,9thEdition
Chapter4Solutions
4-2)
KU
KL
4-3)
a)
1
2
Potential energy:
As we know
, then:
42
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter4Solutions
1
2
1
2
Golnaraghi,Kuo
1
2
By differentiating, we have:
0
0
Since
b)
c)
1
2
where
1
2
1
2
1
2
Then:
1
2
1
2
Or:
43
AutomaticControlSystems,9thEdition
d)
G (s) =
Chapter4Solutions
(ms + K )
2
Transferfunction:
10
s^2+10
44
Golnaraghi,Kuo
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
4-44)
(a)Forceequaations:
2
f (t ) = M 1
d y1
dt
+ B1
Rearraangetheequattionsasfollows:
dt
dy1 dy2 + K y y
( 1 2)
dt dt
+ B3
2
d y2
dy1 dy
dy2
d 2
B3
+ K ( y1 y2 ) + M 2 2 + B2
dt
dt
dt ddt
d y1
dy1
dt
d y2
dt
(B
+ B3 ) dy1
M1
B3 dy1
M 2 dt
dt
(B
B3 dyy 2
M 1 dt
d
+ B3 ) dy2
M2
dtt
K
M1
K
M2
(y
(y
y2 ) +
f
M1
y2 )
(i)Staatediagram:SSince y1 y 2 appearsasone
a
unit,theminimumnumberofintegratorsisthree.
45
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
dy 2
Stateequations:Definethestatevariablesas x1 = y1 y 2 , x 2 =
dx1
dt
= x2 + x3
dx2
dt
K
M2
x1
(B
+ B3 )
M2
(ii)Statevariables: x1 = y 2 , x 2 =
Stateequations:
Statediagram:
dx1
dt
dx3
dt
= x2
= x4
x2 +
dx 2
dt
dx 4
dt
dy 2
M2
dx3
x3
dt
, x3 = y1 , x 4 =
dt
B3
K
M2
K
M1
x1
x1 +
B2 + B3
B3
M1
x2
K
M1
M1
dy1
x1 +
B3
M1
x2
(B
dy1
dt
+ B3 )
M1
x3 +
1
M
dt
x2 +
M2
dt
, x3 =
K
M2
x3
x3 +
B3
M2
B1 + B3
M1
x4
x4 +
1
M1
Transferfunctions:
Y1 ( s )
F (s)
Y2 ( s )
F (s)
M 2 s + ( B2 + B3 ) s + K
2
=
=
s M 1 M 2 s + [( B1 + B3 ) M 2 + ( B2 + B3 ) M 1 ] s + [ K ( M 1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B1 + B2 ) K
B3 s + K
s M 1 M 2 s + [ ( B1 + B3 ) M 2 + ( B2 + B3 ) M 1 ] s + [ K ( M 1 + M 2 ) + B1 B2 + B2 B3 + B1 B3 ] s + ( B1 + B2 ) K
3
(b)Forceequations:
46
}
}
AutomaticControlSystems,9thEdition
2
d y1
(B
(i)Statediagram:
dt
+ B2 ) dy1
dt
Chapter4Solutions
B2 dy 2
M dt
dy2
Golnaraghi,Kuo
dy1
dt
dt
K
B2
y2
Definetheoutputs
oftheintegrators
asstatevariables,
dy
x1 = y 2 , x 2 = 1
dt
.
Stateequations:
dx1
dx 2
x1 + x 2
x1
B1
x2 +
(ii)Stateequations:Statevariables: x1 = y 2 , x 2 = y1 , x3 =
Transferfunctions:
Y1 ( s)
B2 s + K
=
2
F ( s ) s MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
(c)Forceequations:
dt
dx1
dt
dy1
B2
K
B2
dy2
x1 + x3
(i)Statediagram:
dt
dt
B1
dt
dx 2
dt
dx3
= x3
dt
d y2
dt
(B
K
M
F (s)
+ B2 ) dy2
M
B1
Y2 ( s )
dt
47
x1
dy1
dt
x3 +
.
1
B2
MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
B1 dy2
M dt
B1 dy1
M dt
K
M
y2
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Stateequatio
ons:Definetheeoutputsofintegratorsassttatevariables.
(ii)Stateequations:statevariaables: x1 = y1 , x 2 = y 2 , x3 =
dx1
= x2
dt
dx1
dt
= x3 +
1
B1
dxx 2
d
dt
dx 2
dt
= x3
K
M
x1
B2
M
dxx3
x2 +
d
dt
1
M
x2
B2
M
dy 2
dt
x3 +
.
1
M
Statediagram
m:
Transferfuncctions:
Y1 ( s )
F (s)
Ms + ( B1 + B2 ) s + K
2
B1 s Ms + B2 s + K
2
Y2 ( s )
F (s)
1
Ms + B2 s + K
4-55)
48
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
(a)Forceequaations:
y1 =
( f + Mg ) + y 2
Staatediagram:
K2
d y2
dt
B dy 2
M dt
K1 + K 2
M
y2 +
K2
y1
Staateequations:
Deffinethestate
varriablesas:
dy
x1 = y 2 , x 2 = 2
d
dt
.
dx1
dtt
d 2
dx
= x2
dt
K1
M
x1
B
M
Transferfunction
ns:
(b)Forcceequations:
dy1
dt
1
B1
Y1 ( s )
F ( s)
[ f (t ) + Mg ] +
x2 +
( f + Mg )
dy 2
dt
s + Bs + K1 + K 2
Y2 ( s )
K 2 ( Ms + Bs + K1 )
K1
B1
(y
y2 )
1
F ( s)
d y2
dt
1
2
Mss + Bs + K1
M dt
dt M
M
M dt
B1
Stattediagram:(W
Withminimumnumberofinttegrators)
49
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
x1 = y 2 , x 2 = dy 2 / dtt , and x3 = y1 .
Stattediagram:
4-66)
Transferfuncctions:
Y1 ( s )
F (s)
Ms + ( B1 + B2 ) s + K1
2
M s + (B B
[ MB
1
+ MK1 )]
Y2 ( s )
F (s)
Bs + K1
M s + (B B
[ MB
1
+ MK1 )]
a)
y1
y2
K ( y1 y 2 )
K ( y1 y 2 )
mgy& 2
b)
Mgy&1
Then:
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
c)
Obtaining
0
0
1
0
0
1
0
0
1
0001
4-7)(a)Forceequations:
dy1 dy2
dt dt
2
dy1 dy2 = M d y2 + B dy2
t
2
dt
dt
dt dt
f (t ) = K h ( y1 y2 ) + Bh
(b)Statevariables: x1 = y1 y 2 , x 2 =
K h ( y1 y 2 ) + Bh
dy 2
dt
411
AutomaticControlSystems,9thEdition
Stateequations:
dx1
dt
Kh
Bh
x1 +
1
Bh
Chapter4Solutions
dx 2
f (t )
dt
Bt
M
x2 +
1
M
Golnaraghi,Kuo
f (t )
4-8)
sin
sin
sin
cos
sin
sin
cos
sin
sin
sin
cos
sin
sin
cos
4-9)
sin
cos
sin
cos
a)
412
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Fy
m
x(t)
Fx
mg
M
b)
sin
and
cos
cos
sin
sin
sin
cos
cos
sin
413
sin
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Fy1
Fy 2
Fx 2
Fx1
m1 g
m2 g
b)
Kinetic energy
(i) For lower pendulum:
1
2
1
2
sin
cos
sin
cos
1
2
cos
cos
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
0
0
Substituting T and U into the Lagrangian equation of motion gives:
cos
cos
cos
4-11) a)
cos
sin
b)
sin
sin
sin
As:
Then
sin
If we linearize the equation about beam angle = 0, then sin and sin
Then:
415
AutomaticControlSystems,9thEdition
c)
Chapter4Solutions
Golnaraghi,Kuo
Considering
0
0
d)
G ( s) =
1
0
mgd
( s L( J / r 2 + m))
2
clear all
% select values of m, d, r, and J
%Step input
g=10;
J=10;
M=1;
D=0.5;
R=1;
L=5;
G=tf([M*g*D],[L*(J/R^2+M) 0 0])
step(G,10)
xlabel( 'Time(sec)');
ylabel('Amplitude');
Transfer function:
5
-----55 s^2
416
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
4-12) If the aircraft is at a constant altitude and velocity, and also the change in pitch angle does not
change the speed, then from longitudinal equation, the motion in vertical plane can be written as:
sin
cos
Where u is axial velocity, is vertical velocity, q is pitch rate, and is pitch angle.
Converting the Cartesian components with polar inertial components and replace x, y, z by T, D,
and L. Then we have:
1
1
cos
sin
sin
cos
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
b)
If we consider
sin
, then
Which gives:
418
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
For plotting
g state flow diagram, equation
u
(4) muust be rewritten as:
or
1/Ms
1
x
1/s
-B/M
-K
B d
Stateequations:
Transsferfunction:
dt
dx1
dt
J dt
T ( s)
dt
1
s( Js + B )
Stated
diagram:
T (t )
dx 2
= x2
( s )
B
J
x2 +
1
J
(b)Torqueequations:
d 1
2
2 ) +
K ( 1 2 ) = B
Statediagram:(minimumnumbeerofintegratorrs)
dt
d 2
dt
419
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Stateequations:
Stateequations:Let x1 = 2 , x 2 = 1 , and x3 =
Statediagram:
Tran
nsferfunctionss:
(c)Torqqueequationss:
T (t ) = J 1
Stattediagram:
dx1
dt
dx1
dt
1 ( s )
T (s)
K
B
K
B
dx 2
x1 + x 2
x1 +
K
B
dt
x2
dx 2
dt
Bs
B +K
s BJs + JKs + BK
2
d 1
2
dt
+ K ( 1 2 )
K
J
x1 +
= x3
1
J
dx3
dt
2 ( s)
T (s)
d 1
dt
K
J
x1
K
J
x2 +
1
J
s BJs + JK
Ks + BK
K ( 1 2 ) = J 2
420
d 2
2
dt
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
State
eequations:sttatevariables:: x1 = 2 , x 2 =
nsferfunctionss:
Tran
(d)Torqueequationss:
T (t ) = J m
dx1
dt
dx 2
= x2
1 ( s )
T (s)
dt
K
J2
x1 +
K
J2
x3
J2s + K
2
s J 1 J 2 s + K ( J 1 + J 2 )
d m
2
dt
+ K1 ( m 1 ) + K 2 ( m 2 )
d 3
dx
dt
d 2
dt
d 4
dx
= x4
2 ( s)
T (s)
dt
K
J1
421
d 1
x1
d
dt
K
J1
x3 +
1
J1
K
s J 1 J 2 s + K ( J 1 + J 2 )
2
K1 ( m 1 ) = J 1
, x3 = 1 , x 4 =
d 1
2
dt
K 2 ( m 2 ) = J 2
d 2
2
dt
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Statediiagram:
ons: x1 = m 1 , x 2 =
Stateequatio
dx1
dt
= x 2 + x3
T (s)
2 (s)
T (s)
K1
J1
dx3
x1
dt
dtt
K1
Jm
x1
dt
K2
, x 4 = m 2 , x5 =
x4 +
Jm
1
Jm
dx 4
dt
= x3 x5
d 2
dt
dx5
dtt
K2
J2
x4
K1 ( J 2 s + K 2 )
s s + ( K1 J 2 J m + K 2 J 1 J m + K1 J 1 J 2 + K 2 J 1 J 2 ) s + K1 K 2 ( J m + J 1 + J 2 )
2
d 2 m
dt
K1
Jm
s s + ( K1 J 2 J m + K 2 J 1 J m + K1 J 1 J 2 + K 2 J 1 J 2 ) s + K1 K 2 ( J m + J 1 + J 2 )
K 2 ( J 1 s + K1 )
(e)Torqqueequationss:
( m 1 )
K2
Jm
( m 2 ) +
1
Jm
d 1
2
d
dt
K1
J1
Statediagram
m:
422
d m
dt
, x3 =
Transferfuncctions:
1 ( s )
dx 2
d 1
1 )
B1 d 1
J 1 dt
d 2
2
dt
K2
J2
1 )
B2 d 2
J 2 dt
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
SStatevariabless: x1 = m 1 , x 2 =
dx1
Stateequatio
ons:
dx 2 K1
B
= x 2 + x3
=
x1 1 x 2
dt
J1
dt
J1
dt
dt
K1
Jm
, x3 =
x1
K2
Jm
d m
, x 4 = m 2 , x5 =
dt
x4 +
1
Jm
dx4
dt
= x3 x 5
d 2
dx5
dt
dt
K2
J2
x4
B2
J2
x5
Transferfuncctions:
1 ( s )
T (s)
K1 J 2 s + B2 s + K 2
2 (s)
(s)
T (s)
K 2 J 1 s + B1 s + K1
2
(s)
( s ) = s { J 1 J 2 J m s + J m ( B1 + B2 ) s + [( K1 J 2 + K 2 J 1 ) J m + ( K1 + K 2 ) J 1 J 2 + B1 B2 J m ] s
2
dx3
d 1
+ [( B1 K 2 + B2 K1 ) J m + B1 K 2 J 2 + B2 K1 J 1 ] s + K1 K 2 ( J m + J 1 + J 2 )}
4-114)
d 1
2
Tm (t ) = J m
(a))
3 =
N1 N 3
N2 N4
dt
+ T1
T2 =
T1 =
N3
N4
N1
N2
T4 =
T3 =
T2
N3
N4
d 3
2
JL
dt
N3
N4
T4
T4 = J L
dt
T2 = T3
2 =
N1
N2
N1 N 3 d 2 1
T
J
+
Tm = J m
+
=
m
4
2
JL 2
N2 N4
dt
N 2 N 4 dt
d 1
2
423
d 3
N1 N 3
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
(b)
d 1
2
Tm = J m
2 =
N1
N2
dt
+ T1
T2 = J 2
3 =
N1 N 3
N2 N4
dt
d 2
2
T4 = ( J 3 + J L )
+ T3
d 3
T2 = J 2
dt
dt
T1 =
d 2
2
N3
T4 = J 2
N4
dt
N3
N4
(J
N1
N2
3
T3 =
T2
+ JL )
N3
N4
T4
d 3
2
dt
2
2
d 21
N1
N1 N 3
Tm (t ) = J m 2 + J 2 2 + ( J 3 + J 4 ) 2 = J m + J 2 +
( J 3 + J L ) dt 2
dt
N2
dt
N4
dt
N2
N2 N4
N1
d 1
2
d 2
d 2
2
d 3
2
N3
4-15)(a)
2
Tm = J m
Tm = J m
Set
d m
dt
+ T1
d m
2
dt
L
n
d L
T2 = J L
d L
dt
(T
= 0.
dt
+ TL
T1 =
N1
N2
T2 = nT2
J m + nJ + nT
L
L
L
n
+ nJ L
nTm n TL
2
Thus, L =
+ nTL =
m N1 = L N 2
Jm + n JL
2
n =
Optimalgearratio:
J mTL
2 J LTm
J mTL
J LTm
Jm
JL
= 0
J mTL + 4 J m J LTm
wherethe+signhasbeenchosen.
2 J LTm
(b)When TL = 0 ,theoptimalgearratiois
n =
Jm / J L
4-16)(a)Torqueequationaboutthemotorshaft:
2
Tm = J m
d m
dt
+ Mr
d m
dt
+ Bm
d m
dt
Relationbetweenlinearandrotationaldisplacements:
y = r m
(b)TakingtheLaplacetransformoftheequationsinpart(a),withzeroinitialconditions,wehave
Tm ( s ) = J m + Mr
)s
2
( s ) + Bm s m ( s )
424
Y (s) = rm (s)
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Transfferfunction:
Y ( s)
Tm ( s )
s J m + Mr
)s + B
4-117)(a)
d m
2
Tm = J m
dt
T1 = K 2 ( r m r p ) = K 2 ( r m y )
+ r ( T1 T2 )
T1 T2 = M
d y
dt
d m
2
Thu
us, Tm = J m
dtt
+ r ( K1 + K 2 )( r m y )
T2 = K1 ( y r m )
2
d y
dt
= ( K1 + K 2 )( r m y )
(c)Stateequations:
dx1
dt
dx2
= rx3 x2
dt
K1 + K 2
M
x1
dx3
dt
r ( K1 + K 2 )
Jm
(d)Transferfunction:
Y ( s)
Tm ( s )
r ( K1 + K 2 )
s J m Ms + ( K1 + K 2 )(( J m + rM )
2
(e)Charaacteristicequaation:
J m Ms 2 + ( K1 + K 2 )( J m + rM ) = 0
4-118) (a)Systeemequations:
425
x1 +
1
Jm
Tm
AutomaticConttrolSystems,9thEdition
Tm = K i ia = ( J m + J L )
TD =
Blockkdiagram:
d
V
d m
dt
e = r b
(sec)
Chapteer4Solutionss
+ Bm m
ea = Ra ia + La
b = Ks y
dia
dt
Golnarraghi,Kuo
+ K b m
y = n m
y = y ( t TD )
E a ( s ) = KGc ( s ) E ( s )
(b)Forw
wardpathtransferfunction
n:
Clossedlooptranssferfunction:
Y (s)
E (s)
Y ( s)
R(s)
KK i nGc ( s )e
TD s
s {( Ra + La s ) [( J m + J L ) s + Bm ] + K b K i }
KK
K i nGc ( s )e
TD s
s ( Ra + La s ) [ ( J m + J L ) s + Bm ] + K b K i s + KGc ( s ) K i ne
TD s
4-119) (a)Torquueequations:
d m
2
Tm (t ) = J m
dt
+ Bm
d m
dt
+ K ( m L )
K ( m L ) = J L
Statediagram:
426
d L
2
dt
+ BL
d L
dt
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
(b)Transsferfunctions:
L ( s)
Tm ( s )
m (s)
(s)
Tm ( s )
J L s + BL s + K
2
( s)
( s ) = s J m J L s + ( Bm J L + BL J m ) s + ( KJ m + KJ L + Bm BL ) s + Bm K
3
(c)Charaacteristicequaation: ( s ) = 0
t
Tm ( s ) =
dystateperforrmance: Tm ( t ) = Tm = constant.
(d)Stead
Tm
s
J L s + BL s + K
2
Thuss,inthesteadyystate, m = L .
(e)Theesteadystatevvaluesof m and
a L donotdependon J m and J L .
s 0
s 0
J m J L s + ( Bm J L + BL J m ) s + ( KJ
K m + KJ L + Bm BL ) s + Bm K
3
4-220)(a)Torqqueequation:(AbouttheceenterofgravityyC)
2
Thuss,
d
dt
= Ts d 2 sin + Fd d1
Fa d1 = J 1 = K F d1
d
dt
sin
= Ts d 2 + K F d1
d
dt
K F d1 = Ts d 2
(b) Js ( s ) K F d1 ( s ) = Ts d 2 ( s )
(c)With
hCandPintercchanged,thetorqueequationaboutCis:
Ts ( d1 + d 2 ) + F d 2 = J
d
2
dt
Ts ( d1 + d 2 ) + K F d 2 = J
427
d
2
dt
1
Bm
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
( s )
Js ( s ) K F d 2 ( s ) = Ts ( d1 + d 2 ) ( s )
2
(s)
Ts ( d1 + d 2 )
Js K F d 2
2
4-21)(a)Nonlineardifferentialequations:
dx ( t )
With Ra = 0 , ( t ) =
f ( t ) = Ki ( t )ia ( t ) =
dt
dv ( t )
= v(t )
dt
e( t )
Kb v ( t )
= k ( v ) g ( x ) + f ( t ) = Bv ( t ) + f ( t )
= K f i f ( t ) = K f i f ( t ) = K f ia ( t )
Ki e ( t )
2
Kb K f
v (t )
dv ( t )
Thus,
dt
Then, ia ( t ) =
= Bv ( t ) +
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
dt
dv ( t )
= v (t )
dt
= Bv ( t ) + Ki K f ia ( t )
(c)Stateequations: ( t ) asinput.
2
f ( t ) = K i K f ia ( t )
dx ( t )
dt
= v (t )
ia ( t ) = i f ( t ) =
dv ( t )
dt
= Bv ( t ) +
428
(t )
Ki
Kf
Kf
(t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
4-22) Define as the angle between mass m and the horizontal axis (positive in c..c.w. direction):
m
=t
ym
&&
ym = e 2 sin t
Where M is the Mass of the overall block system. M-m is the mass of the block alone.
Y
me 2
G ( s) = =
R Ms 2 + Bs + K
Zero i.c. and input r (t ) = sin t
Note = t . So in case of a step response as asked in the question, is a step input and angle increases
with time i.e. it is a ramp function. Hence, ym is a sinusoidal function, where the Laplace transform of a
429
AutomaticControlSystems,9thEdition
Chapter4Solutions
m =
20.5000
M =
60
K =
100000
Om =
157
B =
60
e =
0.1500
Transfer function:
7.58e004
---------------------60 s^2 + 60 s + 100000
430
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
4-23) a)
Chapter4Solutions
Golnaraghi,Kuo
1
0
If we consider
and
, then:
2
0
0
0
0
0
1
0
0
1
0
0
1
b)
By applying Laplace transform for equations (1) and (2), we obtain:
2
Which gives:
and
2
Therefore:
2
and
, then
431
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
0
So, the state-space model of the system is:
0
0
0
0
1
0
0
1
0
0
1
0
where
as a result:
2
By using Laplace transform we have:
432
AutomaticControlSystems,9thEdition
V
Cs
V
2
Chapter4Solutions
V s
2R
V s
R
V s
Cs
V s
2
CsV s
Golnaraghi,Kuo
V s
2R
Cs
V
s
V s
2
V s
V
s
0
2R
0
0
1
2 RCS 1
RCS
2 RCS 1
i1
Vin
i2
VC1
Then we have:
When
If RL >>R, then
433
RL
VC 2
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Therefore:
1
can be obtained by substituting above expressions into the first equation of the state variables
of the system.
4-26) a) The charge q is related to the voltage across the plate:
The force fv produced by electric field is:
2
Since the electric force is opposes the motion of the plates, then the equation of the motion is written
as:
As we know,
and
, then:
434
AutomaticControlSystems,9thEdition
Since
Chapter4Solutions
Golnaraghi,Kuo
, then :
b) As
If
then
1
2
435
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
If
1
2
where F is required force for holding the core in the equilibrium point against magnetic
field
b)
The current of inductor, i, and the force, F, are function of flux, , and displacement, x.
Also, we know that
436
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
where W is a function of electrical and mechanical power exerted to the inductor, so:
W
i
F
As v =
W
x
L x
2L x
, then:
1
2
c)
Changing the flux requires a sinusoidal movement, and then we can conclude that:
Bx
So:
1
2
Therefore:
V s
F s
2
tan
B
437
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
where F is the external force required for holding the plate in the equilibrium point against the
electrical field.
b) The voltage of capacitors, , and the force, , are function of charge, , and displacement, .
Also, we know
Where W is a function of electrical and mechanical power exerted to the capacitor, so:
2
As
, then:
1
2
c)
438
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
or
_
As an op-amp is modeled with the following equation:
_
1
Then:
1
1
1
1
1
Therefore:
439
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
As
10
1
then:
10
1
which gives:
1
10
It is stable when 1
10
10
0 which means:
10
As a result:
440
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Or
1
As a result:
1
1
4-32) The heat flow-in changes with respect to the electric power as:
where Kf is the heat flow coefficient between actuator and air, T1 and T2 are temperature of
actuator and ambient.
441
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Therefore:
1
1
By linearizing the right hand side of the equation around point
1
2
1
Or
2
If we consider the right hand side of the above equation as two inputs to the system as:
1 or
, then:
and
2
1
4-33) Due to insulation, there is no heat flow through the walls. The heat flow through the sides is:
442
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
2
,
ln
2
,
ln
2
The conduction or convection at:
:
4
:
8
Where
According to the equation (7) and (8), T1 and Tf are state variables.
Substituting equation (3), (4), (5) and (6) into equation (7) and (8) gives the model of the system.
4-34) As heat transfer from power supply to enclosure by radiation and conduction, then:
1
443
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Also the enclosure loses heat to the air through its top. So:
4
Where
5
And Ct is the convective heat transfer coefficient and At is the surface area of the enclosure.
The changes if the temperature of heat sink is supposed to be zero, then:
0
Therefore
where
, as a result:
6
According to the equations (1) and (4), Tp and Te are state variables. The state model of the system
is given by substituting equations (2), (3), and (6) into these equations give.
4-35) If the temperature of fluid B and A at the entrance and exit are supposed to be
TAN and TAX, respectively. Then:
1
2
The thermal fluid capacitance gives:
3
4
From thermal conductivity:
ln
2
444
5
1
and
, and
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Where Ci and Co arre convectivve heat transffer coefficiennt of the inner and outerr tube; Ai andd Ao are
t
the surfface of innerr and outer tuube; Ri and Ro are the raadius of inneer and outer tube.
Substittuting equations (1), (2), and (5) intoo equations (3) and (4) giives the statee model of thhe
system
m.
4-336)(a)Blockkdiagram:
(b)Transferfunction:
( s )
( s)
K1 K 4 e
D s
Js + ( JK L + B ) s + K 2 B + K 3 K 4 e
2
D s
(c)Characteristicequattion:
Js + ( JK L + B ) s + K 2 B + K 3 K 4 e
2
D s
= 0
(d)Transferfunction:
( s )
Charaacteristicequaation:
(s)
K1 K 4 ( 2 D s )
( s)
( s ) J D s + ( 2 J + JK 2 D + B D ) s + ( 2 JK 2 + 2 B D K 2 B D K 3 K 4 ) s + 2 ( K 2 B + K 3 K 4 ) = 0
3
1
2
445
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
2
Therefore:
2
2
As a result:
2
sin
4-38) If the height of the reservoir, the surge tank and the storage tank are assumed to be H, h1 and h2,
then potential energy of reservoir and storage tank are:
where I is a known input and Q2-v is the fluid flow transfer between point 2 and valve. The
behaviour of the valve in this system can be written as:
446
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
According to above equations, it is concluded that Q and h1 are state variables of the system.
The state equations can be rewritten by substituting P2, Pv, Ps and Q2-v from other equations.
4-39)
1 , then
where A and E are cross sectional area and elasticity of the cable; H is the distance between point
O and the bottom of well, and y is the displacement.
On the other hand, Newtons Law gives:
447
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Pa A
Bv 2
Pb A
where B is the viscous friction coefficient, Aw is the cross sectional area of the well; P1 and P2 are
pressures above and below the mass m.
The dynamic for the well can be written as two pipes separating by mass m:
Pb A
Ps A
Q
Q
Ff
P1 A
Pa A
b)
0
8
Where D is the distance between point O and ground, Ps is the pressure at the surface and known.
If the diameter of the well is assumed to be r, the Ff for the laminar flow is
32
Therefore:
448
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
32
32
The state variables of the system are , v, y, Q, Q1.
4-40) For the hydraulic amplifier, we have:
As a result
0
0
sin
cos
0
cos
sin
where L is the length of lever and r is the offset from the center of rotation.
According to the equation of angular motion:
449
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
Also:
2
sin
cos
sin
sin
sin , and
and
450
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
4-41) If the capacitances of the tanks are assumed to be C1 and C2 respectively, then
1
Therefore:
1
1
Asa result:
1
gives:
0
or
4-43)(a)Blockdiagram:
451
0
1
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
(b)Transfferfunction:
TAO ( s )
Tr ( s )
KM KR
(1 + s )((1 + s ) + K
s
KR
3.51
20 s + 122 s + 4.51
2
4-444)
Sysstemequations:
d m
2
Tm (t ) = J m
dt
+ Bm
d m
uation: eo =
Outputequ
Statediiagram:
Transferr
dt
E L
20
+ K ( m L )
K ( m L ) = J L
d L
2
dt
+ Bp
d L
d
dt
fun
nction:
L (s)
Tm ( s )
Eo ( s )
Tm ( s )
s J m J L s + ( Bm J L + B p J m ) s + ( J m K + J L K + Bm B p ) s + Bm K
s J m J L s + ( Bm J L + B p J m ) s + ( J m K + J L K + Bm B p ) s + Bm K
KE / 20
4-445)(a)Statteequations:
d L
dt
=L
d L
dtt
K2
JL
K2
JL
d t
dt
= t
452
d t
dtt
K1
Jt
K1
Jt
AutomaticConttrolSystems,9thEdition
d m
dt
d m
= m
dtt
Bm
Jm
Chapteer4Solutionss
(K
+ K2 )
Jm
m +
K1
Jm
t +
K2
Jm
L +
Golnarraghi,Kuo
1
Jm
Tm
(b)Stateddiagram:
(c)Transfferfunctions:
L (s)
Tm ( s )
K 2 J t s + K1
2
t ( s)
(s)
Tm ( s )
m (s)
(s)
Tm ( s )
J t J L s + ( K1 J L + K 2 J t ) s + K1 K 2
4
( s ) = s[ J m J L s + Bm J L J t s + ( K1 J L J t + K 2 J L J t + K1 J m J L + K 2 J m J t ) s
5
K1 J L s + K 2
+ Bm J L ( K1 + K 2 ) s + K1 K 2 ( J L + J t + J m ) s + Bm K1 K 2 ] = 0
2
(d)Charaacteristicequattion:
(s)
3
s ) = 0 .
(
4-446)
(a)Transfferfunction:
G(s) =
Ec ( s )
E (s)
1 + R2 Cs
1 + ( R1 + R2 ) Cs
(b)Blockdiagram:
453
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
(c)Forwardpathtransferfunction:
m (s)
E (s)
[1 + ( R
K (1 + R2 Cs )
+ R2 ) Cs ] ( K b K i + Ra J L s )
(d)Closedlooptransferfunction:
(e)
m (s)
Fr ( s )
Gc ( s ) =
K K (1 + R2 Cs )
[1 + ( R
+ R2 ) Cs ] ( K b K i + Ra J L s ) + K KK e N (1 + R2 Cs )
1
Ec ( s )
E (s)
(1 + R Cs )
2
R1Cs
Forwardpathtransferfunction:
m (s)
Closedlooptransferfunction:
E (s)
m (s)
Fr ( s )
K (1 + R2 Cs )
R1Cs ( K b K i + Ra J L s )
K K (1 + R2 Cs )
R1Cs ( K b K i + Ra J L s ) + K KK e N (1 + R2 Cs )
4-47) If the incremental encoder provides a pulse at every edge transition in the two signals of channels
A and B, then the output frequency is increased to four times of input frequency.
4-48)(a)
1
K H (s)
K1
H i (s)
1 + K1 H e ( s ) + 1 i
H e (s) +
B + Js
Ra + La s B + Js
Ra + La s
=
=0
m (s)
TL ( s )
r =0
( s)
(s)
Thus,
454
AutomaticControlSystems,9thEdition
H e (s) =
(b)
H i (s)
H i (s)
Ra + La s
H e (s)
m ( s)
= 1+
(R
(R
m (s)
r ( s)
TL = 0
(R
dt
d m
Ra
La
dt
d o
dt
ia +
1
La
Bm d m
J m dt
KL
JL
+ La s )( B + Js )
K1 K b
+ La s )( B + Js )
+
+ La s )( B + Js )
(R
K1 H i ( s )
Ra + La s
1
J
Tm
1
Kb H e (s)
e = K s e
Tm = K i ia
nK L
Jm
( n
o )
T2 =
Tm
2 = n m
o )
Statevariables: x1 = o , x 2 = o , x3 = m , x 4 = m , x5 = ia
Stateequations:
dt
dx 4
dt
dx 2
= x2
dt
nK L
Jm
KL
JL
x1
n KL
Jm
x3
x1 +
Bm
Jm
nK L
JL
x4 +
dx3
x3
Ki
Jm
dt
x5
= x4
dx5
dt
(b)Statediagram:
455
ea = Ke
dx1
+ La s )( B + Js )
e = r o
eb )
+ La s )( ( B + Js )
K1 K i
+ La s )( B + Js ) + K i K b + K1 K i K b H e ( s )
(e
(R
K1 K i K b H e ( s )
K1 K i
4-49)(a)Causeandeffectequations:
dia
= ( Ra + La s )
( s)
K1 K b
Golnaraghi,Kuo
K1 K i
TL = 0
(R
r (s)
( s ) = 1 + K1 H e ( s ) +
Chapter4Solutions
KK s
La
x1
Kb
La
x4
Ra
La
x5 +
KK s
La
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
(c)Forw
wardpathtran
nsferfunction:
o ( s)
e ( s )
KK s K i nK L
(n R K J
+ Ra K L J m + Bm K L La s + K i K b K L + Ra Bm K L
Clossedlooptranssferfunction:
o ( s)
s J m J L La s + J L ( Ra J m + Bm J m + Bm La ) s + n K L La J L + K L J m La + Bm Ra J L s +
4
r ( s )
KK s K i nK L
J m J L La s + J L ( Ra J m + Bm J m + Bm La ) s + n K L La J L + K L J m La + Bm Ra J L s +
5
(n R K J
2
+ Ra K L J m + Bm K L La s + ( K i K b K L + Ra Bm K L ) s + nKK s K i K L
2
Staateequations::
d m
Bm
m +
Statediagram:
dtt
JT
Ki
JT
ia
d m
dt
= m
dia
dt
456
Ra
La
ia +
KK s
La
KK s
La
n m
Kb
La
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
Forrwardpathtraansferfunction
n:
Closedlooptranssferfunction:
o ( s )
e ( s)
o ( s)
r (s)
KK s K i n
s J T La s + ( Ra J T + Bm La ) s + Ra Bm + K i K b
2
KK s K i n
J T La s + ( Ra J T + Bm La ) s + ( Ra Bm + K i K b ) s + KK s K i n
3
Thesam
meresultsasab
boveareobtained.
4-550)(a)Systemequations:
f = K i ia = M T
dv
dt
ea = Ra ia + ( La + Las )
+ BT v
dia
dt
Las
dis
dt
0 = Rs is + ( Ls + Las )
+ eb
dis
dt
Las
dia
dt
othsidesoftheelastthreeequ
uations,withzeroinitialcond
ditions,wehavve
(b)TaketheLaplacetraansformonbo
Ea ( s ) = [ Ra + ( La + Las ) s ] I a ( s ) Las sI s ( s ) + K bV ( s )
K i I a ( s ) = ( M T s + BT ) V ( s )
Rearrrangingtheseequations,weeget
0 = Las sI a ( s ) + [ Rs + s ( Ls + Las )] I s ( s )
V (s) =
I a (s) =
Ki
M T s + BT
Y (s) =
I a (s)
1
Ra + ( La + Las ) s
[E
V (s)
s
s ( M T s + BT )
( s ) + Las sI s ( s ) K bV ( s ) ]
diagram:
Blockd
457
Ki
I a (s)
I s (s) =
Las s
Ra + ( La + Las ) s
I a (s)
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
Golnarraghi,Kuo
(c)Trannsferfunction::
Y (s)
Ea ( s )
K i [ Rs + ( Ls + Las ) s ]
(M
s + BT )
4-551) (a)Causeeandeffecteqquations:
e = r L
e = K s e
d m
Tm = K i ia
dt
d
Statteequations:
d L
dt
= L
1
Jm
Tm
Bm
Jm
Kb = 15.5 V / KRPM =
K s = 1 V/rrad
d L
dt
KL
JL
KL
JL
KL
Jm
1000 2 / 60
d m
dt
d L
L )
15.5
dt
KL
JL
ea eb
Ra
L )
eb = K b m
d m
= m
ia =
ea = Ke
dt
Bm
Jm
KL
Jm
L +
1 Ki
J m Ra
( KK
s
K b m )
(b)Stattediagram:
(c)Forw
wardpathtran
nsferfunction:
G(ss ) =
K i KK
Ks KL
s J m J L Ra s + ( Bm Ra + K i K b ) J L s + Ra K L ( J L + J m ) s + K L ( Bm Ra + K i K b )
3
458
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
J m Ra J L = 0.03 115
. 0.05 = 0.001725
Bm Ra J L = 10 115
. 0.05 = 0.575
Ra K L J L = 115
. 50000 0.05 = 2875
(d)Closedlooptransferfunction:
Ra K L J m = 115
. 50000 0.03 = 1725
Ki KK s K L = 21 1 50000 K = 1050000 K
608.7 10 K
6
G(s) =
M ( s ) =
L (s)
r ( s)
G(s)
1 + G(s)
K i KK s K L
J m J L Ra s + ( Bm Ra + K i K b ) J L s + Ra K L ( J L + J m ) s + K L ( Bm Ra + K i K b ) s + K i KK s K L
4
M ( s) =
6.087 10 K
Characteristicequationroots:
6 2
K =1
K = 5476
K = 2738
s = 1.45
s = j1000
s = 405 j1223.4
s = 159.88
. j1273.5
s = 2117
s = 617.22 j1275
. j1614.6
s = 13105
4-52)(a)Nonlineardifferentialequations:
dx ( t )
With Ra = 0 , ( t ) =
f ( t ) = Ki ( t )ia ( t ) =
dt
dv ( t )
= v(t )
dt
e( t )
Kb v ( t )
= k ( v ) g ( x ) + f ( t ) = Bv ( t ) + f ( t )
= K f i f ( t ) = K f i f ( t ) = K f ia ( t )
Ki e ( t )
2
Kb K f
v (t )
dv ( t )
Thus,
dt
Then, ia ( t ) =
= Bv ( t ) +
Ki
2
Kb K f
(b)Stateequations: ia ( t ) asinput.
dx ( t )
dt
= v (t )
dv ( t )
dt
(c)Stateequations: ( t ) asinput.
459
= Bv ( t ) + Ki K f ia ( t )
e( t 0
Kb K f v ( t )
2
v (t )
e (t )
AutomaticConttrolSystems,9thEdition
Chapteer4Solutionss
f ( t ) = K i K f ia ( t )
dx ( t )
dv ( t )
= v (t )
dt
ia ( t ) = i f ( t ) =
dt
= Bv ( t ) +
Golnarraghi,Kuo
(t )
Kf
Ki
Kf
(t )
4-553)(a)Diffeerentialequations:
d m
2
K i ia = J m
K ( m L ) + B
dt
+ Bm
d m
dt
d m d L
d
dt
dt
+ K ( m L ) + B
2
d m d L = J d L + B d L
L 2
L
dt
dt
dt
dt
+ TL
(b)TaketheLaplacetraansformoftheedifferentialeq
quationswithzeroinitialcon
nditions,wegeet
K i I a ( s ) = J m s + Bm s + Bs + K m ( s ) + ( Bs + K ) L ( s )
2
a L ( s ) fromthelasttwo
oequations,weehave
Solvingfor m ( s ) and
( Bs + K )
m (s) =
L (s) =
( s ) ( Bs + K ) L ( s ) = J L s + BL s L ( s ) + TL ( s)
s
m
Ki
J m s + ( Bm + B ) s + K
2
Bss + K
J L s + ( BL + B ) s + K
2
I a (s) +
m (s)
Bs + K
J m s + ( Bm + B ) s + K
2
TL ( s )
L (s)
J L s + ( BL + B ) s + K
2
Signaalflowgraph:
460
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
(c)Transfermatrix:
2
1 K i J L s + ( BL + B ) s + K
m (s)
(s) = (s)
K i ( Bs + K )
L
I a (s)
J m s + ( Bm + B ) s + K TL ( s )
Bs + K
o ( s ) = J L J m s + [ J L ( Bm + B ) + J m ( BL + B )] s + [ BL Bm + ( BL + BM ) B + ( J m + J L ) K ] s + K ( BL + B ) s
3
4-54) As
2
2
Therefore:
2
2
As a result:
Poles:
zeros:
4-55) By approximating
:
1
1
2
2
a)
1
Therefore:
1
2
1
461
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
b)
2
1
1
2 2
2
3
1
1
1
2
1
2
4
2
4
1
4-56) MATLAB
clearall
L=1
T=0.1
G1=tf([1/21],conv([0.11],[1/21]))
figure(1)
step(G1)
G2=tf([1144],conv(conv([12],[12]),conv([11],[11])))
figure(2)
step(G2)
L=
1
T=
0.1000
Transferfunction:
0.5s+1
0.05s^2+0.6s+1
Transferfunction:
s^3s^2+4s+4
s^4+6s^3+13s^2+12s+4
462
4 1
1
AutomaticControlSystems,9thEdition
Chapter4Solutions
4-57) 423(a)Differentialequations: L ( y ) =
d L ( y )i ( t )
e ( t ) = Ri ( t ) +
My ( t ) = Mg
dt
= Ri ( t ) + i ( t )
y (t )
dL( y ) dy ( t )
dy
Ki ( t )
At equilibrium,
dt
di ( t )
dt
= 0,
463
Golnaraghi,Kuo
L di ( t )
y dt
dy ( t )
dt
= Ri ( t )
L
y
i(t )
= 0,
d y(t )
dt
= 0
dy ( t )
dt
L di ( t )
y dt
AutomaticControlSystems,9thEdition
Thus, ieq =
Eeq
dy eq
dt
Chapter4Solutions
=0
yeq =
Eeq
Mg
dy
(b)Definethestatevariablesas x1 = i, x 2 = y, and x3 =
x1eq =
Eeq
x 2eq =
Eeq
Mg
dt
x3eq = 0
Then,
Thedifferentialequationsarewritteninstateequationform:
dx1
dt
R
L
x1 x 2 +
x1 x3
x2
x2
L
dx 2
e = f1
dx3
= x3 = f 2
dt
Golnaraghi,Kuo
dt
= g
K x1
= f3
M x2
(c)Linearization:
f1
e
f 3
x 2 eq
L
f1
x1
=
R
L
x 2eq +
x3eq
x 2eq
K Eeq
f 2
Mg R
x1
2 K x1eq
2 Rg
Eeq
f1
x 2
Mg
=0
f 2
x 2
2 K x1eq
f 2
=0
f 3
x 3
R
L
x1 x3
x1eq
=1
2
x2
f 2
e
2 Rg
Mg
f 3
Eeq
Eeq
L
f1
=0
x 3
x1eq
x 2eq
= 0
= 0
Thelinearizedstateequationsabouttheequilibriumpointarewrittenas: x& = A x + B e
x1
2
x 2 eq
Eeq
x 2
3
x 2eq
Eeq K
L Mg
0
A =
2 Rg
E
eq
Mg
0
2 Rg
Mg
Eeq
dy1 ( t )
Eeq K
RL Mg
0
B =
K
0
4-58)
(a)Differentialequations:
2
M1
d y1 ( t )
dt
= M1 g B
dt
Ki ( t )
2
y1 ( t )
464
+ Ki ( t )
1
y 2 ( t ) y1 ( t )
Mg
K
AutomaticControlSystems,9thEdition
Chapter4Solutions
M2
d y2 (t )
Definethestatevariablesas x1 = y1 , x 2 =
Thestateequationsare:
dx1
dt
= x2
dx2
M1
dt
Atequilibrium,
dx1
dt
dt
Ki
= M 1 g Bx2
dx 2
= 0,
2
2
X1
dt
KI
(X
x1
dy1
dt
Ki
(x
Ki ( t )
y 2 ( t ) y1 ( t )
dx3
x1 )
dt
dy 2
dt
dt
= M 2 g Bx4
Ki
(x
x1 )
=0
M2g
KI
(X
X1 )
= 0
SolvingforI,with X 1 = 1,wehave
( M1 + M 2 ) g
I =
M + M2
Y2 = X 3 = 1 + 1
M2
(b)Nonlinearstateequations:
dx1
dt
dx2
= x2
dt
=g
(c)Linearization:
f1
x1
f2
x1
f2
2
3
M 1 x1
2 KI
Ki
i +
2
M 1 x1
f1
=0
x2
2 KI
x2
M1
f1
=0
=
x3
1
2+
2
M1 X1 ( X 3 X1 )
2 KI
dx3
2
dt
f1
=0
x2
M 1 ( x3 x1 )
f2
M1 ( X 3 X1 )
1/ 2
x4
f3
f2
M1
x3
=0
f3
dt
f1
=0
dx4
= x4
i
2 KI
f3
f4
x1
2 KI
f4
M 2 ( X 3 X1 )
x2
=0
x1
f4
x3
x2
2 KI
f4
M 2 ( X 3 X1 )
465
x3
x4
x4
f3
=0
M2
f2
M1 ( X 3 X1 )
=0
=g
x4
Ki
M 2 ( x3 x1 )
=0
dx4
M2
2
2
= x4
dt
1/ 2
, x3 = y 2 , x 4 =
dx 4
= 0,
X1 )
dt
dx3
= 0,
dt
KI
M1g
dy 2 ( t )
= M2 g B
Golnaraghi,Kuo
x4
=
=0
f3
=1
f4
M2
=0
2 KI
M 2 ( X 3 X1 )
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
1/ 2
1
1
1
1
I =
X 3 = 1 + 1 + 2 X 1 = 2.732 X 1 = Y2 = 2.732
1
2 KI 1 +
3
3
M1 X1 ( X 3 X1 )
A =
0
2 KI
3
M 2 ( X 3 X1 )
X1 =
9.8285
= 1
X 3 X 1 = 1.732
2 KI
M1
M1 ( X 3 X1 )
2 KI
1
0
0
0
0
0
0
1
1 0
0
37.18 0.1
B 37.18
M 2
0
2
3
M 2 ( X 3 X1 )
0
1
2 KI 1 +
M 1 X 12 ( X 3 X 1 )2 6.552
B =
=
0
6.552
2 KI
2
M 2 ( X 3 X1 )
4-59) a)
F3
F1
b)
F2
466
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
where
Also, the relation between rotational and translational motion defines:
467
and
. Then the
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
4-60) As the base is not moving then the model can be reduced to:
Therefore:
1) As
4-61)
V2
|
C
A
g
468
AutomaticControlSystems,9thEdition
Chapter4Solutions
= 1,
for simplicity.
Set Y&&( s ) = impulse , pick n
=1
clear all
G=tf([-1],[1 2 1])
figure(1)
impulse(G)
Transfer function:
-1
------------s^2 + 2 s + 1
469
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter4Solutions
Golnaraghi,Kuo
4-63)
Use Eq. (4-329).
Z (s) =
Kmr
Ra
La
2
K m Kb
s
s + 1 ( Js + Bs + K ) +
Ra
Ra
La
s + 1 r
Ra
La
2
K m Kb
s
s + 1 ( Js + Bs + K ) +
R
R
a
a
For
Va ( s )
mrY&&( s )
La
=0 (very small) the format of the equation is similar to Eq. (4-324), and we expect the same
Ra
Kmr
Ra
K K
( Js + Bs + K ) + m b s
Ra
2
470
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Chapter 5
51(a) 0.707 n 2 rad / sec
52(a)Type0 (b)Type0(c)Type1(d)Type2(e)Type3(f)Type3
(g)
type 2
(h)
type 1
K v = lim sG ( s ) = 0
K a = lim s G ( s ) = 0
K v = lim sG ( s ) = 1
K a = lim s G ( s ) = 0
s 0
s 0
(b) K p = lim G ( s ) =
s 0
s 0
51
s 0
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(c) K p = lim G ( s ) =
K v = lim sG ( s ) = K
K a = lim s G ( s ) = 0
K v = lim sG ( s ) =
K a = lim s G ( s ) = 1
(e) K p = lim G ( s ) =
K v = lim sG ( s ) = 1
K a = lim s G ( s ) = 0
(f) K p = lim G ( s ) =
K v = lim sG ( s ) =
K a = lim s G ( s ) = K
s 0
s 0
s 0
(d) K p = lim G ( s ) =
s 0
s 0
s 0
s 0
s 0
s 0
s 0
s 0
s 0
54(a)Input
ErrorConstants
SteadystateError
________________________________________________________________________________
u s ( t )
K p = 1000
1 1001
tu s ( t )
K v = 0
t us (t ) / 2
K a = 0
Input
ErrorConstants
(b)
SteadystateError
________________________________________________________________________________
u s ( t )
K p =
tu s ( t )
K v = 1
t us (t ) / 2
K a = 0
SteadystateError
(c)Input
ErrorConstants
________________________________________________________________________________
u s ( t )
K p =
52
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
K v = K
1/ K
K a = 0
tu s ( t )
t us (t ) / 2
TheaboveresultsarevalidifthevalueofKcorrespondstoastableclosedloopsystem.
(d)Theclosedloopsystemisunstable.Itismeaninglesstoconductasteadystateerroranalysis.
(e)
Input
ErrorConstants
SteadystateError
________________________________________________________________________________
u s ( t )
K p =
tu s ( t )
K v = 1
t us (t ) / 2
Ka = 0
Input
SteadystateError
(f)
ErrorConstants
________________________________________________________________________________
u s ( t )
Kp =
tu s ( t )
K v =
t us (t ) / 2
K a = K
1/ K
TheclosedloopsystemisstableforallpositivevaluesofK.Thustheaboveresultsarevalid.
G( s)
M ( s) =
a0 = 3, a1 = 3, a2 = 2, b0 = 1, b1 = 1.
UnitstepInput:
ess =
1+ G( s) H ( s)
b0 K H
1 a
KH
0
1
s +1
55(a) K H = H ( 0) = 1
2
= 3
53
s + 2 s + 3s + 3
AutomaticControlSystems,9thEdition
Unitrampinput:
Chapter5Solutions
Golnaraghi,Kuo
a0 b0 K H = 3 1 = 2 0. Thus e ss = .
UnitparabolicInput:
a0 b0 K H = 2 0 and a1 b1 K H = 1 0. Thus e ss = .
(b) K H = H ( 0) = 5
M ( s) =
G( s)
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
1+ G( s) H ( s)
s + 5s + 5
b0 K H
1 a
KH
0
1
ess =
a1 b1 K H
a0 K H
a0 = 5, a1 = 5, b0 = 1, b1 = 0.
1 5
= 5 1 5 = 0
i = 1: a1 b1 K H = 5 0
1
=
25 5
e ss =
(c) K H = H ( 0) = 1 / 5
M ( s ) =
UnitstepInput:
UnitrampInput:
G( s)
1+ G( s) H ( s)
s+5
4
Thesystemisstable.
a0 = 1, a1 = 1, a2 = 50, a3 = 15, b0 = 5, b1 = 1
ess =
b0 K H
1 a
KH
0
1
5/5
= 5 1 1 = 0
54
s + 15s + 50 s + s + 1
AutomaticControlSystems,9thEdition
Chapter5Solutions
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
a1 b1 K H
a0 K H
Golnaraghi,Kuo
i = 1: a1 b1 K H = 4 / 5 0
1 1/ 5
1/ 5
= 4
e ss =
(d) K H = H ( 0 ) = 10
G( s)
M ( s ) =
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0 i = 1: a1 b1 K H = 5 0
e ss =
UnitparabolicInput:
ess =
a1 b1 K H
s + 16 s + 48 s + 4 s + 4
UnitstepInput:
Unitrampinput:
a0 K H
1 10
= 10 1 10 = 0
5
100
= 0.05
K H = 1
Thesystemisstable.
ess =
b0 K H
1 a
KH
0
1
4
= 1 4 = 0
i = 0: a0 b0 K H = 0
i = 1: a1 b1 K H = 4 1 = 3 0
55
Thesystemisstable.
a0 = 4, a1 = 4, a2 = 48, a3 = 16, b0 = 4, b1 = 1, b2 = 0, b3 = 0
e ss =
s + 12 s + 5s + 10
b0 K H
1 a
KH
0
1
s+4
56(a) M ( s ) =
a0 = 10, a1 = 5, a2 = 12, b0 = 1, b1 = 0, b2 = 0
1+ G( s) H ( s)
AutomaticControlSystems,9thEdition
a1 b1 K H
e ss =
UnitparabolicInput:
Chapter5Solutions
a0 K H
4 1
4
3
4
Golnaraghi,Kuo
e ss =
K ( s + 3)
(b) M ( s ) =
s + 3s + ( K + 2) s + 3K
K H = 1
Thesystemisstablefor K > 0.
a0 = 3 K , a1 = K + 2, a2 = 3, b0 = 3 K , b1 = K
UnitstepInput:
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
TheaboveresultsarevalidforK>0.
ess =
b0 K H
1 a
KH
0
1
a1 b1 K H
a0 K H
3K
= 1 3K = 0
i = 1: a1 b1 K H = K + 2 K = 2 0
K + 2 K
3K
2
3K
e ss =
(c) M ( s ) =
s+5
4
s + 15 s + 50 s + 10 s
10 s
s+5
K H = lim
s 0
UnitstepInput:
UnitrampInput:
ess =
a2 b1 K H
a
KH
1
1
1 50 1 2
10
56
H ( s)
s
= 2
H ( s) =
= 2.4
AutomaticControlSystems,9thEdition
UnitparabolicInput:
Golnaraghi,Kuo
e ss =
Chapter5Solutions
e ss =
K ( s + 5)
(d) M ( s ) =
K H = 1
s + 17 s + 60 s + 5 Ks + 5 K
Thesystemisstablefor0<K<204.
a0 = 5 K , a1 = 5K , a2 = 60, a3 = 17, b0 = 5K , b1 = K
UnitstepInput:
ess =
b0 K H
1 a
KH
0
1
5K
= 1 5K = 0
UnitrampInput:
i = 0: a0 b0 K H = 0
e ss =
UnitparabolicInput:
Theresultsarevalidfor0<K<204.
a1 b1 K H
a0 K H
5K K
5K
i = 1: a1 b1 K H = 5 K K = 4 K 0
=
4
5
e ss =
57
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-7)
1
3
5
2
1
5
5
1
11
5-8)
5( s + 1)
s ( s + 2)( s + 3)
1
2
5-9)
a)
Position error:
lim
G s
b)
Velocity error:
lim
c)
Acceleration error:
a)
lim
lim
lim
58
lim
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-10)
4( s + 1)
s 2 ( s + 2)
lim
lim
lim
5-11)
where x1 is a unit step input, x2 is a ramp input, and x3 is a unit parabola input. Since the system
is linear, then the effect of X(s) is the summation of effect of each individual input.
That is:
So:
0
0
59
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1
Therefore:
1
The rise time is the time that unit step response value reaches from 0.1 to 0.9. Then:
1
which yields:
Therefore
0 or
513)
G( s) =
Y ( s)
Errorconstants:
E ( s)
KG p ( s ) 20 s
1 + Kt G p ( s )
100 K
20 s(1 + 0.2 s + 100 Kt )
K p = , K v =
5K
1 + 100 Kt
, Ka = 0
(a) r ( t ) = u s ( t ):
e ss =
(b) r ( t ) = tu s ( t ):
e ss =
(c) r ( t ) = t 2u s ( t ) / 2:e ss =
1
Ka
1
1+ K p
1
Kv
= 0
1 + 100 Kt
5K
510
Type1system.
AutomaticControlSystems,9thEdition
514
G p ( s) =
G( s) =
Chapter5Solutions
100
G( s) =
Y ( s)
E ( s)
100 K
KG p ( s )
20 s 1 + Kt G p ( s )
Golnaraghi,Kuo
K p = , K v =
Errorconstants:
5K
1 + 100 Kt
, Ka = 0
(a) r ( t ) = u s ( t ):
e ss =
(b) r ( t ) = tu s ( t ):
e ss =
(c) r ( t ) = t 2u s ( t ) / 2:e ss =
1
1+ K p
1
1 + 100 Kt
Kv
= 0
5K
Ka
Sincethesystemisofthethirdorder,thevaluesofKand Kt mustbeconstrainedsothatthesystemis
stable.Thecharacteristicequationis
RouthTabulation:
s + 12 s + ( 20 + 2000 K t ) s + 100 K = 0
3
20 + 2000 Kt
12
100 K
K>0
1 + 100 K t
>
Thus,theminimumsteadystateerrorthatcanbeobtainedwithaunitrampinputis1/12.
StabilityConditions:
12 (1 + 100 K t ) 5 K > 0 or
511
5K
12
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
515(a)FromFigure3P29,
o ( s)
r (s)
1+
=
1+
K1 K 2
Ra + La s
K1 K 2
Ra + La s
K i K b + KK1 K i K t
(R
+ La s )( Bt + J t s )
K i K b + KK1 K i K t
(R
+ La s )( Bt + J t s )
KK s K1 K i N
s ( Ra + La s )( Bt + J t s )
o (s)
r (s)
s [( Ra + La s )( Bt + J t s ) + K1 K 2 ( Bt + J t s ) + K i K b + KK1 K i K t ]
La J t s + ( La Bt + Ra J t + K1 K 2 J t ) s + ( Ra Bt + K i K b + KK i K1 K t + K1 K 2 Bt ) s + KK s K1 K i N
3
r ( t ) = u s ( t ), r ( s ) =
Providedthatallthepolesof s e ( s ) areallinthelefthalfsplane.
lim s e ( s ) = 0
s 0
(b)Foraunitrampinput, r ( s ) = 1 / s .
e ss = lim e ( t ) = lim s e ( s ) =
ifthelimitisvalid.
Ra Bt + K1 K 2 Bt + Ki Kb + KK1 Ki Kt
KK s K1 Ki N
s 0
512
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
516(a)Forwardpathtransferfunction:[n(t)=0]:
K (1 + 0.02 s )
G (s) =
Y ( s)
E (s)
2
K (1 + 0.02 s )
s ( s + 25)
=
2
KK t s
s s + 25s + KK t
1+ 2
s ( s + 25)
Type1system.
K p = ,
Kv =
ErrorConstants:
Foraunitrampinput, r ( t ) = tu s ( t ), R( s ) =
Kt
1
s
Ka = 0
, e ss = lim e( t ) = lim sE ( s ) =
t
s 0
1
Kv
= Kt
RouthTabulation:
s
KK t + 0.02 K
25
25 K ( K t + 0.02 ) K
25
K
25 ( K t + 0.02 ) K > 0 or K t > 0.02
K >0
StabilityConditions:
(b)Withr(t)=0, n( t ) = u s ( t ), N ( s ) = 1 / s.
SystemTransferFunctionwithN(s)asInput:
K
Y (s)
K
s ( s + 25)
= 3
2
K (1 + 0.02 s )
KK t s
s + 25 s + K ( K t + 0.02 ) s + K
1+ 2
+ 2
s ( s + 25)
s ( s + 25)
2
SteadyStateOutputdueton(t):
N (s)
y ss = lim y ( t ) = lim sY ( s ) = 1
t
s 0
513
ifthelimitisvalid.
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
517YoumayuseMATLABinallRouthHurwitzcalculations.
1. ActivateMATLAB
2. GotothedirectorycontainingtheACSYSsoftware.
3. Typein
Acsys
4. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
5. ThenpresstheRouthHurwitzbutton
6. ForexamplelookatbelowFigures
514
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(a) n( t ) = 0, r ( t ) = tu s ( t ).
ForwardpathTransferfunction:
G(s) =
Y (s)
E ( s)
K ( s + )( s + 3)
s s 1
n=0
Type1system.
Ramperrorconstant:
K v = lim sG ( s ) = 3 K
Steadystateerror:
e ss =
Characteristicequation:
RouthTabulation:
s 0
1
Kv
1
3Kv
s + Ks + [ K ( 3 + ) 1] s + 3K = 0
3 K + K 1
3K
K ( 3 K + K 1) 3K
K
3K
StabilityConditions:
3 K + K 1 3 > 0
K>
or
1 + 3K
3+
K > 0
(b)Whenr(t)=0, n( t ) = u s ( t ), N ( s ) = 1 / s.
K ( s + 3)
TransferFunctionbetweenn(t)andy(t):
Y (s)
N (s)
SteadyStateOutputdueton(t):
=
r =0
2
Ks ( s + 3)
s 1
=
K ( s + )( s + 3) s 3 + Ks 2 + [ K ( s + ) 1]s + 3 K
1+
2
s s 1
y ss = lim y ( t ) = lim sY ( s ) = 0
t
s 0
515
ifthelimitisvalid.
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
518
1 = ln 0.25 = 1.386
Thus
Peak Time
n 1
= 1.922 (1
t max =
= 0.01 sec.Thus, n =
0.01 1 ( 0.404)
TransferFunctionoftheSecondorderPrototypeSystem:
Y ( s)
R( s )
n
2
s +
2
2 n s + n
117916
2
s + 277.3s + 117916
516
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
ExtendedMATLABsolutionsofproblemssimilarto519527appearlater
one.g.558
519ClosedLoopTransferFunction:
Characteristicequation:
s + ( 5 + 500 K t ) s + 25 K = 0
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Forasecondorderprototypesystem,whenthemaximumovershootis4.3%, = 0.707.
n = 25 K ,
2 n = 5 + 500 Kt = 1.414 25 K
RiseTime:
tr =
1 0.4167 + 2.917
n
2
(10.82)
= 0.2 sec
Thus
Thus,
K=
With
25
2.164
25
= 4.68
Y ( s)
R( s )
117
2
s + 15.3s + 117
10.3
500
= 0.0206
UnitstepResponse:
y=0.1att=0.047sec.
y=0.9att=0.244sec.
517
AutomaticControlSystems,9thEdition
Chapter5Solutions
520ClosedloopTransferFunction:
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
= 5.3 (1
= ln 0.1 = 2.3
WhenMaximumovershoot=10%,
TheNaturalundampedfrequencyis n = 25K
RiseTime:
tr =
K=
1 0.4167 + 2.917
n
25
= 12.58
Thus Kt =
17696
.
= 0.1 =
Y ( s)
R( s )
15.88
500
sec.
= 0.0318
313
2
s + 20.88 s + 314.5
UnitstepResponse:
y=0.1whent=0.028sec.
y=0.9whent=0.131sec.
y max = 11
. (10% max. overshoot )
518
AutomaticControlSystems,9thEdition
521 ClosedLoopTransferFunction:
Y ( s)
R( s )
25 K
2
s + ( 5 + 500 Kt ) s + 25 K
Chapter5Solutions
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
2
= 2.59 (1
= ln 0.2 = 1.61
WhenMaximumovershoot=20%,
TheNaturalundampedfrequency n = 25 K
RiseTime:
tr =
K=
1 0.4167 + 2.917
= 0.05 =
5 + 500 Kt = 2 n = 0.912 n
1.4165
sec. Thus, n =
1.4165
0.05
= 28.33
n
25
= 32.1
Y ( s)
R( s )
Thus, Kt = 0.0417
802.59
2
s + 25.84 s + 802.59
UnitstepResponse:
y=0.1whent=0.0178sec.
y=0.9whent=0.072sec.
519
AutomaticControlSystems,9thEdition
522ClosedLoopTransferFunction:
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
11
. + 0.125 + 0.469
Delaytime t d
WhenMaximumovershoot=4.3%, = 0.707.
K =
UnitStepResponse:
Golnaraghi,Kuo
= 0.1 sec.
td =
1.423
.
n = 14.23 = 8.1 5 + 500 K = 2 = 1.414 = 20.12 Thus K = 1512
= 0.0302
t
n
n
t
500
5 5
Y ( s)
R( s )
202.5
2
s + 20.1s + 202.5
Wheny=0.5,t=0.1005sec.
y max = 1043
.
( 4.3% max. overshoot )
520
AutomaticControlSystems,9thEdition
523ClosedLoopTransferFunction:
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
11
. + 0.125 + 0.469
1337
.
Thus, n =
1337
.
= 26.74
Delaytime t d
t
n
5 5
= 0.05 =
0.05
Y ( s)
R( s )
715
2
s + 3155
. s + 715
UnitStepResponse:
y=0.5whent=0.0505sec.
Thus, t d = 0.0505sec.
y max = 11007
.
(10.07% max. overshoot )
521
AutomaticControlSystems,9thEdition
524ClosedLoopTransferFunction:
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
2
ForMaximumovershoot=0.2, = 0.456 .
Delaytime t d =
15737.7 = 629.5
NaturalUndampedFrequency n =
= 125.45rad/sec.Thus, K = n =
25
0.01
5
11
. + 0.125 + 0.469
1.2545
= 0.01sec.
1.2545
Y ( s)
R( s )
Thus, Kt = 0.2188
15737.7
2
s + 114.41s + 15737.7
UnitstepResponse:
y=0.5whent=0.0101sec.
Thus, t d = 0.0101sec.
522
AutomaticControlSystems,9thEdition
525ClosedLoopTransferFunction:
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
= 0.6
Settlingtime t s
SystemTransferFunction:
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 5000 K t ) s + 25 K = 0
2
2 n = 5 + 500 Kt = 1.2 n
Chapter5Solutions
3.2
n
Kt =
3.2
0.6 n
1.2 n 5
500
= 0.1sec.Thus, n =
3.2
0.06
= 0.118
Y ( s)
R( s )
K=
= 113.76
25
2844
2
s + 64 s + 2844
UnitstepResponse:
y(t)reaches1.00andneverexceedsthis
valueatt=0.098sec.
523
AutomaticControlSystems,9thEdition
Chapter5Solutions
526(a)ClosedLoopTransferFunction:
Y (s)
25 K
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
2
. n
Formaximumovershoot=0.1, = 0.59. 5 + 500 Kt = 2 n = 2 0.59 n = 118
Settlingtime: t s =
SystemTransferFunction:
UnitStepResponse:
R(s)
s + ( 5 + 500 K t ) s + 25 K
2
3.2
3.2
0.59 n
118
. n 5
Kt =
500
= 0.05 sec.
n =
3.2
0.05 0.59
= 108.47
= 0.246
Y ( s)
R( s )
K=
n
25
= 470.63
11765.74
2
s + 128 s + 11765.74
y(t)reaches1.05andneverexceeds
thisvalueatt=0.048sec.
Settlingtime t s =
SystemTransferFunction:
UnitStepResponse:
3.2
0.456 n
Kt =
Y ( s)
R( s )
= 0.01 sec. n =
0.912 n 5
500
= 1.27
492453
2
s + 640 s + 492453
524
3.2
0.456 0.01
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
y(t)reaches1.05andnever
exceedsthisvalueatt=0.0074sec.
thanthecalculatedvalueof0.01sec.
525
AutomaticControlSystems,9thEdition
527ClosedLoopTransferFunction:
Y (s)
R(s)
25 K
s + ( 5 + 500 K t ) s + 25 K
2
Chapter5Solutions
Golnaraghi,Kuo
CharacteristicEquation:
s + ( 5 + 500 K t ) s + 25 K = 0
4.5
3.1815
.
rad/sec.
= 0.1sec. Thus, n = 31815
2
5 + 500 Kt = 2 n = 44.986
Thus, Kt = 0.08
K=
= 40.488
SystemTransferFunction:
UnitStepResponse:Theunitstepresponsereaches0.95att=0.092sec.whichisthemeasured t s .
Y ( s)
R( s )
1012.2
2
s + 44.986 s + 1012.2
526
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
tr
1 0.4167 + 2.917
1521
.
= 1 sec.Thus n = 1.521rad/sec.
Thesecondordertermofthecharacteristicequationiswritten
Thecharacteristicequationofthesystemis s + ( a + 30 ) s + 30 as + K = 0
Dividingthecharacteristicequationby s + 1521
. s + 2.313, wehave
s + 2 n s + n = s + 1521
. s + 2.313 = 0
3
ForwardPathTransferFunction:
UnitStepResponse:
G( s) =
69.58
s( s + 16
. )( s + 30)
y=0.1whent=0.355sec.
y=0.9whent=1.43sec.
RiseTime:
527
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(b)Thesystemistype1.
(i)Foraunitstepinput, e ss = 0.
(ii)Foraunitrampinput,
K v = lim sG ( s ) =
s 0
K
30 a
60.58
.
30 16
= 1.45
e ss =
1
Kv
= 0.69
529(a)CharacteristicEquation:
3
ApplytheRouthHurwitzcriteriontofindtherangeofKforstability.
s + 3 s + ( 2 + K ) s K = 0
RouthTabulation:
s
2+ K
6 + 4K
3
K
StabilityCondition:
1.5<K<0ThissimplifiesthesearchforKfortwoequalroots.
WhenK=0.27806,thecharacteristicequationrootsare:0.347,
0.347,and2.3054.
(b)UnitStepResponse:(K=0.27806)
528
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(c)UnitStepResponse(K=1)
Thestepresponsesin(a)and(b)allhaveanegativeundershootforsmallvaluesoft.Thisisduetothe
zeroofG(s)thatliesintherighthalfsplane.
529
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
530(a)Thestateequationsoftheclosedloopsystemare:
dx1
dx 2
= x1 + 5x 2
= 6 x1 k1 x1 k 2 x 2 + r
Thecharacteristicequationoftheclosedloopsystemis
dt
dt
s +1
6 + k1
s + k2
= s + (1 + k 2 ) s + ( 30 + 5k1 + k 2 ) = 0
2
(b)For = 0.707, 2 n = 1 + k 2 .
n =
2
(1 + k )
Thus n = 1 +
k2
1.414
= 30 + 5k1 + k 2
k 2 = 59 + 10 k1
2
Thus
5k1 + k 2 = 100
and 1 + k 2 = 2 n = 14.14
. .
Solvingfor k1 , we have k1 = 1137
Thus k 2 = 1314
.
(d)Theclosedlooptransferfunctionis
Y (s)
Foraunitstepinput,
R(s)
5
s + ( k 2 + 1) s + ( 30 + 5k1 + k 2 )
2
lim y ( t ) = lim sY ( s ) =
s 0
5
100
5
s + 14.14 s + 100
2
= 0.05
(e)Forzerosteadystateerrorduetoaunitstepinput,
30 + 5k1 + k 2 = 5
Thus
5k1 + k 2 = 25
530
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
ParameterPlane k1versus k 2 :
531(a)ClosedLoopTransferFunction
Y (s)
100 ( K P + K D s )
(b)CharacteristicEquation:
R(s)
s + 100 K D s + 100 K P
2
s + 100 K D s + 100 K P = 0
(b)For = 1, 2 n = 100 K D .
n = 10 K P
Thus
2 n = 100 K D = 20 K P
(c)Seeparameterplaneinpart(g).
531
K D = 0.2 K P
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(d)Seeparameterplaneinpart(g).
s0
s 0
Thus K P = 10
(f)Naturalundampedfrequency n = 50 rad/sec.
n = 10 K P = 50
Thus
K P = 25
(g)When K P = 0,
G( s) =
100 K D s
s
100 K D
s
(polezerocancellation)
532
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
532(a)ForwardpathTransferFunction:
G ( s ) =
When r ( t ) = tu s ( t ),
Y (s)
E (s)
KK i
s [ Js (1 + Ts ) + K i K t ]
K v = lim sG ( s ) =
s 0
s 0.001s + 0.01s + 10 K t
e ss =
Kt
10 K
2
1
Kv
Kt
K
(b)Whenr(t)=0
Y (s)
For Td ( s ) =
Td ( s )
1 + Ts
s [ Js (1 + Ts ) + K i K t ] + KK i
lim y ( t ) = lim sY ( s ) =
s 0
1
10 K
1 + 0.1s
s 0.001s + 0.01s + 10 K t + 10 K
2
ifthesystemisstable.
(c)Thecharacteristicequationoftheclosedloopsystemis
ThesystemisunstableforK>0.1.SowecansetKtojustlessthan0.1.Then,theminimumvalueof
thesteadystatevalueofy(t)is
10 K
=1
K = 0.1
However,withthisvalueofK,thesystemresponsewillbeveryoscillatory.Themaximumovershoot
willbenearly100%.
(d)ForK=0.1,thecharacteristicequationis
0.001s + 0.01s + 10 Kt s + 1 = 0
533
or s + 10 s + 10 Kt s + 1000 = 0
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Forthetwocomplexrootstohaverealpartsof2/5.weletthecharacteristicequationbewrittenas
Then,
Thethreerootsare:
( s + a ) s + 5s + b = 0
2
a + 5 = 10
a=5
.
.
.
.
0.69
1.067
534
0.095
5a + b = 10 Kt
s = 2.5 j13.92
0.785
.
b = 200
0.56
Maximum overshoot:
Settling time:
s = a = 5
Peak time:
ab = 1000
s = a = 5
s + ( s + 5) s + (5a + b) s + ab = 0
or
Kt = 0.0225
AutomaticControlSystems,9thEdition
Chapter5Solutions
5-34)
K
s ( Js + a + KK f )
0.2 = 0.456
exp
0.1 n = 0.353
0.125
5.42
.
.
.
5.49
19.88
535
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-35) a)
6.5
1
6.5
6.5
7.5
6.5
6.5
6.5
Since the system is multi input and multi output, there are 4 transfer functions as:
,
6.5
6.5
2
1
2
1
where
1
1
sin
cos
b)
536
1
26.5
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Therefore:
As a result:
which means:
1
1
The unit step response is:
1
1
Therefore as a result:
sin
where n = 1 and n = 1 / 2
c)
Therefore:
1
1
By looking up at the Laplace transfer function table:
537
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
where n = 1, and 2 n = 1 = 1 / 2
sin
sin
3
2
Since the system is multi input and multi output, there are 4 transfer functions as:
6.5
6.5
538
AutomaticControlSystems,9thEdition
Chapter5Solutions
Lets obtain this term and find Y2(s) time response for a step input.
H22=Hmat(2,2)
ilaplace(H22/s)
Pretty(H22)
H22poly=tf([13/2],chareq)
step(H22poly)
H22 =
13/(2*s^2+2*s+13)
ans =
1-1/5*exp(-1/2*t)*(5*cos(5/2*t)+sin(5/2*t))
13
--------------2
2 s + 2 s + 13
Transfer function:
6.5
------------s^2 + s + 6.5
To find the step response H11, H12, and H21 follow the same procedure.
539
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
a)
1 , therefore,
and
sin
sin
sin
b)
1
c)
1
1
where = cos-1
540
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-39) a)
sin
Then the equation of motion is:
0
As x is a function of and changing with time, then
cos
If is small enough, then sin and cos 1. Therefore, the equation of motion is
rewritten as:
541
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(b) To find the unit step response, you can use the symbolic approach shown in Toolbox 2-1-1:
clear all
%s=tf(s);
syms s B L K
Theta=B*s/s/L/(B*s+K)
ilaplace(Theta)
Theta =
B/L/(B*s+K)
ans =
1/L*exp(-K*t/B)
Alternatively, assign values to B L K and find the step response see solution to problem 5-36.
TheForwardPathTransferFunction:
9 10 K
12
G(s) =
12
9 10 K
12
RouthTabulation:
1.067 10
5000
50.5 10
5.7 10
12
9 10 K
9
12
9 10 K
12
12
9 10 K
542
12
.
10 K
2.895 10 + 1579
13
12
5.724 10
. 10 K
5.72 10 18
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
or K 298114
. K 58303.427 < 0
or
StabilityCondition:
0<K<3000.56
ThecriticalvalueofKforstabilityis3000.56.WiththisvalueofK,therootsofthecharacteristic
equationare: 4916.9,41.57+j3113.3,41.57+j3113.3,j752.68,andj752.68
G(s) =
11
9 10 K
11
(c)CharacteristicEquationoftheClosedLoopSystem:
6 3
RouthTabulation:
9 2
11
1.582 10
5000
5.05 10
5.72 10
11
5.724 10
11
11
9 10 K
8
11
4.6503 10 + 15734
.
10 K
9 10 K
18
15
14
4.6503 10 + 15734
.
10 K
11
9 10 K
543
5.724 10 18
. 10 K
11
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Fromthe s row,theconditionofstabilityis
Or,
or
StabilityCondition:
0<K<1400
ThecriticalvalueofKforstabilityis1400.WiththisvalueofK,thecharacteristicequationrootare:
4885.1,57.465+j676,57.465j676,j748.44,andj748.44
(c) K L = .
ForwardPathTransferFunction:
G(s) =
CharacteristicEquationoftheClosedLoopSystem:
nK s K i K
JT = J m + n J L
2
s La J T s + ( Ra J T + Rm La ) s + Ra Bm + K i K b
2
891100 K
s s + 5000 s + 566700
2
891100 K
s ( s + 116)( s + 4884)
RouthTabulation:
566700
5000
891100 K
566700 178.22 K
8991100 K
Fromthe s row,theconditionofKforstabilityis566700178.22K>0.
544
AutomaticControlSystems,9thEdition
StabilityCondition:
Chapter5Solutions
Golnaraghi,Kuo
0<K<3179.78
ThecriticalvalueofKforstabilityis3179.78.WithK=3179.78,thecharacteristicequationrootsare
5000,j752.79,andj752.79.
Whenthemotorshaftisflexible, K L isfinite,twooftheopenlooppolesarecomplex.Astheshaft
becomesstiffer, K L increases,andtheimaginarypartsoftheopenlooppolesalsoincrease.When
K L = ,theshaftisrigid,thepolesoftheforwardpathtransferfunctionareallreal.Similareffects
areobservedfortherootsofthecharacteristicequationwithrespecttothevalueof K L .
541(a)
Gc ( s ) = 1
100( s + 2 )
G( s) =
K p = lim G ( s ) = 200
s 1
s 0
Whend(t)=0,thesteadystateerrorduetoaunitstepinputis
e ss =
1
1+ K p
1
1 200
1
199
= 0.005025
(b)
Gc ( s ) =
s +
s
G(s) =
100( s + 2)( s + )
s s 1
2
Kp =
(c)
=5
= 50
= 500
545
ess = 0
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Asthevalueof increases,themaximumovershootincreasesbecausethedampingeffectofthe
zeroat s = becomeslesseffective.
UnitStepResponses:
(d) r ( t ) = 0 and Gc ( s ) = 1. d ( t ) = u s ( t )
D( s ) =
1
s
SystemTransferFunction:(r=0)
Y ( s)
D( s )
=
r =0
100( s + 2)
3
OutputDuetoUnitStepInput:
Y ( s) =
y ss = lim y ( t ) = lim sY ( s ) =
100( s + 2 )
3
s 0
(e) r ( t ) = 0, d ( t ) = u s ( t )
Gc ( s ) =
s +
s
546
200
200
AutomaticControlSystems,9thEdition
Chapter5Solutions
SystemTransferFunction[r(t)=0]
Y ( s)
D( s )
=
r =0
Golnaraghi,Kuo
100 s( s + 20
3
D( s ) =
1
s
y ss = lim y ( t ) = lim sY ( s ) = 0
t
s 0
(f)
=5
= 50
= 5000
Y ( s)
D( s )
=
r =0
Y ( s)
D( s )
=
r =0
Y ( s)
D( s )
=
r =0
100 s( s + 2 )
3
100 s( s + 2)
3
UnitStepResponses:
(g)Asthevalueof increases,theoutputresponsey(t)duetor(t)becomesmoreoscillatory,andthe
overshootislarger.Asthevalueof increases,theamplitudeoftheoutputresponsey(t)duetod(t)
becomessmallerandmoreoscillatory.
547
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
542(a)ForwardPathTransferfunction:
CharacteristicEquation:
s + s + N = 0
H ( s)
N=1:CharacteristicEquation: s + s + 1 = 0
s( s + 1)( s + 10)
G ( s ) =
E ( s)
10 N
s( s + 1)
= 0.5
n = 1rad/sec.
Maximum overshoot = e
N=10:CharacteristicEquation: s + s = 10 = 0
n 1
= 0.158
= 3.628 sec.
n = 10 rad/sec.
Maximumovershoot= e
(b)UnitStepResponse:N=1
548
n 1
sec.
= 1006
.
AutomaticControlSystems,9thEdition
Chapter5Solutions
SecondorderSystem
ThirdorderSystem
Maximumovershoot
0.163
0.206
Peaktime
3.628sec.
3.628sec.
SecondorderSystem
ThirdorderSystem
UnitStepResponse:N=10
Maximumovershoot
0.605
0.926
Peaktime
1.006sec.
1.13sec.
549
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
543UnitStepResponses:
derivativecontrolorahighpassfilter.
550
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
544UnitStepResponses
Theeffectofaddingthepoleat s =
Tp
toG(s)istoincreasetherisetimeandtheovershoot.Thesystemis
551
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-45) You may use the ACSYS software developed for this book. For description refer to Chapter 9. We
use a MATLAB code similar to toolbox 2-2-1 and those in Chapter 5 to solve this problem.
(a) Using Toolbox 5-9-3
clear all
num = [];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
t=0:0.001:15;
step(G,t);
hold on;
for Tz=[1 5 20];
t=0:0.001:15;
num = [-1/Tz];
den = [0 -0.55 -1.5];
G=zpk(num,den,1)
step(G,t);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
1
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+1)
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.2)
-----------------s (s+0.55) (s+1.5)
Zero/pole/gain:
(s+0.05)
-----------------s (s+0.55) (s+1.5)
552
AutomaticControlSystems,9thEdition
Chapter5Solutions
(b)
clear all
for Tz=[0 1 5 20];
t=0:0.001:15;
num = [Tz 1];
den = [1 2 2];
G=tf(num,den)
step(G,t);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Transfer function:
1
------------s^2 + 2 s + 2
Transfer function:
s + 1
------------s^2 + 2 s + 2
Transfer function:
5 s + 1
------------s^2 + 2 s + 2
553
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Transfer function:
20 s + 1
------------s^2 + 2 s + 2
Js + a
Kf
Then
554
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Kk
s ( Js + a + KK f k )
1
1
Kf
Js + a
+1
Accordingly,
and
1
In this case, E(s) = D-KY(s)
1
1
555
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1/ :
lim
lim
1
1
lim
1
1
lim
1
1
lim
1
lim
MATLAB
clear all
syms s K k J a Kf
X=1/s;
D=1/s^2
Y=K*k*X/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)*D/(s*(J*s+a)+k*(Kf+s)*K)
ilaplace(Y)
D =
1/s^2
Y =
K*k/s/(s*(J*s+a+K*k*Kf)+K*k)+k*(Kf+s)/s^2/(s*(J*s+a)+k*(Kf+s)*K)
ans =
1+t/K+1/k/K^2/Kf/(a^2+2*a*K*k+K^2*k^24*J*K*k*Kf)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2))*exp(1/2*(a+K*k)/J*t)*(a^2+a*K*k-2*J*K*k*Kf)-cosh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^24*J*K*k)^(1/2))*exp(-1/2*(a+K*k*Kf)/J*t)-(a+K*k*Kf)/(a^2+2*a*K*k*Kf+K^2*k^2*Kf^24*J*K*k)^(1/2)*sinh(1/2*t/J*(a^2+2*a*K*k*Kf+K^2*k^2*Kf^2-4*J*K*k)^(1/2))*exp(1/2*(a+K*k*Kf)/J*t)+1/k/K^2/Kf*a*(-1+exp(1/2*(a+K*k)/J*t)*cosh(1/2*t/J*(a^2+2*a*K*k+K^2*k^2-4*J*K*k*Kf)^(1/2)))
556
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Asthesystemisstablethen
E ( s)
= lim E ( s )
s 0
s
( A s + 1)( A2 s + 1)...( An s + 1)
Y ( s)
G ( s)
=
= 1
nm
X ( s) 1 + G ( s) ( B1 s + 1)( B2 s + 1)...( Bm s + 1)
G ( s)
1
X (s) =
X (s)
1 + G ( s)
1 + G (s)
( A s + 1)( A2 s + 1)...( An s + 1)
( B1s + 1)( B2 s + 1)...( Bm s + 1) ( A1s + 1)( A2 s + 1)...( An s + 1)
= 1 1
X (s) =
X (s)
( B1s + 1)( B2 s + 1)...( Bm s + 1)
( B1s + 1)( B2 s + 1)...( Bm s + 1)
s 0
s 0 s
( B1s + 1)( B2 s + 1)...( Bm s + 1)
= ( B1 + B2 + L + Bm ) ( A1 + A2 + L + An )
557
AutomaticControlSystems,9thEdition
(b)Calculate
Chapter5Solutions
Golnaraghi,Kuo
1
1
=
K lim sG ( s )
s 0
Recall
E ( s ) = X ( s) Y ( s) = X ( s)
G ( s)
1
X (s) =
X (s)
1 + G(s)
1 + G(s)
Hence
1
1
1
1
lim E ( s ) = lim
X ( s ) = lim
= lim
=
s 0
s 0 1 + G ( s )
s 0 s + sG ( s )
s 0 sG ( s )
Kv
Ramp Error Constant
558
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-48)
10
10
25
10
35
25
10
Comparing with the second order prototype system and matching denominators:
25
35
10
2
exp
1
3.2
0.25
0.1
1.386
1
80,
35
29
56.25
clear all
p=29;
K=56.25;
num = [10 10*K];
den = [1 35+p 25*p+10*K];
G=tf(num,den)
step(G);
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Transfer function:
10 s + 562.5
----------------s^2 + 64 s + 1288
559
0.210
0.69
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1
j
/t
n 1 2
n 1 2
/t
560
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-50) Using a 2nd order prototype system format, from Figure 5-15, n is the radial distance from the
complex conjugate roots to the origin of the s-plane, then n with respect to the origin of the
shown region is n 3.6.
Therefore the natural frequency range in the region shown is around 2.6 n 4.6
On the other hand, the damping ratio at the two dashed radial lines is obtained from:
cos /2
sin
cos /2
sin
The approximation from the figure gives:
0.56
0.91
As Kp=2, then:
2
2
If the roots of the characteristic equations are assumed to be lied in the centre of the shown
region:
3
3
13
2
2
6
13
2
3.25
is a second order polynomial with two roots. These two roots can be determined by two terms
2(p+KKp) and KKpKI which includes four parameters. Regardless of the p and Kp values, we can
always choose K and so that to place the roots in a desired location.
561
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-51) a)
0.2
0.109
b)
0.2
0.109
lim
10
19.23
(c)
0.2
0.109
d)
0.2
0.109
0.2
0.109
As a result:
0.2
0.109
e) As
exp
f) As
as
0.109, then
0.2 K<0.0845
where
.
0.6,
, then
0.2 , therefore;
1
562
0.2
.
.
0.14
AutomaticControlSystems,9thEdition
Chapter5Solutions
g) MATLAB
clear all
for K=[0.5 1 2];
t=0:0.001:15;
num = [0.2*K];
den = [1 0.109 0.2*K];
G=tf(num,den)
step(G,t);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Transfer function:
0.1
------------------s^2 + 0.109 s + 0.1
Transfer function:
0.2
------------------s^2 + 0.109 s + 0.2
Transfer function:
0.4
------------------s^2 + 0.109 s + 0.4
563
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
564
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
exp
5-52)
As
Chapter5Solutions
Golnaraghi,Kuo
, then,
3.62
3
3
Therefore:
3
3
4.8
48
160
10
16
3
3
8.3
89.8
83
clear all
K=160;
a=8.3;
b=89.8;
p=83;
num = [K K*a];
den = [1 3+b 3*b+K K*a];
G=tf(num,den)
step(G);
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Transfer function:
160 s + 1328
------------------------------s^3 + 92.8 s^2 + 429.4 s + 1328
565
160
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Both Overshoot and settling time values are met. No need to adjust parameters.
5-53) For the controller and the plant to be in series and using a unity feedback loop we have:
MATLAB
USE toolbox 5-8-3
clearall
num=[123];
denom=[3+sqrt(940)3sqrt(940)0.02+sqrt(.004.07)0.02sqrt(.004.07)10];
G=zpk(num,denom,60)
rlocus(G)
Zero/pole/gain:
60(s+1)(s+2)(s+3)
(s+10)(s^2+0.04s+0.0664)(s^2+6s+40)
566
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Notethesystemhastwodominantcomplexpolesclosetotheimaginaryaxis.Letszoomintherootlocusdiagramand
usethecursortofindtheparametervalues.
567
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
AsshownforK=0.933thedominantclosedlooppolesareat0.46j0.626ANDOVERSHOOTIS
ALMOST10%.
IncreasingKwillpushthepolesclosertowardslessdominantzerosandpoles.Asaprocessthedesignprocessbecomesless
trivialandmoredifficult.
Toconfirmuse
M=feedback(G*.933,1)%Seetoolbox542
step(M)
Zero/pole/gain:
55.98(s+3)(s+2)(s+1)
(s+7.048)(s^2+0.9195s+0.603)(s^2+8.072s+85.29)
568
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Toreducerisetime,thepoleshavetomovetolefttomakethesecondarypolesmoredominant.As
aresultthelittlebumpinthelefthandsideoftheabovegraphshouldrise.TryK=3:
>>M=feedback(G*3,1)
Zero/pole/gain:
180(s+3)(s+2)(s+1)
(s+5.01)(s^2+1.655s+1.058)(s^2+9.375s+208.9)
>>step(M)
**Try a higher K value, but looking at the root locus and the time plots, it appears that the
overshoot and rise time criteria will never be met simultaneously.
569
AutomaticControlSystems,9thEdition
Chapter5Solutions
K=5
M=feedback(G*5,1) %See toolbox 5-4-2
step(M)
Zero/pole/gain:
300 (s+3) (s+2) (s+1)
--------------------------------------------------------(s+4.434) (s^2 + 1.958s + 1.252) (s^2 + 9.648s + 329.1)
570
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
571
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-54) ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
K v = lim sG ( s ) =
s 0
K
200 + 20a
200 a
200 + 20 a
= 5
Thusa=10
K=2000
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
>>solve(5*200+5*20*a200a)
ans=
10
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i
Theforwardpathtransferfunctionis
Thecontrollertransferfunctionis
572
AutomaticControlSystems,9thEdition
G ( s ) =
2000
s s + 30 s + 400
2
Chapter5Solutions
Gc ( s ) =
Themaximumovershootoftheunitstepresponseis0percent.
MATLAB
clear all
K=2000;
a=10;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
2000
------------------------(s+10) (s^2
+ 20s + 200)
Clearly PO=0.
573
G(s)
Gp (s)
Golnaraghi,Kuo
20 s + 10 s + 100
(s
+ 30 s + 400
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-55)
ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
K v = lim sG ( s ) =
s 0
K
200 + 20a
200 a
200 + 20 a
= 9
Thusa=90
K=18000
MATLABSymbolictoolcanbeusedtosolveabove.Weuseittofindtherootsforthenextpart:
>>symssaK
solve(9*200+9*20*a200*a)
ans=
90
>>D=(s^2+20*s+200)*s+a))
D=
(s^2+20*s+200)*(s+a)
>>expand(D)
ans=
s^3+s^2*a+20*s^2+20*s*a+200*s+200*a
>>solve(ans,s)
ans=
a
10+10*i
1010*i
Theforwardpathtransferfunctionis
Thecontrollertransferfunctionis
574
AutomaticControlSystems,9thEdition
G ( s ) =
18000
s s + 110 s + 2000
2
Chapter5Solutions
Gc ( s ) =
G(s)
Gp ( s)
Golnaraghi,Kuo
)
( s + 110s + 2000 )
180 s + 10 s + 100
2
Themaximumovershootoftheunitstepresponseis4.3percent.
Fromtheexpressionfortheramperrorconstant,weseethatasaorKgoestoinfinity, Kv approaches10.
Thusthemaximumvalueof Kv thatcanberealizedis10.ThedifficultieswithverylargevaluesofKand
aarethatahighgainamplifierisneededandunrealisticcircuitparametersareneededforthecontroller.
clear all
K=18000;
a=90;
num = [];
den = [-10+10i -10-10i -a];
G=zpk(num,den,K)
step(G);
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
18000
------------------------(s+90) (s^2 + 20s + 200)
PO is less than 4.
575
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-56)(a)RamperrorConstant:
MATLAB
clearall
symssKpKdkv
Gnum=(Kp+Kd*s)*1000
Gden=(s*(s+10))
G=Gnum/Gden
Kv=s*G
s=0
eval(Kv)
Gnum=
1000*Kp+1000*Kd*s
Gden=
s*(s+10)
G=
(1000*Kp+1000*Kd*s)/s/(s+10)
Kv=
(1000*Kp+1000*Kd*s)/(s+10)
s=
0
ans=
100*Kp
K v = lim s
s 0
1000 ( K P + K D s )
s ( s + 10)
1000 K P
10
= 100 K P = 1000
Kp=10
clears
symss
Mnum=(Kp+Kd*s)*1000/s/(s+10)
Mden=1+(Kp+Kd*s)*1000/s/(s+10)
576
Thus
K P = 10
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Kp=
10
Mnum=
(10000+1000*Kd*s)/s/(s+10)
Mden=
1+(10000+1000*Kd*s)/s/(s+10)
ans=
(s^2+10*s+10000+1000*Kd*s)/s/(s+10)
CharacteristicEquation:
Matchwitha2ndorderprototypesystem
solve(10+1000*Kd100)
ans=
9/100
Thus
KD =
90
1000
= 0.09
Usethesameprocedureforotherparts.
(b)For K v = 1000 and = 0.707 ,andfrompart(a), n = 100 rad/sec,
Thus
KD =
131.4
1000
= 0.1314
Thus
577
KD =
190
1000
= 0.19
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-57)Theramperrorconstant:
K v = lim s
s 0
1000 ( K P + K D s )
s ( s + 10)
Theforwardpathtransferfunctionis:
G(s) =
1000 (100 + K D s )
clear all
for KD=0.2:0.2:1.0;
num = [-100/KD];
den = [0 -10];
G=zpk(num,den,1000);
M=feedback(G,1)
step(M);
hold on;
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
1000(s+500)
(s^2+1010s+5e005)
Zero/pole/gain:
1000(s+250)
(s+434.1)(s+575.9)
Zero/pole/gain:
1000(s+166.7)
(s+207.7)(s+802.3)
578
Thus K P = 100
s ( s + 10)
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Zero/pole/gain:
1000(s+125)
(s+144.4)(s+865.6)
Zero/pole/gain:
1000(s+100)
(s+111.3)(s+898.7)
UsethecursortoobtainthePOandtrvalues.
ForpartbthemaximumvalueofKDresultsintheminimumovershoot.
579
AutomaticControlSystems,9thEdition
Chapter5Solutions
5-58)(a)ForwardpathTransferFunction:
G ( s ) = Gc ( s )G p ( s ) =
4500 K ( K P + K D s )
s ( s + 361.2)
RampErrorConstant:
e ss =
1
Kv
0.0802
KK P
K v = lim sG ( s ) =
s 0
4500 KK P
361.2
= 12.458 KK P
clear all
KP=1;
K=80.2;
figure(1)
num = [-KP];
den = [0 -361.2];
G=zpk(num,den,4500*K)
M=feedback(G,1)
step(M)
hold on;
for KD=00.0005:0.0005:0.002;
num = [-KP/KD];
den = [0 -361.2];
G=zpk(num,den,4500*K*KD)
M=feedback(G,1)
step(M)
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
Zero/pole/gain:
360900 (s+1)
s (s+361.2)
Zero/pole/gain:
360900 (s+1)
(s+0.999) (s+3.613e005)
Zero/pole/gain:
180.45 (s+2000)
s (s+361.2)
Zero/pole/gain:
180.45 (s+2000)
580
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
s (s+361.2)
Zero/pole/gain:
360.9 (s+1000)
s (s+361.2)
Zero/pole/gain:
541.35 (s+666.7)
s (s+361.2)
Zero/pole/gain:
721.8 (s+500)
581
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
KD
Chapter5Solutions
tr(sec)
Golnaraghi,Kuo
ts (sec)
MaxOvershoot(%)
0.00221
0.0166
37.1
0.0005
0.00242
0.00812
21.5
0.0010
0.00245
0.00775
12.2
0.0015
0.0024
0.0065
6.4
0.0016
0.00239
0.00597
5.6
0.0017
0.00238
0.00287
4.8
0.0018
0.00236
0.0029
4.0
0.0020
0.00233
0.00283
2.8
582
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-59)TheforwardpathTransferFunction:N=20
200 ( K P + K D s )
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P = 0.05
G(s) =
G(s) =
s ( s + 1)( s + 10)
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
KD=
0
Zero/pole/gain:
10
s(s+1)(s+10)
Zero/pole/gain:
10
(s+10.11)(s^2+0.8914s+0.9893)
KD=
0.0100
583
AutomaticControlSystems,9thEdition
Chapter5Solutions
Zero/pole/gain:
2(s+5)
s(s+1)(s+10)
Zero/pole/gain:
2(s+5)
(s+9.889)(s^2+1.111s+1.011)
KD=
0.0200
Zero/pole/gain:
4(s+2.5)
s(s+1)(s+10)
Zero/pole/gain:
4(s+2.5)
(s+9.658)(s^2+1.342s+1.035)
KD=
0.0300
Zero/pole/gain:
6(s+1.667)
s(s+1)(s+10)
Zero/pole/gain:
6(s+1.667)
(s+9.413)(s^2+1.587s+1.062)
KD=
0.0400
Zero/pole/gain:
8(s+1.25)
s(s+1)(s+10)
Zero/pole/gain:
8(s+1.25)
(s+9.153)(s^2+1.847s+1.093)
584
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
KD=
0.0500
Zero/pole/gain:
10(s+1)
s(s+1)(s+10)
Zero/pole/gain:
10(s+1)
(s+8.873)(s+1.127)(s+1)
KD=
0.0600
Zero/pole/gain:
12(s+0.8333)
s(s+1)(s+10)
Zero/pole/gain:
12(s+0.8333)
(s+8.569)(s+1.773)(s+0.6582)
KD=
0.0700
Zero/pole/gain:
14(s+0.7143)
s(s+1)(s+10)
Zero/pole/gain:
14(s+0.7143)
(s+8.232)(s+2.221)(s+0.547)
KD=
0.0800
Zero/pole/gain:
16(s+0.625)
s(s+1)(s+10)
Zero/pole/gain:
16(s+0.625)
(s+7.85)(s+2.673)(s+0.4765)
585
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
KD=
0.0900
Zero/pole/gain:
18(s+0.5556)
s(s+1)(s+10)
Zero/pole/gain:
18(s+0.5556)
(s+7.398)(s+3.177)(s+0.4255)
KD=
0.1000
Zero/pole/gain:
20(s+0.5)
s(s+1)(s+10)
Zero/pole/gain:
20(s+0.5)
(s+0.3861)(s+3.803)(s+6.811)
586
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
UnitstepResponseAttributes:
KD
ts(sec)
MaxOvershoot(%)
0.01
5.159
12.7
0.02
4.57
7.1
0.03
2.35
3.2
0.04
2.526
0.8
0.05
2.721
0.06
3.039
0.10
4.317
587
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-60) (a)For e ss = 1,
K v = lim sG ( s ) = lim s
ForwardpathTransferFunction:
s 0
s0
200 ( K P + K D s )
s ( s + 1)( s + 10)
G ( s ) =
= 20 K P = 1 Thus K P = 0.05
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
5-61)
(a)ForwardpathTransferFunction:
100 K P +
G ( s ) =
Thus K I = 10.
Gcl ( s ) =
KI
s
s + 10 s + 100
2
100 ( K P s + K I )
For K v = 10,
s + 10 s + 100 s + 100 ( K P s + K I )
3
100 ( K P s + K I )
K v = lim sG ( s ) = lim s
s 0
s s + 10 s + 100
s 0
100 ( K P s + 10 )
2
s + 10 s + 100(1 + K P ) s + 1000
3
= K I = 10
s + 2 s + + 225 = 0
2
Thequadraticportionofthecharacteristicequationis
Thecharacteristicequationofthesystemis
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
588
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
s + (10 2 )
s + 2 s + + 225 s
3
(
)
+ ( 20 4 ) s + (10 2 ) ( s
(10 2 ) s
(100 K
+ 225
Forzeroremainder,
2 10 + 450 1250 = 0
and
100 K P + 3 20 125 = 0
KP =
125 + 20 3
(1)
(2)
= 15765
.
100
(c)RootContours:
1+
100 K P s
= 1 + Geq
2
s + 10 s + 100 s + 1000
100 K P s
100 K P s
Geq ( s ) =
s + 10 s + 100 s + 1000
3
( s + 10 ) ( s
+ 100
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 1000];
rlocus(num,den)
589
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
590
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-62) (a)ForwardpathTransferFunction:
100 K P +
KI
s
For K = 10,
v
K v = lim sG ( s ) = lim s
G ( s ) =
Thustheforwardpathtransferfunctionbecomes
Gcl ( s ) =
s + 10 s + 100
2
G(s) =
100 ( K P s + K I )
s + 10 s + 100 s + 100 ( K P s + K I )
3
s 0
100 (10 + K P s )
s s + 10 s + 100
100 ( K P s + 10 )
2
s + 10 s + 100(1 + K P ) s + 1000
3
clear all
for Kp=.4:0.4:2;
num = [100*Kp 1000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL);
step(GCL)
hold on;
end
591
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 10
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Usethecursertofindthemaximumovershootandrisetime.ForexamplewhenKp=2,PO=43andtr100%=0.152
sec.
Transferfunction:
200s+1000
s^3+10s^2+300s+1000
592
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-63)
(a)ForwardpathTransferFunction:
G(s) =
For K v = 100,
100 ( K P s + K I )
s s + 10 s + 100
2
K v = lim sG ( s ) = lim s
s 0
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 100
Thus K I = 100.
(b)Thecharacteristicequationis
RouthTabulation:
100 + 100 K P
10
10,000
100 K P 900
10,000
Thus
KP > 9
7. ActivateMATLAB
8. GotothedirectorycontainingtheACSYSsoftware.
9. Typein
Acsys
10. ThenpressthetransferfunctionSymbolicandentertheCharacteristicequation
11. ThenpresstheRouthHurwitzbutton
593
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
RH=
[1,100+100*kp]
[10,10000]
[900+100*kp,0]
[(9000000+1000000*kp)/(900+100*kp),0]
594
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 10,000
100 K P s
( s + 23.65)( s 6.825 + j19.4)( s 6.825 j19.4)
RootContours:SeeChapter9toolbox952formoreinformation
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 10000];
rlocus(num,den)
595
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(c) K I = 100
Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
G(s) =
100 ( K P s + 100 )
s s + 10 s + 100
2
clear all
Kp=[15 20 22 24 25 26 30 40 100 1000];
[N,M]=size(Kp);
for i=1:M
num = [100*Kp(i) 10000];
den = [1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL);
figure(i)
step(GCL)
end
KP
15
20
22
24
25
26
596
30
40
100
1000
AutomaticControlSystems,9thEdition
ymax
1.794
1.779
1.7788 1.7785
Chapter5Solutions
1.7756
1.779
WhenKP=25,minimumymax=1.7756
597
Golnaraghi,Kuo
1.782
1.795
1.844
1.859
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
G(s) =
100 ( K P s + K I )
s s + 10 s + 100
2
For K v =
100 K I
100
= 10,
K I = 10
RouthTabulation:
s3 + 10 s 2 + 100 K + 1 s + 1000 = 0
P
(b)CharacteristicEquation:
100 + 100 K P
10
1000
100 K P
1000
Forstability,KP>0
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 1000
598
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.
KP
0.5
1.0
1.6
1.7
1.8
1.393
1.275
1.9
2.0
3.0
5.0
10 20
1.2441
1.246
1.28
1.372
1.514
ymax
WhenKP=1.7,maximumymax=1.2416
5-65)
Gc ( s ) = K P + K D s +
where
KI
s
KDs + KPs + KI
2
K P = K P 2 + K D1 K I 2
= (1 + K D 1 s ) K P 2 +
KI 2
K D = K D1 K P 2
KI = KI 2
ForwardpathTransferFunction:
G ( s ) = Gc ( s )G p ( s ) =
100
(K
(
s2 + KP s + KI )
Andrenametheratios: K D / K P = A,
Thus
s s + 10 s + 100
2
K v = lim sG ( s ) = 100
s 0
KI / KP = B
KI
= 100
100
K I = 100
599
1.642
AutomaticControlSystems,9thEdition
Chapter5Solutions
ForKDbeingsufficientlysmall:
ForwardpathTransferFunction:
G ( s ) =
100 ( K P s + 100 )
s s + 10 s + 100
2
CharacteristicEquation:
s + 10 s + (100 + 100 K P ) s + 10, 000 = 0
3
Forstability,Kp>9.SelectKp=10andobservetheresponse.
clear all
Kp=10;
num = [100*Kp 10000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
1000 s + 10000
----------------------------s^3 + 10 s^2 + 1100 s + 10000
ObviouslybyincreasingKpmoreoscillationswilloccur.AddKDtoreduceoscillations.
clear all
Kp=10;
Kd=2;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL)
step(GCL)
5100
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Transfer function:
200 s^2 + 1000 s + 10000
-----------------------------s^3 + 210 s^2 + 1100 s + 10000
UnitstepResponse
Therisetimeseemsreasonable.ButweneedtoincreaseKptoimproveapproachtosteadystate.
IncreaseKptoKp=30.
clear all
Kp=30;
Kd=1;
num = [100*Kd 100*Kp 10000];
den =[1 10 100 0];
[numCL,denCL]=cloop(num,den);
GCL=tf(numCL,denCL)
step(GCL)
Transfer function:
100 s^2 + 3000 s + 10000
-----------------------------s^3 + 110 s^2 + 3100 s + 10000
5101
AutomaticControlSystems,9thEdition
Chapter5Solutions
5102
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
5-66) This problem has received extended treatment in Chapter 6, Control Lab see Section 6-6.
For the sake simplicity, this problem we assume the control force f(t) is applied in parallel to the
spring K and damper B. We will not concern the details of what actuator or sensors are used.
Lets look at Figure 4-84 and equations 4-322 and 4-323.
xc
mc
mc
cs
ks
ks
cs
mw
mw
kw
cw
(a)
cw
kw
xw
y
(b)
y
(c)
Figure 4-84 Quarter car model realization: (a) quarter car, (b) 2 degree of
Theequationofmotionofthesystemisdefinedasfollows:
(4-322)
whichcanbesimplifiedbysubstitutingtherelationz(t)=x(t)y(t)andnondimensionalizingthecoefficientsto
theform
&&
z (t ) + 2 n z& (t ) + n 2 z (t ) = &&
y (t )
TheLaplacetransformofEq.(4323)yieldstheinputoutputrelationship
5103
(4-323)
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Z (s)
1
= 2
Y&&( s ) s + 2 n s + n 2
(4-324)
Now lets apply control see section 6-6 for more detail.
x
m
c
k
k f(t)
For simplicity and better presentation, we have scaled the control force as kf(t) we rewrite (4-324) as:
mx&&(t ) + cx& (t ) + kx(t ) = cy& (t ) + ky (t ) + kf (t )
&&
z (t ) + 2n z& (t ) + n 2 z (t ) = &&
y (t ) + n 2 f (t )
s 2 + 2n s + n 2 = A( s ) + n 2 F ( s )
A( s ) = Y&&( s )
(4-324)
Setting the controller structure such that the vehicle bounce Z ( s ) = X ( s ) Y ( s ) is minimized:
K
F (s) = 0 K P + K D s + I
s
Z (s)
=
A( s )
Z (s)
1
K
s 2 + 2n s + n 2 1 + K P + K D s + I
s
Z (s)
s
= 3
2
2
A( s ) s + 2n s + n ( (1 + K P ) s + K D s 2 + K I )
See Equation (6-4).
5104
AutomaticControlSystems,9thEdition
Pick = 0.707
Chapter5Solutions
5105
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
F ( s ) = X ref K P + K D s + I X ( s )
s
B
2n =
M
K
n 2 =
M
X ( s)
1
=
K
X ref ( s )
s 2 + 2n s + n 2 + K P + K D s + I
s
5106
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1
2
Potential energy:
, then:
As we know
1
2
1
2
1
2
By differentiating, we have:
0
0
Since
b)
c)
5107
AutomaticControlSystems,9thEdition
Chapter5Solutions
1
2
where
1
2
Golnaraghi,Kuo
1
2
1
2
1
2
Then:
1
2
1
2
Or:
d)
G (s) =
(ms + K )
2
5108
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Uncontrolled
With a proportional controller one can adjust the oscillation amplitude the transfer function is
rewritten as:
Gcl ( s ) =
JK p
(ms + K + JK p )
2
5109
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Kp =
0.1000
Transfer function:
0.5
-------------25 s^2 + 100.5
ans =
0 + 2.0050i
0 - 2.0050i
5110
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
y2
K ( y1 y 2 )
K ( y1 y 2 )
Mgy&1
mgy& 2
b)
Then:
The output equation can be the velocity of the engine, which means
c)
Obtaining
5111
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1
2
Replace Force F with a proportional controller so that F=K(Z-Zref):
KP
Zref_FZ
1
2
1
2
L
x(t)
F
M
Here is an alternative representation including friction (damping) . In this case the angle is
measured differently.
Lets find the dynamic model of the system:
5112
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
1)
2)
Let
1 and
, therefore
which gives:
s
F s
Ignoring friction
s
F s
where
0.
Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
KP+KDs
R_F
F ( s) = K p ( R ( s ) ) K D s ( R ( s ) )
The system transfer function is:
A( K p + KDs)
= 2
R (s + K D s + A ( K p B )
5113
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
Adjust parameters to achieve desired response. Use THE PROCEDURE in Example 5-11-1.
You may look at the root locus of the forward path transfer function to get a better perspective.
5114
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
A ( K p + K D s ) AK D ( z + s )
=
=
E
s 2 AB
s 2 AB
fix z and vary K D .
clear all
z=100;
Kd=0.01;
A=10;
B=8;
num = [A*Kd A*Kd*z];
den =[1 0 -(A*B)];
G=tf(num,den)
rlocus(G)
Transfer function:
0.1 s + 10
---------s^2 80
Forz=10,alargeKD=0.805resultsin:
5115
AutomaticControlSystems,9thEdition
Chapter5Solutions
Golnaraghi,Kuo
clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
pole(G)
zero(G)
step(G)
Transfer function:
8.05 s + 80.5
------------------s^2 + 0.805 s + 0.5
ans =
-0.4025 + 0.5814i
-0.4025 - 0.5814i
ans =
-10
Looking at dominant poles we expect to see an oscillatory response with overshoot
close to desired values.
For a better design, and to meet rise time criterion, use Example 511-1.
5116
Chapter 6
Chapter 6 Solutions
Golnaraghi, Kuo
The form of response is like the one that we expected; a second order system response with overshoot and
oscillation. Considering an amplifier gain of 2 and K b = 0.1 , the desired set point should be set to 2.5 and as
seen in the figure, the final value is approximately 50 rad/sec which is armature voltage divided by K b . To find
the above response the systems parameters are extracted from:
m =
Ra J m
,
Ra B + k b k m
B=
Ra J m k b k m m
= 0.000792kg m 2 / sec
Ra m
6-1
Chapter 6 Solutions
b. +15 V input:
c. 10 V input:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
The above figure is plotted for three different friction coefficients (0, 0.001, 0.005) for 5 V armature input. As
seen in figure, two important effects are observed as the viscous coefficient is increased. First, the final steady
state velocity is decreased and second the response has less oscillation. Both of these effects could be predicted
from Eq. (5-114) by increasing damping ratio .
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
As the overall inertia of the system is increased by 0.005 / 5.2 2 and becomes 1.8493 10 3 kg.m2, the
mechanical time constant is substantially increased and we can assume the first order model for the motor
(ignoring the electrical sub-system) and as a result of this the response is more like an exponential form. The
above results are plotted for 5 V armature input.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
As seen in above figure, if we set B=0.0075 N.s/m the output speed drop by half comparing with the case that
B=0 N.s/m. The above results are plotted for 5 V armature input.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Repeating experiment 3 for B=0.001 N.s/m and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of open loop system is like the effect of higher viscous friction and caused to decrease
the steady state value of speed.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Using first order model we are able to identify system parameters based on unit step response of the system. In
above plot we repeated the experiments 3 with B=0.001 and set point voltage equal to 1 V. The final value of the
speed can be read from the curve and it is 8.8, using the definition of system time constant and the cursor we read
63.2% of speed final value 5.57 occurs at 0.22 sec, which is the system time constant. Considering Eq. (5-116),
and using the given value for the rest of parameters, the inertia of the motor and load can be calculated as:
J=
m ( Ra B + K m K b )
Ra
We also can use the open loop speed response to estimate B by letting the speed to coast down when it gets to the
steady state situation and then measuring the required time to get to zero speed. Based on this time and energy
conservation principle and knowing the rest of parameters we are able to calculate B. However, this method of
identification gives us limited information about the system parameters and we need to measure some parameters
directly from motor such as Ra , K m , K b and so on.
So far, no current or voltage saturation limit is considered for all simulations using SIMLab software.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Comparing these results with the part 1, the final values are approximately the same but the shape of responses is
closed to the first order system behavior. Then the system time constant is obviously different and it can be
identified from open loop response. The effect of nonlinearities such as saturation can be seen in +15 V input with
appearing a straight line at the beginning of the response and also the effects of noise and friction on the response
can be observed in above curves by reducing input voltage for example, the following response is plotted for a 0.1
V step input:
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Open loop response of the motor to a unit step input voltage is plotted in above figure. Using the definition of
time constant and final value of the system, a first order model can be found as:
G(s) =
9
,
0.23s + 1
where the time constant (0.23) is found at 5.68 rad/sec (63.2% of the final value).
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-1
Chapter 6 Solutions
b. 5 rad/sec (SIMLab):
c. 50 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. 5 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. 50 rad/sec (SIMLab):
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
In both experiments 9 and 10, no saturation considered for voltage and current in SIMLab software. If
we use the calculation of phase and magnitude in both SIMLab and Virtual Lab we will find that as
input frequency increases the magnitude of the output decreases and phase lag increases. Because of
existing saturations this phenomenon is more sever in the Virtual Lab experiment (10.f). In this
experiments we observe that M = 0.288 and = 93.82 o for = 50.
6-1
Chapter 6 Solutions
a. +5 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
c. -10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
b. +15 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c. -10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As seen in above figure, two different values for B are selected, zero and 0.0075. We could change the
final speed by 50% in open loop system. The same values selected for closed loop speed control but as
seen in the figure the final value of speeds stayed the same for both cases. It means that closed loop
system is robust against changing in systems parameters. For this case, the gain of proportional
controller and speed set point are 10 and 5 rad/sec, respectively.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Repeating part 5 in section 6-4-1 for B=0.001 and TL =0.05 N.m result in above figure. As seen, the effect of
disturbance on the speed of closed loop system is not substantial like the one on the open loop system in part 5,
and again it is shown the robustness of closed loop system against disturbance. Also, to study the effects of
conversion factor see below figure, which is plotted for two different C.F. and the set point is 5 V.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
By decreasing the C.F. from 1 to 0.2, the final value of the speed increases by a factor of 5.
6-1
Chapter 6 Solutions
b. +15 V:
c. 10 V:
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As seen the responses of Virtual Lab software, they are clearly different from the same results of
SIMLab software. The nonlinearities such as friction and saturation cause these differences. For
example, the chattering phenomenon and flatness of the response at the beginning can be considered as
some results of nonlinear elements in Virtual Lab software.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
In above figure, an integral gain of 1 is considered for all curves. Comparing this plot with the previous
one without integral gain, results in less steady state error for the case of controller with integral part.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
The above figure is obtained in the same conditions of part 20 but in this case we considered 10 V. and
4 A. as the saturation values for voltage and current, respectively. As seen in the figure, for higher
proportional gains the effect of saturations appears by reducing the frequency and damping property of
the system.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Chapter 6 Solutions
11.2
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-3
a)
b)
c)
d)
50rad/sec
0.0795 seconds
2.5A. The current
When Jm is increased by a factor of 2, it takes 0.159 seconds to reach 63% of its steady state
speed, which is exactly twice the original time period . This means that the time constant has
been doubled.
6-1
Chapter 6 Solutions
6-4
Part 1: Repeat problem 6-1 with TL = -0.1Nm
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-1
Chapter 6 Solutions
6-4 The steady state speed is 4.716 rad/sec when the amplifier input voltage is 5V:
6-6
a) 6.25 rad/sec.
b) 63% of the steady state speed: 6.25 0.63 = 3.938 rad/sec
It takes 0.0249 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 1 Ampere.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-7
a) 9.434 rad/sec.
b) 63% of the steady state speed: 9.434 0.63 = 5.943 rad/sec
It takes 0.00375 seconds to reach 63% of its steady state speed.
c) The maximum current drawn by the motor is 10 Amperes.
d) When there is no saturation, higher Kp value reduces the steady state error and decreases the rise
time. If there is saturation, the rise time does not decrease as much as it without saturation.
Also, if there is saturation and Kp value is too high, chattering phenomenon may appear.
6-8
a) The steady state becomes zero. The torque generated by the motor is 0.1 Nm.
b) 6.25 - (6.25 - 0) 0.63 = 2.31 rad/sec. It takes 0.0249 seconds to reach 63% of its new steady
state speed. It is the same time period to reach 63% of its steady state speed without the load
torque (compare with the answer for the Problem 6-6 b).
11-9 The SIMLab model becomes
The sensor gain and the speed input are reduced by a factor of 5. In order to get the same result as
Problem 6-6, the Kp value has to increase by a factor of 5. Therefore, Kp = 0.5.
The following graphs illustrate the speed and current when the input is 2 rad/sec and Kp = 0.5.
6-1
Chapter 6 Solutions
6-10
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
a) 1 radian.
b) 1.203 radians.
c) 0.2215 seconds.
6-11
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-12
Different proportional gains and their corresponding responses are shown on the following graph.
As the proportional gain gets higher, the motor has a faster response time and lower steady state error,
but if it the gain is too high, the motor overshoot increases. If the system requires that there be no
overshoot, Kp = 0.2 is the best value. If the system allows for overshoot, the best proportional gain is
dependant on how much overshoot the system can have. For instance, if the system allows for a 30%
overshoot, Kp = 1 is the best value.
6-1
Chapter 6 Solutions
As the derivative gain increases, overshoot decreases, but rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-14
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-15
There could be many possible answers for this problem. One possible answer would be
Kp= 100
Ki= 10
Kd= 1.4
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-16
0.1 Hz
0.2 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
0.5 Hz
1 Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
2Hz
5Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
10Hz
50Hz
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
As frequency increases, the phase shift of the input and output also increase. Also, the amplitude of the
output starts to decrease when the frequency increases above 0.5Hz.
6-17
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-18
Considering fast response time and low overshoot, Kp=1 is considered to be the best value.
6-1
Chapter 6 Solutions
As Kd value increases, the overshoot decreases and the rise time increases.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-20 From the Experiment Menu select the Open Loop Sine Input option.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Double click on the Sine wave block and choose the input values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
Calculate the Gain and Phase values by entering the input frequency. Repeat the process for other
frequency values and use the calculated gain and phase values to plot the frequency response of the
system.
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
6-21)
6-1
Chapter 6 Solutions
Golnaraghi, Kuo
Run simulation, and repeat the process for different gain values. Observe the steady state value change
with K.
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-22)
6-1
Chapter 6 Solutions
Run simulation, and repeat the process for different gain values.
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
Golnaraghi, Kuo
6-25) a)
6-1
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
c) A sample response
d)
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
Chapter 6 Solutions
6-1
Golnaraghi, Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Chapter 7
7-1 (a) P ( s ) = s 4 + 4 s 3 + 4 s 2 + 8 s
Q( s ) = s + 1
Asymptotes:
Intersect of Asymptotes:
1 =
(b) P ( s ) = s 3 + 5 s 2 + s
= 1
Q( s ) = s + 1
0, 4.7912, 0.20871
Asymptotes:
K > 0: 90 o , 270 o
K < 0: 0 o , 180 o
Intersect of Asymptotes:
1 =
(c) P ( s ) = s 2
4.7913 0.2087 ( 1)
31
Q( s ) = s + 3s + 2 s + 8
0, 0
Asymptotes:
K > 0: 180 o
K < 0: 0 o
71
= 2
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Q( s) = s 1 ( s + 3)
(d) P ( s ) = s 3 + 2 s 2 + 3 s
0, 1 j1.414
1, 1, 3
Asymptotes:
Q(s) are
equal.
(e) P ( s ) = s 5 + 2 s 4 + 3 s 3
Q( s ) = s + 3s + 5
0, 0, 0, 1 j1.414
15
. j16583
.
Asymptotes:
Intersect of Asymptotes:
1 =
(f) P ( s ) = s 4 + 2 s 2 + 10
1 1 ( 15)
. ( 15)
.
5 2
1
3
Q( s ) = s + 5
Asymptotes:
Intersect of Asymptotes:
1 =
10398
.
10398
.
+ 10398
.
+ 10398
.
( 5)
4 1
72
5
3
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Assymp1_angle =
60
Assymp2_angle = -60
Assymp3_angle = 180
73
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-5
-4
-3
-2
Real Axis
Assymp1_angle =
90
Assymp2_angle = -90
74
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-6
-5
-4
-3
-2
Real Axis
75
-1
AutomaticControlSystems,9thEdition
Assymp1_angle =
Chapter7Solutions
Golnaraghi,Kuo
180
Imaginary Axis
0.5
-0.5
-1
-1.5
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
No asymptotes
76
-0.5
0.5
1.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Assymp1_angle =
60
77
AutomaticControlSystems,9thEdition
Chapter7Solutions
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 0.3333 (intersect of asymptotes)
7-2(f) MATLAB code:
s = tf('s')
'Generating the transfer function:'
num_GH=(s+5);
den_GH=(s^4+2*s^2+10);
GH_a=num_GH/den_GH;
figure(1);
rlocus(GH_a)
xlim([-20 20])
ylim([-20 20])
GH_p=pole(GH_a)
GH_z=zero(GH_a)
n=length(GH_p)
%number of poles of G(s)H(s)
m=length(GH_z)
%number of zeros of G(s)H(s)
%Asymptotes angles:
k=0;
Assymp1_angle=+180*(2*k+1)/(n-m)
Assymp2_angle=-180*(2*k+1)/(n-m)
k=1;
Assymp3_angle=+180*(2*k+1)/(n-m)
%Asymptotes intersection point on real axis:
sigma=(sum(GH_p)-sum(GH_z))/(n-m)
78
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-20
-15
-10
-5
10
Real Axis
Assymp1_angle =
60
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 1.6667 (intersect of asymptotes)
7-3)
Consider
79
15
20
AutomaticControlSystems,9thEdition
If we consider
Chapter7Solutions
Golnaraghi,Kuo
, then:
G(s)H(s) =
or
7-4)
If
, then each point on root locus must satisfy the characteristic equation of
If
and
then
or
since the intersect of (n-m) asymptotes lies on the real axis of the s-plane and
real, therefore
7-5)
710
is
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
711
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
K > 0: 1 2 3 + 4 = 180o
1 90 45 + 90 = 180
o
1 = 135
K > 0:
K < 0:
1 2 3 + 4 = 180
1 135 90 + 90 = 0
o
1 = 135
712
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
K > 0:
1 2 3 + 4 = 180
1 135 90 45 = 180
o
1 = 90
K > 0:
1 2 3 4 = 180
1 = 180
713
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
K < 0:
1 + 6 2 3 4 5 = 360
1 = 108.435
714
AutomaticControlSystems,9thEdition
7-7)
Chapter7Solutions
G(s)H(s) =
a)
Golnaraghi,Kuo
=
=
=
we know that
therefore
Similarly:
G(s)H(s) =
=
=
=
Therefore:
As a result, =180
7-8)
zeros:
and poles:
715
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Arrival angles at
7-9)(a)
(b)
(d)
(c)
716
AutomaticControlSystems,9thEdition
Chapter7Solutions
717
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
718
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
If
, therefore
or
Breakaway Points:
3 s + 22 s + 65 s + 100 s + 86 s + 44 s + 12 = 0
1, 2.5
719
0.7275, 2.3887
Breakaway Points:
2 s + 20 s + 74 s + 110 s + 48 s = 0
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
2.5, 109
.
Breakaway Points:
s 8 s 19 s + 8 s + 94 s + 120 s + 48 = 0
0.6428, 2.1208
Breakaway Points:
7-12) (a)
G( s) H ( s) =
Asymptotes:K>0:
90
K ( s + 8)
s( s + 5)( s + 6)
and 270
K<0:
and 180
IntersectofAsymptotes:
BreakawaypointEquation:
1 =
0 5 6 ( 8 )
31
= 15
.
2 s + 35 s + 176 s + 240 = 0
BreakawayPoints:
RootLocusDiagram:
720
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(b)
G( s) H ( s) =
K
s( s + 1)( s + 3)( s + 4 )
K<0:
0 , 90 , 180 , 270
Asymptotes:K>0:
IntersectofAsymptotes:
1 =
0 1 3 4
4
= 2
BreakawaypointEquation:
4 s + 24 s + 38 s + 12 = 0
BreakawayPoints:
0.4189, 2, 3.5811
RootLocusDiagram:
721
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(c)
G( s) H ( s) =
K( s + 4)
IntersectofAsymptotes:
BreakawaypointEquation:
3 s + 24 s + 52 s + 32 s = 0
BreakawayPoints:
0, 1085
. , 2, 4.915
RootLocusDiagram:
s ( s + 2)
1 =
0 + 0 2 2 ( 4 )
4 1
= 0
722
K<0:
0 , 120 , 240
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(d)
G( s) H ( s) =
K ( s + 2)
2
s( s + 2 s + 2 )
IntersectofAsymptotes:
1 =
K<0: 0 , 180
0 1 j 1 j ( 2 )
31
= 0
BreakawaypointEquation:
2s + 8s + 8s + 4 = 0
BreakawayPoints:
2.8393
Theothertwosolutionsarenotbreakawaypoints.
723
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
RootLocusDiagram
712(e)
G(s) H (s) =
K ( s + 5)
IntersectofAsymptotes:
BreakawaypointEquation:
BreakawayPoints:
s s + 2s + 2
2
1 =
K<0:
0 1 j 1 j ( 5)
31
= 15
.
2 s + 17 s + 20 s + 10 = 0
7.2091
Theothertwosolutionsarenotbreakawaypoints.
724
0 , 180
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(f)
G(s) H (s) =
Asymptotes:K>0:
IntersectofAsymptotes:
BreakawaypointEquation:
4 s + 18 s + 20 s + 8 = 0
BreakawayPoint:
3.0922
s ( s + 4 ) s + 2s + 2
o
1 =
0 1 j 1+ j 4
= 15
.
Theothersolutonsarenotbreakawaypoints.
725
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(g)
G( s) H ( s) =
K( s + 4)
2
s ( s + 8)
2
2
K<0: 0 , 180
IntesectofAsymptotes:
BreakawaypointEquation:
1 =
0 + 0 8 8 ( 4 ) ( 4 )
42
BreakawayPoints:
0,4,8,4j4,4+j4
726
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(h)
G( s) H ( s) =
IntersectofAsymptotes:
BreakawaypointEquation:
s + 12 s + 32 s = 0
BreakawayPoint:
0,4,8
s ( s + 8)
1 =
3
8 8
4
= 4
727
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(i)
G(s) H (s) =
K s + 8s + 20
2
s ( s + 8)
2
IntersectofAsymptotes:
1 =
8 8 ( 4 ) ( 4 )
42
= 4
BreakawaypointEquation:
BreakawayPoints:
4, 8, 4 + j 4.9, 4 j 4.9
728
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
(j)
G(s) H (s) =
(s
Ks
2
Sincethenumberoffinitepolesandzerosof G ( s ) H ( s ) arethesame,therearenoasymptotes.
BreakawaypointEquation: 8 s = 0
BreakawayPoints:
s=0
729
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(k)
G(s) H (s) =
K s 4
2
IntersectofAsymptotes:
1 =
BreakawaypointEquation:
s 8 s 24 s = 0
BreakawayPoints:
0, 3.2132, 3.2132,
(s
)( s
+1
+4
2 + 2
42
4
K<0:
= 0
2
730
0 , 180
j15246
.
, j15246
.
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(l)
K ( s 1)
2
G(s) H (s) =
Asymptotes:K>0:
(s
)( s
+1
+4
90 , 270
K<0:
IntersectofAsymptotes:
1 =
1 + 1
42
= 0
BreakawaypointEquation:
s 2s 9s = 0
BreakawayPoints:
731
0 , 180
j1.47
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
(m)
G( s) H ( s) =
K ( s + 1)( s + 2)( s + 3)
3
s ( s 1)
732
AutomaticControlSystems,9thEdition
Chapter7Solutions
180
Golnaraghi,Kuo
K<0: 0
Asymptotes:K>0:
BreakawaypointEquation:
s + 12 s + 27 s + 2 s 18 s = 0
BreakawayPoints:
1.21,2.4,9.07,0.683,0,0
733
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
(n)
G( s) H ( s) =
K ( s + 5)( s + 40)
s ( s + 250)( s + 1000)
K<0:
0 , 120 , 240
Intersectofasymptotes:
1 =
0 + 0 + 0 250 1000 ( 5) ( 40 )
5 2
.
= 40167
BreakawayPoints:
7.288,712.2,0,0
734
8 4
10 3
11 2
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
712(o)
G( s) H ( s) =
K ( s 1)
s( s + 1)( s + 2 )
K<0:
735
0 , 180
AutomaticControlSystems,9thEdition
Chapter7Solutions
IntersectofAsymptotes:
1 =
1 2 1
31
Golnaraghi,Kuo
= 2
BreakawaypointEquation:
s 3s 1 = 0
BreakawayPoints;
0.3473,1.532,1.879
736
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
num=[1 7];
den=conv([1 0],[1 5]);
den=conv(den,[1 6]);
mysys=tf(num,den)
rlocus(mysys);
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Root Locus
10
8
6
num=[0 1];
den=conv([1 0],[1 1]);
den=conv(den,[1 3]);
den=conv(den,[1 4]);
mysys=tf(num,den)
rlocus(mysys);
4
2
0
-2
-4
-6
-8
-10
-12
-10
-8
-6
-4
-2
Real Axis
737
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-12
-10
-8
-6
-4
-2
Real Axis
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
num=[1 2];
den=conv([1 0],[1
(1+j)]);
den=conv(den,[1 (1j)]);
mysys=tf(num,den)
rlocus(mysys);
-6
-8
-10
-2.5
-2
-1
Real Axis
738
-1.5
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-6
-5
-3
-2
Real Axis
739
-4
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
3
2
Imaginary Axis
1
0
-1
-2
-3
-4
-5
-6
-5
-4
-3
-2
-1
Real Axis
Root Locus
10
8
6
4
Imaginary Axis
2
0
-2
-4
-6
-8
-10
-9
-8
-7
-6
-5
-4
Real Axis
740
-3
-2
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
num=[0 1];
den=conv([1 0],[1 0]);
den=conv(den,[1 8]);
den=conv(den,[1 8]);
mysys=tf(num,den)
rlocus(mysys);
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
10
15
20
-3
-2
-1
Real Axis
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-9
-8
-7
-6
-5
-4
Real Axis
741
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
0.25
0.2
0.15
Imaginary Axis
0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
-2.5
-2
-1.5
-1
-0.5
0
Real Axis
0.5
1.5
2.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
rlocus(mysys);
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-2.5
-2
-1.5
-1
-0.5
0.5
1.5
2.5
Real Axis
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-1.5
-1
-0.5
0
Real Axis
743
0.5
1.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
Imaginary Axis
-2
-4
-6
-18
-16
-14
-12
-10
-8
-6
-4
-2
200
400
600
Real Axis
Root Locus
1500
1000
500
Imaginary Axis
-500
-1000
-1500
-1400
-1200
-1000
-800
-600
-400
Real Axis
744
-200
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
Imaginary Axis
2
0
-2
-4
-6
-8
-10
-2.5
-2
-1.5
-1
-0.5
Real Axis
7-14)(a)
Q( s ) = s + 5
P ( s ) = s s + 3s + 2 = s ( s + 1)( s + 2)
2
IntersectofAsymptotes:
1 =
K<0:
1 2 ( 5)
31
= 1
BreakawaypointEquation:
s + 9 s + 15 s + 5 = 0
BreakawayPoints:
0.4475,1.609,6.9434
745
0 , 180
0.5
1.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(b)
Q( s ) = s + 3
P( s) = s s + s + 2
746
AutomaticControlSystems,9thEdition
Asymptotes:
K>0:
Chapter7Solutions
90 , 270
K<0:
Golnaraghi,Kuo
o
0 , 180
IntersectofAsymptotes:
1 =
BreakawaypointEquation:
s + 5s + 3s + 3 = 0
BreakawayPoints:
4.4798
1 ( 3)
31
= 1
Theothersolutionsarenotbreakawaypoints.
747
AutomaticControlSystems,9thEdition
Chapter7Solutions
714(c)
Q( s ) = 5s
P ( s ) = s + 10
Asymptotes:
K>0:
180
K<0:
748
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
BreakawaypointEquation:
5 s 50 = 0
BreakawayPoints:
3.162, 3.162
749
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(d)
Q( s ) = s s + s + 2
2
P ( s ) = s + 3s + s + 5s + 10
4
Asymptotes:K>0:
180
K<0:
BreakawaypointEquation:
s + 2 s + 8 s + 2 s 33 s 20 s 20 = 0
BreakawayPoints:
2,1.784.
Theothersolutionsarenotbreakawaypoints.
750
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(e)
Q( s ) = s 1 ( s + 2 )
2
P( s) = s s + 2s + 2
2
751
AutomaticControlSystems,9thEdition
Chapter7Solutions
BreakawaypointEquation:
6 s + 12 s + 8 s + 4 = 0
BreakawayPoints:
1.3848
752
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(f)
Q ( s ) = ( s + 1)( s + 4)
P(s) = s s 2
2
753
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Asymptotes:
K>0:
180
K<0:
Breakawaypointequations:
s + 10 s + 14 s 8 = 0
BreakawayPoints:
8.334, 0.623
754
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(g)
Q( s ) = s + 4 s + 5
2
P( s ) = s
(s
+ 8s + 16
K<0: 0 , 180
IntersectofAsymptotes:
1 =
8 ( 4 )
42
= 2
BreakawaypointEquation:
s + 10 s + 42 s + 92 s + 80 s = 0
BreakawayPoints:
0, 2, 4, 2 + j 2.45, 2 j 2.45
755
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(h)
Q( s ) = s 2
2
) ( s + 4)
P( s) = s s + 2s + 2
2
756
AutomaticControlSystems,9thEdition
BreakawayPoints:
Chapter7Solutions
Golnaraghi,Kuo
2,6.95
757
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(i)
Q( s ) = ( s + 2 )( s + 0.5)
P( s) = s s 1
BreakawaypointEquation:
s + 5s + 4 s 1 = 0
BreakawayPoints:
K<0:
4.0205,0.40245
Theothersolutionsarenotbreakawaypoints.
758
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
759
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
714(j)
Q( s) = 2s + 5
P(s) = s
(s
+ 2s + 1 = s
( s + 1)
2
IntersectofAsymptotes;
1 =
0 + 0 1 1 ( 2.5)
4 1
0.5
BreakawaypointEquation:
6 s + 28 s + 32 s + 10 s = 0
BreakawayPoints:
0,0.5316,1,3.135
760
= 0.167
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
761
AutomaticControlSystems,9thEdition
Chapter7Solutions
%b)
num_GH_b=(s+3);
den_GH_b=(s^3+s^2+2*s);
GH_b=num_GH_b/den_GH_b;
figure(2);
rlocus(GH_b)
%c)
num_GH_c= 5*s^2;
den_GH_c=(s^3+10);
GH_c=num_GH_c/den_GH_c;
figure(3);
rlocus(GH_c)
%d)
num_GH_d=(s^3+s^2+2);
den_GH_d=(s^4+3*s^3+s^2+15);
GH_d=num_GH_d/den_GH_d;
figure(4);
rlocus(GH_d)
%e)
num_GH_e=(s^2-1)*(s+2);
den_GH_e=(s^3+2*s^2+2*s);
GH_e=num_GH_e/den_GH_e;
figure(5);
rlocus(GH_e)
%f)
num_GH_f=(s+4)*(s+1);
den_GH_f=(s^3-2*s);
GH_f=num_GH_f/den_GH_f;
figure(6);
rlocus(GH_f)
%g)
num_GH_g=(s^2+4*s+5);
den_GH_g=(s^4+6*s^3+9*s^2);
GH_g=num_GH_g/den_GH_g;
figure(7);
rlocus(GH_g)
%h)
num_GH_h=(s^2-2)*(s+4);
den_GH_h=(s^3+2*s^2+2*s);
GH_h=num_GH_h/den_GH_h;
762
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
figure(8);
rlocus(GH_h)
%i)
num_GH_i=(s+2)*(s+0.5);
den_GH_i=(s^3-s);
GH_i=num_GH_i/den_GH_i;
figure(9);
rlocus(GH_i)
%j)
num_GH_j=(2*s+5);
den_GH_j=(s^4+2*s^3+2*s^2);
GH_j=num_GH_j/den_GH_j;
figure(10);
rlocus(GH_j)
%k)
num_GH_k=1;
den_GH_k=(s^5+2*s^4+3*s^3+2*s^2+s);
GH_k=num_GH_k/den_GH_k;
figure(11);
rlocus(GH_k)
Root Locus diagram 7-15(a):
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-6
-5
-4
-3
-2
Real Axis
763
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
10
Imaginary Axis
-5
-10
-15
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
764
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-5
-4
-3
-2
-1
Real Axis
Imaginary Axis
0.5
-0.5
-1
-1.5
-6
-5
-4
-3
-2
Real Axis
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2.5
-2
-1.5
-1
-0.5
Real Axis
Asymptotes angle:
Therefore,
Departure angle from:
766
0.5
1.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-18
-16
-14
-12
-10
-8
Real Axis
and zeroes:
Asymptotes angles:
Departure angles from:
767
-6
-4
-2
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-3.5
-3
-2.5
-2
-1.5
Real Axis
Poles:
which means:
or
768
-1
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
769
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
2.5
2
1.5
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-10
-8
-6
-4
-2
Real Axis
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-10
-5
0
Real Axis
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
6
Imaginary Axis
-2
-4
-6
-6
-5
-4
-3
-2
-1
Real Axis
IntersectofAsymptotes:
1 =
2 2 5 6 ( 4 )
51
= 2.75
BreakawaypointEquation:
BreakawayPoints:
When = 0.707,
K=13.07
0.6325,5.511(ontheRL)
771
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
IntersectofAsymptotes:
772
AutomaticControlSystems,9thEdition
Chapter7Solutions
1 =
0 2 5 10
4
Golnaraghi,Kuo
= 4.25
BreakawaypointEquation:
773
AutomaticControlSystems,9thEdition
Chapter7Solutions
BreakawaypointEquation:
s + 4 s + 10 s + 300 s + 500 = 0
BreakawayPoints:
1.727
When = 0.707,
K=9.65
(ontheRL)
774
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
775
AutomaticControlSystems,9thEdition
Chapter7Solutions
716(d)K>0:
90 , 270
IntersectofAsymptotes:
1 =
When = 0.707,
2 2 5 6
42
= 7.5
K=8.4
776
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
num_G_b= 1;
den_G_b=s*(s+2)*(s+4)*(s+10);
G_b=num_G_b/den_G_b;
figure(2);
rlocus(G_b)
%c)
num_G_c=(s^2+2*s+8);
den_G_c=s*(s+5)*(s+10);
G_c=num_G_c/den_G_c;
figure(3);
rlocus(G_c)
%d)
num_G_d=(s^2+4);
den_G_d=(s+2)^2*(s+5)*(s+6);
G_d=num_G_d/den_G_d;
figure(4);
rlocus(G_d)
%e)
num_G_e=(s+10);
den_G_e=s^2*(s+2.5)*(s^2+2*s+2);
G_e=num_G_e/den_G_e;
figure(5);
rlocus(G_e)
%f)
num_G_f=1;
den_G_f=(s+1)*(s^2+4*s+5);
G_f=num_G_f/den_G_f;
figure(6);
rlocus(G_f)
%g)
num_G_g=(s+2);
den_G_g=(s+1)*(s^2+6*s+10);
G_g=num_G_g/den_G_g;
figure(7);
rlocus(G_g)
%h)
num_G_h=(s+3)*(s+2);
den_G_h=s*(s+1);
G_h=num_G_h/den_G_h;
figure(8);
rlocus(G_h)
778
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
%i)
num_G_i=1;
den_G_i=s*(s^2+4*s+5);
G_i=num_G_i/den_G_i;
figure(9);
rlocus(G_i)
Root Locus diagram 7-17(a):
By using Data Cursor tab on the figure window and clicking on the root locus diagram, gain and
damping values can be observed. Damping of ~0.707 can be observed on intersection of the root locus
diagram with two lines originating from (0,0) by angles of ArcCos(0.707) from the real axis. These
intersection points are shown for part (a) where the corresponding gain is 19. In the other figures for
section (b) to (i), similar points have been picked by the Data Cursor, and the gains are reported here.
Root Locus
15
10
System: G_a
Gain: 19
Pole: -0.584 + 0.589i
Damping: 0.704
Overshoot (%): 4.43
Frequency (rad/sec): 0.829
Imaginary Axis
0
System: G_a
Gain: 19
Pole: -0.584 - 0.589i
Damping: 0.704
Overshoot (%): 4.43
Frequency (rad/sec): 0.829
-5
-10
-15
-20
-15
-10
-5
0
Real Axis
779
10
15
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
10
15
20
-2
Real Axis
Imaginary Axis
-1
-2
-3
-18
-16
-14
-12
-10
-8
-6
-4
Real Axis
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
15
10
Imaginary Axis
-5
-10
-15
-20
-15
-10
-5
5
Real Axis
10
15
20
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-7
-6
-5
-4
-3
-2
-1
-0.5
0.5
Real Axis
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-3.5
-3
-2.5
-2
-1.5
-1
Real Axis
Root Locus diagram 7-17(h): (no solution exists for damping =0.0707)
782
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0.5
Real Axis
Imaginary Axis
-1
-2
-3
-4
-6
-5
-4
-3
-2
Real Axis
7-18) (a)Asymptotes:
K>0:
60 , 180 , 300
783
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
IntersectofAsymptotes:
1 =
0 10 20
3
= 10
(b)Asymptotes:
K>0:
IntersectofAsymptotes:
BreakawaypointEquation: 4 s + 27 s + 46 s + 15 = 0
BreakawayPoints:(RL)0.4258
1 =
0 1 3 5
4
= 2.25
K=2.879,
784
4.2537K=12.95
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
c)
Zeros:
and poles:
Angle of asymptotes:
and
Poles:
Angle of asymptotes:
breakaway points:
e)
Zeros:
and poles:
Angle of asymptotes:
785
AutomaticControlSystems,9thEdition
Chapter7Solutions
breakaway points:
f)
Poles:
Angles of asymptotes:
breakaway point:
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
num_G_d=1;
den_G_d=(s+0.5)*(s-1.5);
G_d=num_G_d/den_G_d;
figure(4);
rlocus(G_d)
%e)
num_G_e=(s+1/3)*(s+1);
den_G_e=s*(s+1/2)*(s-1);
G_e=num_G_e/den_G_e;
figure(5);
rlocus(G_e)
%f)
num_G_f=1;
den_G_f=s*(s^2+6*s+25);
G_f=num_G_f/den_G_f;
figure(6);
rlocus(G_f)
Root Locus diagram 7-19(a):
Root Locus
60
40
System: G_a
Gain: 385
Pole: -4.23 - 1.45e-007i
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 4.23
Imaginary Axis
20
-20
-40
-60
-80
-60
-40
-20
Real Axis
787
20
40
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
System: G_b
Gain: 2.88
Pole: -0.426 - 1.02e-008i
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 0.426
Imaginary Axis
-5
System: G_b
Gain: 13
Pole: -4.25 + 0.0278i
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 4.25
-10
-15
-15
-10
-5
10
Real Axis
0.6
0.4
Imaginary Axis
0.2
System: G_c
Gain: 2
Pole: 0
Damping: -1
Overshoot (%): 0
Frequency (rad/sec): 0
-0.2
-0.4
-0.6
-0.8
-0.8
-0.6
-0.4
-0.2
0.2
Real Axis
0.4
0.6
0.8
1.2
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1.5
1
System: G_d
Gain: 1
Pole: 0.5
Damping: -1
Overshoot (%): 0
Frequency (rad/sec): 0.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.5
0.5
1.5
Real Axis
Imaginary Axis
0.5
System: G_e
Gain: 5.34
Pole: -2.24 - 3.95e-008i
Damping: 1
Overshoot (%): 0
Frequency (rad/sec): 2.24
System: G_e
Gain: 0.211
Pole: 0.383
Damping: -1
Overshoot (%): 0
Frequency (rad/sec): 0.383
-0.5
-1
-1.5
-5
-4
-3
-2
-1
Real Axis
789
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-30
-25
-20
-15
-10
-5
Real Axis
790
10
15
AutomaticControlSystems,9thEdition
Chapter7Solutions
7-20)
791
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-16
-14
-12
-10
-8
-6
-4
-2
Real Axis
Imaginary Axis
1
0.5
0
-0.5
-1
-1.5
-2
-2.5
-4.5
-4
-3.5
-3
-2.5
-2
Real Axis
793
-1.5
-1
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
-1
-2
-3
-4
-9
-8
-7
-6
-5
-4
-3
-2
-1
Real Axis
Imaginary Axis
0.5
-0.5
-1
-1.5
-6
-5
-4
-3
-2
Real Axis
794
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-9
-8
-7
-6
-5
-4
Real Axis
795
-3
-2
-1
AutomaticControlSystems,9thEdition
7-22) P ( s ) = s 3 + 25 s 2 + 2 s + 100
Golnaraghi,Kuo
Q ( s ) = 100 s
o
Kt > 0: 90 , 270
Asymptotes:
IntersectofAsymptotes:
Chapter7Solutions
1 =
25 0
31
= 12.5
BreakawaypointEquation:
s + 12.5 s 50 = 0
BreakawayPoints:
2.2037,
(RL)
12.162
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
s = tf('s')
num_G= 100;
den_G=s^3+25*s+2*s+100;
G=num_G/den_G;
figure(1);
rlocus(G)
Root Locus diagram 7-23:
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-30
-25
-20
-15
-10
-5
Real Axis
7-24)Characteristicequation: s 3 + 5s 2 + Kt s + K = 0
(a) K t = 0 :
P(s) = s
( s + 5)
Q(s) = 1
Asymptotes:K>0:
IntersectofAsymptotes:
1 =
60 , 180 , 300
5 0
3
= 1667
.
797
10
15
20
AutomaticControlSystems,9thEdition
BreakawaypointEquation:
Chapter7Solutions
3 s + 10 s = 0
BreakawayPoints:
Golnaraghi,Kuo
0,3.333
798
AutomaticControlSystems,9thEdition
724(b)
Chapter7Solutions
P ( s ) = s + 5 s + 10 = 0
Golnaraghi,Kuo
Q( s ) = s
Asymptotes:K>0: 90 o , 270 o
IntersectofAsymptotes:
1 =
BreakawaypointEquation: 2 s + 5 s 10 = 0
TherearenobreakawaypointsonRL.
5 0
2 1
= 0
799
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7-25)
By collapsing the two loops, and finding the overall close loop transfer function, the characteristic
equation (denominator of closed loop transfer function) can be found as:
1 + GH =
s 3 + 5s 2 + K t s + K
s 2 ( s + 5) + K t s
Root Locus
15
Den(GH)= s 3 + 5s 2 and
10
Imaginary Axis
locus diagram.
-5
Therefore, assuming
-10
Den(GH)= s 3 + 5 s 2 + 10 and
Num(GH) = s , we can use rlocus
-15
-20
-15
-10
-5
10
Real Axis
%b)
num_G_b= s;
den_G_b=s^3+5*s^2+10;
GH_b=num_G_b/den_G_b;
figure(2);
rlocus(GH_b)
5
Imaginary Axis
s = tf('s')
%a)
num_G_a= 1;
den_G_a=s^3+5*s^2;
GH_a=num_G_a/den_G_a;
figure(1);
rlocus(GH_a)
10
-5
-10
-15
-6
-5
-3
-2
Real Axis
7100
-4
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Q ( s ) = 2.05 s ( s + 5)
o
J L = 0: 180
Asymptotes:
BreakawaypointEquation:
BreakawayPoints:
0,204.18
(RL)
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
s = tf('s')
num_G = (2.05*s^3 + 10.25*s^2);
den_G = (s^2 + 116.84*s + 1843);
G = num_G/den_G;
figure(1);
rlocus(G)
Root Locus
150
100
Imaginary Axis
50
-50
-100
-150
-400
-350
-300
-250
-200
-150
Real Axis
7102
-100
-50
50
AutomaticControlSystems,9thEdition
7-28) (a) P( s ) = s ( s 2 1)
Chapter7Solutions
Golnaraghi,Kuo
Q ( s ) = ( s + 5)( s + 3)
o
Asymptotes: K>0:
BreakawaypointEquation:
s + 16 s + 46 s 15 = 0
BreakawayPoints:
0.5239,12.254
180
(RL)
7103
AutomaticControlSystems,9thEdition
728(b) P( s ) = s ( s 2 + 10 s + 29 )
Chapter7Solutions
Q ( s ) = 10( s + 3)
IntersectofAsymptotes:
1 =
0 10 ( 3)
31
= 3.5
BreakawaypointEquation:
TherearenobreakawaypointsontheRL.
7104
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7-29)
Root locus diagram, part (a):
MATLAB code (7-29):
s = tf('s')
%a)
num_G_a = (s+5)*(s+3);
den_G_a = s*(s^2 - 1);
G_a = num_G_a/den_G_a;
figure(1);
rlocus(G_a)
7105
AutomaticControlSystems,9thEdition
Chapter7Solutions
K=10;
%b)
num_G_b = (3*K+K*s);
den_G_b =
(s^3+K*s^2+K*3*s-s);
G_b = num_G_b/den_G_b;
figure(2);
rlocus(G_b)
Golnaraghi,Kuo
Root Locus
8
Imaginary Axis
-2
-4
-6
-8
-25
-20
-15
-10
-5
Real Axis
15
10
Imaginary Axis
-5
-10
-15
-20
-6
-5
-4
-3
-2
Real Axis
7-30) Poles:
zeros:
7106
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Angles of asymptotes:
breakaway points:
MATLAB code:
s = tf('s')
num_G=(s+0.4);
den_G=s^2*(s+3.6);
G=num_G/den_G;
figure(1);
rlocus(G)
Rootlocusdiagram:
Root Locus
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-4
-3.5
-3
-2.5
-2
-1.5
Real Axis
731(a)
P ( s ) = s( s + 12.5)( s + 1)
Q( s ) = 83.333
7107
-1
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Asymptotes:
IntersectofAsymptotes:
BreakawaypointEquation:
BreakawayPoint:(RL) 0.4896
N>0:
60 , 180 , 300
1 =
0 12.5 1
3
= 4.5
3s + 27 s _12.5 = 0
731(b)
P ( s ) = s + 12.5 s + 833.333
Q ( s ) = 0.02 s ( s + 12.5)
7108
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
A>0:180
BreakawaypointEquation:
BreakawayPoints:(RL)0
AutomaticControlSystems,9thEdition
Chapter7Solutions
Q( s ) = 0.02 s( s + 12.5)
Asymptotes:
BreakawaypointEquation:
BreakawayPoint:(RL) 5.797
Golnaraghi,Kuo
Ko > 0: 180
7110
AutomaticControlSystems,9thEdition
Chapter7Solutions
7111
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
10
20
-5
Real Axis
20
Imaginary Axis
10
-10
-20
-30
-25
-20
-15
-10
Real Axis
7112
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
4
Imaginary Axis
2
0
-2
-4
-6
-8
-10
-35
-30
-25
-20
-15
-10
Real Axis
P ( s ) = s( s + 12.5)( s + 1)
Asymptotes:
N>0: 60
IntersectofAsymptotes:
1 =
180
300
0 1 12.5
3
Q( s ) = 4167
.
= 4.5
BreakawaypointEquation:
3 s + 27 s + 12.5 = 0
BreakawayPoints:(RL)
0.4896
7113
-5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Q ( s ) = 0.02 s 2 ( s + 12.5)
7114
AutomaticControlSystems,9thEdition
Chapter7Solutions
Asymptotes:A>0:180 o
BreakawaypointEquation:
BreakawayPoints:
Golnaraghi,Kuo
(RL)
7115
AutomaticControlSystems,9thEdition
Chapter7Solutions
Q( s ) = 0.01s( s + 12.5)
BreakawaypointEquation:
BreakawayPoint:
5.37
(RL)
7116
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
num_G_b = 0.06*s*(s+12.5)*s
den_G_b = K0*(0.06*s*(s+12.5))+250*N;
G_b = num_G_b/den_G_b;
figure(2);
rlocus(G_b)
%c)
A=100;
N=20;
num_G_c = 0.06*s*(s+12.5);
den_G_c = 0.06*s*(s+12.5)*A*s+250*N;
G_c = num_G_c/den_G_c;
figure(3);
rlocus(G_c)
Root locus diagram, part (a):
Root Locus
30
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
Real Axis
7118
10
20
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
50
40
30
Imaginary Axis
20
10
0
-10
-20
-30
-40
-50
-30
-25
-20
-15
-10
-5
10
Real Axis
Imaginary Axis
-2
-4
-6
-8
-30
-25
-20
-15
-10
Real Axis
7-35) a) zeros:
, poles:
7119
-5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Angle of asymptotes:
Breakaway points:
b) There is no closed loop pole in the right half s-plane; therefore the system is stable for all K>0
c) MATLAB code:
num_G=25*(s+2)^2;
den_G=(s^2+4)*(s+5)^2;
G_a=num_G/den_G;
figure(1);
rlocus(G_a)
Root locus diagram:
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-6
-5
-4
-3
-2
Real Axis
7120
-1
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7-36)(a)
P ( s ) = s ( s + 1)( s + 5)
Q ( s ) = 1
Asymptotes:K>0:
IntersectofAsymptotes:
BreakawaypointEquation: 4 s + 18 s + 10 s = 0 Breakawaypoint:(RL)0,3.851
1 =
0 + 0 1 5
4
= 15
.
(b)
P ( s ) = s ( s + 1)( s + 5)
Q ( s ) = 5 s + 1
Asymptotes:
60 , 180 , 300
IntersectofAsymptotes:
BreakawaypointEquation:
BreakawayPoints:(RL) 3.5026
K>0:
1 =
0 + 0 1 5 ( 0.2)
4 1
4
5.8
3
.
= 193
15 s + 64 s + 43 s + 10 s = 0
7121
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7-37)
%b)
num_GH_b= (5*s+1);
den_GH_b=s^2*(s+1)*(s+
5);
GH_b=num_GH_b/den_GH_b
;
figure(2);
rlocus(GH_b)
Root Locus
15
10
5
Imaginary Axis
s = tf('s')
%a)
num_GH_a= 1;
den_GH_a=s^2*(s+1)*(s+
5);
GH_a=num_GH_a/den_GH_a
;
figure(1);
rlocus(GH_a)
-5
-10
-15
-15
-10
-5
0
Real Axis
7122
10
15
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
20
15
10
Imaginary Axis
-5
-10
-15
-20
-25
-20
-15
-10
-5
10
Real Axis
7-38) a)
can be approximated by ( easy way to verify is to compare both funtions Taylor
series expansions)
Therefore:
Zeros:
and poles:
Angle of asymptotes :
Breakaway points:
Which means:
b)
S2
2+2k
7123
AutomaticControlSystems,9thEdition
S
S0
Chapter7Solutions
3-k
(3-k)(2+2k)
Golnaraghi,Kuo
As a result:
s = tf('s')
T=1
N=1;
num_GH= pade(exp(-1*T*s),N);
den_GH=(s+1);
GH=num_GH/den_GH;
figure(5);
rlocus(GH)
Root locus diagram:
7124
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
4
Imaginary Axis
-1
-2
-3
-4
-4
-2
10
Real Axis
7-39)
(a) P ( s ) = s 2 ( s + 1)( s + 5) + 10 = ( s + 4.893)( s + 1896
. )( s 0.394 + j 0.96 )( s 0.394 + j 0.96 )
Q( s ) = 10 s
Asymptotes:
IntersectionofAsymptotes:
TherearenobreakawaypointsontheRL.
1 =
4.893 1896
.
+ 0.3944 + 0.3944
4 1
7125
= 2
12
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7126
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
15
10
Imaginary Axis
-5
-10
-15
-20
-15
-10
-5
10
Real Axis
K L > 0:
Asymptotes:
IntersectofAsymptotes:
BreakawayPoint:(RL)0
90 , 270
1 =
7127
= 0.126
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
740(b)K=1000:
P ( s ) = s ( s + 117.23)( s + 4882.8 )
3
IntersectofAsymptotes:
BreakawaypointEquation:
7 6
1 =
10 5
5 3
13 4
16 3
= 0.033
18 2
Breakawaypoints:(RL)
0,87.576
7128
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
K=1;
num_G_a=((n^2*La*Jl+La*Jm)*s^3+(n^2*Ra*Jl+Ra*Jm+Bm*La)*s^2+Ra*Bm*s+Ki
*Kb*s+n*Ks*K*Ki);
den_G_a=((La*Jm*Jl)*s^5+(Jl*Ra*Jm+Jl*Bm*La)*s^4+(Ki*Kb*Jl+Ra*Bm*Jl)*s
^3);
G_a=num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
K=1000;
num_G_b=((n^2*La*Jl+La*Jm)*s^3+(n^2*Ra*Jl+Ra*Jm+Bm*La)*s^2+Ra*Bm*s+Ki
*Kb*s+n*Ks*K*Ki);
den_G_b=((La*Jm*Jl)*s^5+(Jl*Ra*Jm+Jl*Bm*La)*s^4+(Ki*Kb*Jl+Ra*Bm*Jl)*s
^3);
G_b=num_G_b/den_G_b;
figure(2);
rlocus(G_b)
Root locus diagram, part (a):
Root Locus
1000
800
600
Imaginary Axis
400
200
0
-200
-400
-600
-800
-1000
-3500
-3000
-2500
-2000
-1500
Real Axis
7130
-1000
-500
500
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
1000
800
600
Imaginary Axis
400
200
0
-200
-400
-600
-800
-1000
-4000
-3500
-3000
-2500
-2000
-1500
-1000
-500
500
Real Axis
7-42
(a) CharacteristicEquation:
3
)= 0
P ( s ) ( s + 1.5945)( s + 115.6 )
BreakawaypointEquation:
Q ( s ) 10.24 s
2
1200 s + 3775 s = 0
BreakawayPoints:(RL):0,3.146
7131
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
200
Imaginary Axis
100
-100
-200
-300
-6000
-5000
-4000
-3000
-2000
Real Axis
7132
-1000
1000
AutomaticControlSystems,9thEdition
7-43)(a) = 12: P ( s ) = s 2 ( s + 12 )
o
Asymptotes: K>0:
IntersectofAsymptotes:
BreakawaypointEquation:
Golnaraghi,Kuo
Q ( s ) = s + 1
o
90 , 270
Chapter7Solutions
1 =
K<0:
0 + 0 12 ( 1)
= 5.5
31
0 , 180
2 s + 15 s + 24 s = 0
BreakawayPoints:0,2.314,5.186
743(b) = 4:
P( s) = s ( s + 4)
o
Q ( s ) = s + 1
o
IntersectofAsymptotes:
BreakawaypointEquation: 2 s + 7 s + 8 s = 0 BreakawayPoints:K>00.NoneforK<0.
1 =
0 + 0 4 ( 10
31
2
7133
.
= 15
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
(c)BreakawaypointEquation: 2 s + ( + 3) s + 2 s = 0 Solutions: s =
+3
4
( + 3) 16
4
, s = 0
Foronenonzerobreakawaypoint,thequantityunderthesquarerootsignmustequalzero.
7134
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7-44)
For part (c), after finding the expression for:
dk 3 ( 1)( 9)
,
=
ds
4
there is one acceptable value of alpha that makes the square root zero ( = 9 ). Zero square root means
one answer to the breakaway point instead of 2 answers as a result of sign. = 1 is not acceptable
since it results in s = 1@
dk
0
= 0 and then k = .
ds
0
MATLAB code:
s = tf('s')
%(a)
alpha=12
num_GH= s+1;
den_GH=s^3+alpha*s^2;
GH=num_GH/den_GH;
figure(1);
rlocus(GH)
%(b)
alpha=4
num_GH= s+1;
den_GH=s^3+alpha*s^2;
GH=num_GH/den_GH;
figure(2);
rlocus(GH)
%(c)
alpha=9
num_GH= s+1;
den_GH=s^3+alpha*s^2;
GH=num_GH/den_GH;
figure(3);
rlocus(GH)
Root locus diagram, part (a):
7135
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Root Locus
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-14
-12
-10
-8
-6
-4
-2
Real Axis
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-4.5
-4
-3.5
-3
-2.5
-2
Real Axis
7136
-1.5
-1
-0.5
0.5
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Imaginary Axis
-2
-4
-6
-8
-10
-8
-6
-4
-2
Real Axis
7-45)(a) P ( s ) = s 2 ( s + 3)
Q( s ) = s +
3
2 s + 3(1 + ) s + 6 = 0
BreakawaypointEquation:
Therootsofthebreakawaypointequationare:
s=
3(1 + )
4
9(1 + ) 48
4
RootLocusDiagramwithNoBreakawayPointotherthanats=0.
7137
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7138
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
7139
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
745(d)Twobreakawaypoints: > 3 :
H 1 (s)
where
Now designing a controller is similar to the designing a controller for any unity feedback system.
7140
AutomaticControlSystems,9thEdition
Chapter7Solutions
Golnaraghi,Kuo
Thentheangleconditionsontherootlociare:
Thus,
=0
Therootlocishownin(b)arethecorrectones.
7141
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Chapter 8
81(a)K=5 n = 5 = 2.24 rad / sec
6.54
4.48
= 1.46
r = 0 rad / sec
Mr = 1
6.54
9.24
= 0.707 M r =
1
2 1
=1
6.54
20
= 0.327 M r = 1618
.
r = 9.45 rad / sec
8-2
Bode diagram (a) k=5: data points from top to bottom indicate
MATLAB code:
% Question 8-2,
clear all;
close all;
s = tf('s')
Magnitude (dB)
-10
System: CL_a
Frequency (rad/sec): 2.25
Magnitude (dB): -9.4
-20
-30
-40
-50
0
Phase (deg)
%a)
num_G_a= 5;
den_G_a=s*(s+6.54);
G_a=num_G_a/den_G_a;
CL_a=G_a/(1+G_a)
BW = bandwidth(CL_a)
bode(CL_a)
System: CL_a
Frequency (rad/sec): 0.855
Bode Diagram Magnitude (dB): -3
-45
%b)
-90
figure(2);
System: CL_a
num_G_b=21.38;
Frequency (rad/sec): 2.25
Phase (deg): -90.2
-135
den_G_b=s*(s+6.54);
10
10
G_b=num_G_b/den_G_b;
Frequency (rad/sec)
CL_b=G_b/(1+G_b)
BW = bandwidth(CL_b) Bode diagram (b) k=21.38: data points from top to bottom
bode(CL_b)
indicate bandwidth BW, resonance peak Mr, and resonant frequency
%c)
r.
figure(3);
num_G_c=100;
den_G_c=s*(s+6.54);
G_c=num_G_c/den_G_c;
-1
81
AutomaticControlSystems,9thEdition
Chapter8Solutions
CL_c=G_c/(1+G_c)
BW = bandwidth(CL_c)
bode(CL_c)
Golnaraghi,Kuo
System: CL_b
Frequency (rad/sec): 4.6
Magnitude (dB): -3
Bode Diagram
0
-20
Magnitude (dB)
System: CL_b
Frequency (rad/sec): 4.62
Magnitude (dB): -3.03
-40
-60
-80
-100
0
-45
Phase
(deg)
-90
System: CL_b
Frequency (rad/sec): 4.62
Phase (deg): -89.9
-135
-180
0
10
10
10
Frequency (rad/sec)
Bode diagram (c) k=100: data points from top to bottom indicate
resonance peak Mr, bandwidth BW, and resonant frequency r.
Bode Diagram
20
Magnitude (dB)
0
System: CL_c
Frequency (rad/sec): 9.99
Magnitude (dB): 3.62
-20
System: CL_c
Frequency (rad/sec): 14.3
Magnitude (dB): -2.96
-40
-60
-80
0
Phase (deg)
-45
-90
System: CL_c
Frequency (rad/sec): 10
Phase (deg): -90
-135
-180
-1
10
10
10
Frequency (rad/sec)
82
10
10
AutomaticControlSystems,9thEdition
8-3)
If
Chapter8Solutions
where
and
Therefore:
As a result:
r = 3 rad / sec
r = 4 rad / sec
(d) M r = 1 ( 0 dB)
r = 0 rad / sec
(e) M r = 157
. ( 3.918 dB)
83
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
r = 15
. rad / sec
(f) Mr = ( unstable)
Golnaraghi,Kuo
85)
Thus, = 0.59
Mr =
MinimumBW= n
1
2 1
= 105
.
tr =
((1 2
1 0.416 + 2.917
= 0.1 sec
)+
Maximum M r = 105
.
4 4 + 2
4
1/ 2
= 20.56 rad/sec
86)
Mr =
Maximum M r = 1.232
1
2 1
Thus, 0.2 = e
= 1.232 t r =
1 0.416 + 2.917
((
MinimumBW= 1 2
)+
= 0.456
4 4 + 2
4
1/ 2
= 18.7 rad/sec
8-7) Maximumovershoot=0.3
Mr =
1
2 1
= 1.496 t r =
Thus, 0.3 = e
1 0.416 + 2.917
= 0.358
84
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Maximum M r = 1.496
8-8)
(a)
((
MinimumBW= 1 2
)+
4 4 + 2
4
1/ 2
= 1.4106 rad/sec
Therefore:
at = 1.5
(b)
MATLAB code:
%solving for k:
syms kc
omega=1.5
sol=eval(solve('0.25*kc^2=0.7079^2*((-0.25*omega^3+omega)^2+(0.375*omega^2+0.5*kc)^2)',kc))
%ploting bode with K=1.0370
s = tf('s')
K=1.0370;
num_G_a= 0.5*K;
den_G_a=s*(0.25*s^2+0.375*s+1);
G_a=num_G_a/den_G_a;
CL_a = G_a/(1+G_a)
BW = bandwidth(CL_a)
bode(CL_a);
Bode diagram: data point shows -3dB point at 1.5 rad/sec frequency which is the closed loop
bandwidth
85
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
0
System: CL_a
Frequency (rad/sec): 1.5
Magnitude (dB): -3.01
Magnitude (dB)
-20
-40
-60
-80
-100
Phase (deg)
-120
0
-90
-180
-270
-2
10
-1
10
10
Frequency (rad/sec)
8-9)
=
= 90 = 63o
Therefore:
As a result:
86
10
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Therefore:
87
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
By using sisotool and importing the loop transfer function, the overall gain (0.5K) was changed until the
magnitude of the resonance in Bode was about 6.9 dB. At 0.5K=~0.95 or K=1.9, this resonance peak
was achieved as can be seen in the BODE diagram of the following figure:
Open-Loop Bode Editor for Open Loop 1 (OL1)
20
-20
-40
-2
-60
-4
-80
-6
-8
-6
-4
-2
G.M.: 4.48 dB
-100 Freq: 2 rad/sec
Stable loop
-120
-90
-135
2
-180
0
-225
-180
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
8-10)
M r = 1.4 =
1
2 1
Thus, = 0.387Maximumovershoot= e
= 0.2675 (26.75%)
t max =
n 1
3.586 1 ( 0.387 )
= 0.95 sec
88
3
0.8367
= 3.586rad/sec
At = 0,
M = 0.9.
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Thisindicatesthatthesteadystatevalueoftheunitstepresponseis0.9.
UnitstepResponse:
8-11) a)
as
As K = 0.1664, then
which means
Accordingly PM = 42o
As
, then
89
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-12)
BW(rad/sec)
Mr
________________________________________________________________
1.14
1.54
0.5
1.17
1.09
1.0
1.26
1.00
2.0
1.63
1.09
3.0
1.96
1.29
4.0
2.26
1.46
5.0
2.52
1.63
_________________________________________________________________
813)
BW(rad/sec)
Mr
_________________________________________________________________
1.14
1.54
0.5
1.00
2.32
1.0
0.90
2.65
2.0
0.74
2.91
3.0
0.63
3.18
4.0
0.55
3.37
5.0
0.50
3.62
_________________________________________________________________
8-14)
810
AutomaticControlSystems,9thEdition
S3
S2
S1
S0
Chapter8Solutions
0.25
0.375
1-1/3
0.5K
1
0.5K
0
Therefore:
As
, if GH is rearranged as:
then
which gives
where
therefore,
(c)
MATLAB code:
Bode diagram:
s = tf('s')
%c)
K = 1.03697;
num_G_a = 0.5*K;
den_G_a =
s*(0.25*s^2+0.375*s+1
);
%create closed-loop
system
G_a =
num_G_a/den_G_a;
811
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
CL_a = G_a/(1+G_a)
bode(CL_a);
Golnaraghi,Kuo
Bode Diagram
0
System: CL_a
Frequency (rad/sec): 1.5
Magnitude (dB): -3.01
-40
-60
-80
-100
-120
0
Phase (deg)
Notes:
Magnitude (dB)
-20
-90
-180
-270
-2
10
-1
10
Frequency (rad/sec)
812
10
10
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
815(a)
L( s ) =
20
s(1 + 0.1s )(1 + 0.5s )
P = 1, P = 0
When = 0: L( j ) = 90o
L( j ) =
When = : L( j ) = 270
L( j ) = 0
L ( j ) =
0.6 + j 1 0.05
2
20 0.6 j 1 0.05
2
20
2
0.36 +
4
(1 0.05 )
2
) Setting Im L( j )
L( j 4.47 ) = 1667
.
Thus, Z =
360
180
= 2
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalf
splane.
MATLAB code:
s = tf('s')
%a)
figure(1);
num_G_a= 20;
den_G_a=s*(0.1*s+1)*(0.5*s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
813
= 0
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(b)
10
L( s ) =
Basedontheanalysisconductedinpart(a),theintersectofthenegative
MATLAB code:
s = tf('s')
%b)
figure(1);
num_G_a= 10;
den_G_a=s*(0.1*s+1)*(0.5*s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
814
Thus, Z = 0. Theclosedloopsystemisstable.
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(c)
L( s ) =
100(1 + s )
s(1 + 0.1s )(1 + 0.2 s )(1 + 0.5s )
P = 1, P = 0.
When = 0: L( j 0) = 90o
When = : L( j ) = 270
L( j 0) = When = : L( j ) = 270 o L( j ) = 0
o
L( j ) = 0
When = : L( j ) = 270
L( j ) = 0
L ( j ) =
( 0.01
100(1 + j )
4
0.8
) + j (1 0.17 )
2
) j (1 0.17 )
) + (1 0.17 )
( 0.01
0.8
Setting Im L( j ) = 0
=8.03
815
63 100 = 0
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Thus, Z = 2 Theclosedloopsystemis
unstable.
Thecharacteristicequationhastworootsintherighthalfsplane.
MATLAB code:
s = tf('s')
%c)
figure(1);
num_G_a= 100*(s+1);
den_G_a=s*(0.1*s+1)*(0.2*s+1)*(0.5*s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
816
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(d)
L( s ) =
10
2
P = 2
P = 0
When = 0: L( j ) = 180o
L( j ) = When = : L( j ) = 360
L( j ) = 0
10
10 0.1 + j 0.7
4
L ( j ) =
originwhere = .
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalfsplane.
( 0.1
) j 0.7
( 0.1
+ 0.49
MATLAB code:
s = tf('s')
%d)
figure(1);
num_G_a= 10;
den_G_a=s^2* (0.2*s+1)*(0.5*s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
817
Thus, Z = 2.
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
815(e)
L( s ) =
3( s + 2)
s s + 3s + 1
3
P = 1
P = 2
When = 0: L( j 0) = 90o
When = : L( j ) = 270
L( j 0 ) =
L( j ) = 0
L ( j ) =
3( j + 2)
4
) + j
3( j + 2) 3
(4
) j
Setting Im L( j ) = 0,
3 2 = 0
or
= 3.56
= 189
. rad/sec.
L( j189
. ) = 3
Thus, Z = 2
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalfsplane.
MATLAB code:
818
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
s = tf('s')
%e)
figure(1);
num_G_a= 3*(s+2);
den_G_a=s*(s^3+3*s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
815(f)
L( s ) =
0.1
P = 1
s ( s + 1) s + s + 1
2
P = 0
When = 0: L( j 0) = 90
When = : L( j ) = 360
L( j 0 ) =
L( j ) = 0
0.1
L ( j ) =
) + j (1 2 )
2
819
Settiing Im L( j ) = 0
L( j 0.707 ) = 0.1333
) j (1 2 )
) + (1 2 )
0.1 2
Thus, Z = 0 Theclosedloopsystemisstable.
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
%f)
figure(1);
num_G_a= 0.1;
den_G_a=s*(s+1)*(s^2+s+1);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
815(g)
100
L( s ) =
When = 0: L( j 0) = 90
Theclosedloopsystemisunstable.Thecharacteristicequationhastworootsintherighthalfsplane.
s ( s + 1) s + 2
P = 3
P = 0
L( j 0 ) =
= 90
When = : L( j ) = 360
820
L( j ) = 0
360
180
= 2
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
%g)
figure(1);
num_G_a= 100;
den_G_a=s*(s+1)*(s^2+2);
G_a=num_G_a/den_G_a;
nyquist(G_a)
NyquistPlotof L( j ):
815(h)
10( s + 10)
L( s ) =
When = 0: L( j 0) = 90o
s( s + 1)( s + 100)
P = 1
P = 0
L( j 0 ) =
When = : L( j ) = 180
L ( j ) =
101 + j (100 )
2
10201 +
4
821
10( j + 10)
(100 )
2
L( j ) = 0
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
therealaxis,exceptattheorigin.
Theclosedloopsystemisstable.
MATLAB code:
s = tf('s')
%h)
figure(1);
num_G_a= 10*(s+10);
den_G_a=s*(s+1)*(s+100);
G_a=num_G_a/den_G_a;
nyquist(G_a)
822
Thus, Z = 0.
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
NyquistPlotof L( j ):
8-16
MATLAB code:
s = tf('s')
%a)
figure(1);
num_G_a= 1;
den_G_a=s*(s+2)*(s+10);
G_a=num_G_a/den_G_a;
nyquist(G_a)
%b)
figure(2);
num_G_b= 1*(s+1);
den_G_b=s*(s+2)*(s+5)*(s+15);
G_b=num_G_b/den_G_b;
nyquist(G_b)
%c)
figure(3);
num_G_c= 1;
den_G_c=s^2*(s+2)*(s+10);
G_c=num_G_c/den_G_c;
nyquist(G_c)
%d)
figure(4);
num_G_d= 1;
den_G_d=(s+2)^2*(s+5);
G_d=num_G_d/den_G_d;
823
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
nyquist(G_d)
%e)
figure(5);
num_G_e= 1*(s+5)*(s+1);
den_G_e=(s+50)*(s+2)^3;
G_e=num_G_e/den_G_e;
nyquist(G_e)
Imaginary Axis
0.5
-0.5
-1
-1.5
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
824
-0.4
-0.3
-0.2
-0.1
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
4
Imaginary Axis
-1
-2
-3
-4
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
Imaginary Axis
0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
-10
-8
-6
-4
Real Axis
-2
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
0.04
0.03
0.02
Imaginary Axis
0.01
-0.01
-0.02
-0.03
-0.04
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
0.2
0.4
Real Axis
Nyquist Diagram
0.01
0.008
0.006
Imaginary Axis
0.004
0.002
0
-0.002
-0.004
-0.006
-0.008
-0.01
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
826
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-17(a)
K
G ( s ) =
G ( j 0 ) = 0
G ( j ) = 180
( s + 5)
P = 0
P = 0
( K > 0 )
o
(K>0)
G ( 0) = 180
( K < 0)
G ( j ) = 0 (K<0)
G ( j 0) =
K
25
G ( j ) = 0
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
K < 25
11 = 180 Unstable
o
Thesystemisstablefor25<K< .
817(b)
G ( s ) =
K
( s + 5)
P = 0
P = 0
G ( j 0 ) = 0
G ( j ) = 270
( K > 0 )
o
(K>0)
G ( 0) = 180
( K < 0)
G ( j 0) =
K
125
G ( j ) = 270 (K<0) G ( j ) = 0
o
827
AutomaticControlSystems,9thEdition
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
0<K<1000
11 = 0
K > 1000
11 = 360
K < 125
11 = 180
11 = 0
Golnaraghi,Kuo
Chapter8Solutions
Stable
o
Unstable
Unstable
Stable
Thesystemisstablefor125<K<0.
817(c)
G ( s ) =
K
( s + 5)
P = P = 0
G ( j 0 ) = 0
G ( j ) = 0
( K < 0)
(K>0)
G ( j ) = 180 (K<0) G ( j ) = 0
o
G ( j 0) =
G ( 0 ) = 180
828
( K > 0 )
625
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Forstability,Z=0.
11 = ( 0.5 P + P ) 180 = 0
K > 2500
11 = 360 Unstable
K < 625
11 = 180 Unstable
Stable
o
Stable
Thesystemisstablefor625<K<2500.
or
if
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
K=10.15
G2= K/(s^2+2*s+2);
H2=1/(s+1);
GH2=G2*H2;
nyquist(GH2)
xlim[(-1.5,.5)]
ylim[(-1,1)]
After generating the feed-forward (G) and feedback (H) transfer functions in the MATLAB code, these
transfer functions are imported to sisotool. Nyquist diagram is added to the results of sisotool. The
overall gain of the transfer function is changed until Nyquist diagram passes through -1+0j point. Higher
values of K resulted in unstable Nyquist diagram. Therefore K<10.15 determines the range of stability
for the closed loop system.
Nyquist at margin of stability:
Nyquist Diagram
4
Imaginary Axis
-1
-2
-3
-4
-2
-1
2
Real Axis
8-19)
s s + 2s + s + 1 + K s + s + 1 = 0
3
830
AutomaticControlSystems,9thEdition
Leq ( s ) =
K s + s +1
P = 1
s s + 2s + s + 1
3
Leq ( j ) =
Setting Im Leq ( j ) = 0
Golnaraghi,Kuo
P = 0 Leq ( j 0 ) = 90
) + j = K (
) + j (1 2 )
(
K 1
Chapter8Solutions
Leq ( j ) = 0180
) j ( 2 + 1)
) + (1 2 )
4
2 + 1 = 0
Thus, = 1rad/secaretherealsolutions.
Leq ( j1) = K
Forstability,
11 = ( 0.5P + P )180 = 90
WhenK=1thesystemismarginallystable.
K > 0
11 = 90
K < 0
11 = +90
Stable
Unstable
831
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
RouthTabulation
s
s
K +1
K +1
K +1
K > 1
2
1
K 2K + 1
K +1
( K 1)
K +1
s K
K>0
rad/sec.Thesystemisstablefor0<K< ,exceptatK=1.
8-20) Solution is similar to the previous problem. Lets use Matlab as an alternative approach
MATLAB code:
s = tf('s')
figure(1);
K=8.09
num_GH= K;
den_GH=(s^3+3*s^2+3*s+1);
GH=num_GH/den_GH;
nyquist(GH)
xlim([-1.5,.5])
ylim([-1,1])
sisotool;
832
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
After generating the loop transfer function and analyzing Nyquist in MATLAB sisotool, it was found
that for values of K higher than ~8.09, the closed loop system is unstable. Following is the Nyquist
diagram at margin of stability.
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
Real Axis
S2
K+1
S1
(8-K)/3
S0
K+1
0.5
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
K+1>0 K>-1
which is consistent with the results of the Nyquist diagrams.
8-21)
CharacteristicEquation: s + 10 K D s + 100 = 0
Geq ( s ) =
Forstability,
s 0
s 0
Thus K P = 10
10 KD s
2
s + 100
P = 2
P = 0
834
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
822(a)Thecharacteristicequationis1 + G ( s ) G ( s ) 2 G ( s ) 2 = 1 2 G ( s ) 2 = 0
2 K
Geq ( s ) = 2 G ( s ) =
Geq ( j ) =
( 400 120
Geq ( j 0) =
( s + 4 ) ( s + 5)
2 K
2
P = 0
P = 0
) + j ( 360 18 )
2
) j ( 360 18 )
) + ( 360 18 )
2 K 400 120 +
2
( 400 120
200
180
Geq ( j ) = 0180
Setting Im Geq ( j ) = 0
Geq ( j 4.47 ) =
800
Forstability,
11 = ( 0.5 P + P ) 180 = 0
o
or K < 200
835
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
822(b)
4
RouthTabulation
s
s
s
s
121
18
360
101
400 2 K
400 2 K
29160 - 36 K
29160 + 36 K > 0
101
s 0 400 2 K 2
K 2 < 200
823(a)
G ( s ) =
NyquistPlot
83.33N
s( s + 2)( s + 11767
. )
Forstability,N<3.89
ThusN<3sinceNmustbeaninteger.
836
AutomaticControlSystems,9thEdition
(b)
G ( s) =
2500
s( 0.06 s + 0.706)( As + 100)
Chapter8Solutions
Golnaraghi,Kuo
Geq ( s ) =
As ( 0.06 s + 0.706 )
2
6 s + 70.6 s + 2500
SinceGeq ( s ) hasmorezerosthanpoles,weshouldsketchtheNyquist
1
Geq ( j )
100.156 0.36 = 0
= 16.68 rad/sec
1
Geq ( j16.68)
= 0
Geq ( j )
4.23
Forstability,
Thesystemisstablefor0<A<4.23.
(c)
837
AutomaticControlSystems,9thEdition
G ( s ) =
Chapter8Solutions
2500
s( 0.06 s + 0.706 )( 50 s + Ko )
Golnaraghi,Kuo
CharacteristicEquation:
Geq ( s ) =
Ko s( 0.06 s + 0.706)
3
P = 0
3s + 35.3s + 2500
P = 0 Geq ( j 0 ) = 0 90
Geq ( j ) = 0 90
K o ( 0.06 + 0.706 j )
3
)(
Geq ( j ) =
( 2500 35.3 ) j3
2
( 2500 35.3 )
2
= 516
.
+ 9
) + j3
= 7.18 rad/sec
838
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
824(a) Kt = 0:
G(s) =
Y (s)
E ( s)
10000 K
s s + 10 s + 10000 K t
2
10000 K
s ( s + 10)
2
The(1,j0)pointisenclosedforall
valuesofK.Thesystemisunstable
forallvaluesofK.
(b) Kt = 0.01:
G(s) =
10000 K
s s + 10 s + 100
2
G ( j ) =
10000 K 10 j 100
100 +
4
(100 )
2
Setting Im G ( j ) = 0 2 = 100
= 10 rad / sec
G ( j10 ) = 10 K
Thesystemisstablefor0<K<0.1
839
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(c) Kt = 0.1:
G( s) =
10000 K 10 j 1000
2
10000 K
s s + 10 s + 1000
2
G ( j ) =
100 +
4
(1000 )
2
Setting Im G ( j ) = 0 2 = 100
= 31.6 rad/sec
G ( j 316
. ) = K
Forstability,0<K<1
825)ThecharacteristicequationforK=10is:
Geq ( s ) =
s + 10 s + 10,000 Kt s + 100,000 = 0
10,000 Kt s
3
P = 0
s + 10 s + 100,000
Geq ( j ) =
100, 000 10 j
(10, 000 10 )
2
840
10, 000 K t j
2
P = 2
) Setting Im G
eq
( j ) = 0
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
= 0, = 10,000
Forstability,
Thesystemisstablefor Kt > 0.
8-26)
a)
b)
c)
MATLAB code:
s = tf('s')
figure(1);
J=1;
B=1;
K=1;
Kf=0
G1= K/(J*s+B);
CL1=G1/(1+G1*Kf);
H2 = 1;
G1G2 = CL1/s;
L_TF=G1G2*H2;
nyquist(L_TF)
sisotool
841
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Part (a), Kf=0: by plotting the Nyquist diagram in sisotool and varying the gain, it was observed that
all values of gain (K) will result in a stable system. Location of poles in root locus diagram of the second
figure will also verify that.
Nyquist Diagram
20
15
10
Imaginary Axis
-5
-10
-15
-20
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
842
-0.4
-0.3
-0.2
-0.1
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
40
20
0.5
0
0
-20
-0.5
-40
G.M.: Inf
Freq: Inf
Stable loop
-60
-1
-1
-0.8
-0.6
-0.4
-0.2
-80
-90
50
0
-50
-100
0
-135
-90
P.M.: 54.9 deg
Freq: 0.704 rad/sec
-180
-2
10
-180
-1
10
10
10
Frequency (rad/sec)
10
-2
-1
10
10
10
10
Frequency (rad/sec)
10
Part (b), Kf=0.1: The result and approach is similar to part (a), a sample of Nyquist diagram is
presented for his case as follows:
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-1
-0.9
-0.8
-0.7
-0.6
-0.5
Real Axis
843
-0.4
-0.3
-0.2
-0.1
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Part (c), Kf=0.2: The result and approach is similar to part (a), a sample of Nyquist diagram is
presented for his case as follows:
Nyquist Diagram
15
10
Imaginary Axis
-5
-10
-15
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
-0.1
Real Axis
8-27)
MATLAB code:
s = tf('s')
figure(1);
J=1;
B=1;
K=10;
Kf=0.2
G1= K/(J*s+B);
CL1=G1/(1+G1*Kf);
H2 = 1;
G1G2 = CL1/s;
L_TF=G1G2*H2;
nyquist(L_TF)
After assigning K=10, different values of Kf has been used in the range of 0.01<K<104. The Nyquist
diagrams shows the stability of the closed loop system for all 0<K<. A sample of Nyquist diagram is
plotted as follows:
844
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
25
20
15
Imaginary Axis
10
5
0
-5
-10
-15
-20
-25
-1.4
-1.2
-1
-0.8
-0.6
-0.4
Real Axis
8-28) a)
b)
MATLAB code:
s = tf('s')
%a)
figure(1);
K=1
num_GH_a= K*(s+1);
den_GH_a=(s-1)^2;
GH_a=num_GH_a/den_GH_a;
nyquist(GH_a)
%b)
figure(2);
K=1
num_GH_b= K*(s-1);
den_GH_b=(s+1)^2;
GH_b=num_GH_b/den_GH_b;
nyquist(GH_b)
845
-0.2
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
sisotool
Part(a): Using MATLAB sisotool, the transfer function gain can be iteratively changed in order to
obtain different phase margins. By changing the gain so that PM=0 (margin of stability), K>~2 resulted
in stable Nyquist diagram for part(a). Following two figures illustrate the sisotool and Nyquist results at
margin of stability for part (a).
Open-Loop Bode Editor for Open Loop 1 (OL1)
10
-5
-1
-2
-4
-3
-2
-1
-180
-50
180
-225
-270
-180
-2
10
-315
-360
-1
10
10
10
Frequency (rad/sec)
10
846
10
Frequency (rad/sec)
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
0.5
1.5
2.5
Real Axis
Part(b): Similar methodology applied as in part (a). K<1 results in closed loop stability. Following are
sisotool and Nyquist results at margin of stability (K=1):
Root Locus Editor for Open Loop 1 (OL1)
0.5
-5
0
-10
-0.5
-15
-1
-5
-4
-3
-2
-1
G.M.: -0.00236 dB
Freq: 0 rad/sec
Unstable loop
-20
180
80
60
40
20
0
-20
-40
90
135
90
45
0
45
0
-45
-90
-6
10
-4
10
-2
10
10
Frequency (rad/sec)
10
847
-2
10
-1
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.2
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
8-29)(a)
Td s
Let G ( s ) = G1 ( s )e
Let
Thus 100 +
Then
100
10 + j 100
2
(100 )
2
=1
or
G1 ( s ) =
s s + 10 s + 100
100
100 4 + 2 (100 2 )2
= 10, 000
1/ 2
=1
848
100
2
0.6
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
100 2
o
= 264.23
G1 ( j1) = tan
10 =1
1
( 264.23
=
Equating Td
=1
180
o
180
84.23
180
= 1.47 rad
Thusthemaximumtimedelayforstability
is
Td = 1.47 sec.
(b) Td = 1 sec.
G( s) =
100 Ke
G ( j ) =
100 Ke
G ( j1.42) = 0.7107 K .
s s + 10 s + 100
2
10 + j 100
2
Thesystemisstablefor
0<K<1.407
849
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
830(a)K=0.1
G ( s ) =
Let
Thus
10e
Td s
s s + 10 s + 100
2
= G1 ( s )e
10
10 + j 100
2
Td s
=1
10
or
100 4 + 2 (100 2 )2
1/ 2
= 1
100 2
o
= 269.43
G1 ( j 0.1) = tan
10 = 0.1
1
( 269.43
=
Equate Td
Wehavethemaximumtimedelay
forstabilityis15.6sec.
= 0.1
180
180
G( s) =
100 Ke
0.1 s
G ( j ) =
Attheintersectonthenegativerealaxis,
s s + 10 s + 100
2
100 Ke
2
850
10 + j 100
0.1 j
2
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Thesystemisstablefor
0<K<5.86
8-31)
MATLAB code:
s = tf('s')
%a)
figure(1);
K=1
num_GH_a= K;
den_GH_a=s*(s+1)*(s+1);
GH_a=num_GH_a/den_GH_a;
nyquist(GH_a)
%b)
figure(2);
K=20
num_GH_b= K;
den_GH_b=s*(s+1)*(s+1);
GH_b=num_GH_b/den_GH_b;
nyquist(GH_b)
sisotool;
851
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
By using sisotool and importing the loop transfer function, different values of K has been tested which
resulted in a stable system when K<2, and unstable system for K>2. Following diagrams correspond to
margin of stability:
Root Locus Editor for Open Loop 1 (OL1)
30
20
10
0
0
-10
-1
-20
-2
-3
-4
-30
-3
-2
-1
G.M.: -0.282 dB
Freq: 1 rad/sec
1 -40
Unstable loop
-50
-90
0
-135
-100
-200
0
-180
-180
-225
-360
-540
-1
10
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
852
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
10
0
-10
-20
0
-30
-1
-40
-2
-50
-3
-4
-3
-2
-1
G.M.: 19.2 dB
Freq: 1 rad/sec
1 -60
Stable loop
-70
-90
-135
-100
-150
0
-180
-225
-180
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
Nyquist Diagram
10
8
6
Imaginary Axis
4
2
0
-2
-4
-6
-8
-10
-1
-0.9
-0.8
-0.7
-0.6
-0.5
-0.4
-0.3
-0.2
Real Axis
-0.1
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
50
40
30
1
20
0
10
-1
0
-10
-2
-20
-3
-4
-3
-2
-1
G.M.: -20 dB
Freq: 1 rad/sec
1 -30
Unstable loop
-40
-90
-135
-50
-100
0
-90
-180
-270
-360
-450
-1
10
-180
-225
P.M.: -47.8 deg
Freq: 2.59 rad/sec
-270
0
10
10
Frequency (rad/sec)
10
10
Frequency (rad/sec)
Nyquist Diagram
30
20
Imaginary Axis
10
-10
-20
-30
-15
-10
-5
Real Axis
854
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
The system is stable for small value of K, since there is no encirclement of the s = -1
The system is unstable for large value of K, since the locus encirclement the
CCW; which means two poles are in the right half s-plane.
twice in
8-32)(a)Thetransferfunction(gain)forthesensoramplifiercombinationis10V/0.1in=100V/in.Thevelocity
offlowofthesolutionis
3
= 100 in/sec
ThetimedelaybetweenthevalveandthesensorisTd = D / v sec.Thelooptransferfunctionis
v=
10 in / sec
G( s) =
0.1 in
100 Ke
2
Td s
s + 10 s + 100
855
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
856
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-33)
(a)Thetransferfunction(gain)forthesensoramplifiercombinationis1V/0.1in=10V/in.Thevelocity
offlowofthesolutionsis
Thetimedelaybetweenthevalveandsensoris Td = D / v sec.Thelooptransferfunctionis
v=
G( s) =
10 in / sec
0.1 in
10 Ke
= 100 in / sec
Td s
s + 10 s + 100
(b)K=10:
G ( s ) = G1 ( s )e
Setting
Thus, 100 = 0
G1 ( j10) = tan
Thus,
Thus,
100
100
90
180
20
100e
j Td
(100 ) + j10
2
(100 )
2
10
o
= 90
2
100 =10
10Td =
=1
+ j10
Td =
G ( j ) =
Td s
rad
= 0.157 sec
857
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(c)D=10in.
Td =
D
v
10
100
= 0.1 sec
G( s) =
10 Ke
0.1s
s + 10 s + 100
Forstability,the
maximumvalueofKis12.94.
8-34)
The system (GH) has zero poles in the right of s plane: P=0.
According to Nyquist criteria (Z=N+P), to ensure the stability which means the number of right poles of
1+ GH=0 should be zero (Z=0), we need N clockwise encirclements of Nyquist diagram about -1+0j
point. That is N=-P or in other words, we need P counter-clockwise encirclement about -1+0j. In this
case, we need 0 CCW encirclements.
8-34(a) According to Nyquist diagrams, this happens when K<-1. The three Nyquist diagrams are
plotted with K=-10, K=-1, K=10 as examples:
MATLAB code:
s = tf('s')
%a)
figure(1);
K=-10
num_G_a = K ;
858
AutomaticControlSystems,9thEdition
Chapter8Solutions
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
G_a=num_G_a/den_G_a;
H_a = num_H_a/den_H_a;
OL_a = G_a*H_a
nyquist(OL_a)
859
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
860
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Case 3) Nyquist graph, K=10: stable case, -1<K no CCW encirclement about -1+0j point
861
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-34 (b)
For K<-1 (unstable), there will be 1 real pole in the right hand side of s-plane for the closed loop system,
by running the following code.
K=-10
num_G_a = K ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
G_a=num_G_a/den_G_a;
H_a = num_H_a/den_H_a;
OL_a = G_a*H_a
nyquist(OL_a)
CL=1/(1+OL_a)
pole(CL)
K =
-10
Transfer function:
-10 s - 20
--------------------s^3 + 3 s^2 + 4 s + 2
Transfer function:
s^3 + 3 s^2 + 4 s + 2
---------------------s^3 + 3 s^2 - 6 s - 18
ans =
2.4495
-3.0000
-2.4495
For K=-1 (marginally unstable), there will be 2 negative complex conjugate poles and a pole at zero for
the closed loop system, by running the following code.
K=-1
num_G_a
den_G_a
num_H_a
den_H_a
= K ;
=(s+1);
= (s+2);
= (s^2+2*s+2);
862
AutomaticControlSystems,9thEdition
Chapter8Solutions
G_a=num_G_a/den_G_a;
H_a = num_H_a/den_H_a;
OL_a = G_a*H_a
nyquist(OL_a)
CL=1/(1+OL_a)
pole(CL)
K=
-1
Transfer function:
-s - 2
--------------------s^3 + 3 s^2 + 4 s + 2
Transfer function:
s^3 + 3 s^2 + 4 s + 2
--------------------s^3 + 3 s^2 + 3 s
ans =
0
-1.5000 + 0.8660i
-1.5000 - 0.8660i
863
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
4+K
s2
2K+2
s1
K+10
s0
2K+2
(b)
M r =
1
2 1
= 2.06
r 1 2
Thus n =
9.33
0.9354
GL ( s ) =
s ( s + 2 n )
99.48
s ( s + 4.987)
19.94
s (1 + 0.2005 s )
864
BW=15.21rad/sec
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
G ( s ) =
5
s(1 + 0.5s )(1 + 0.1s )
865
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
836(b)
G ( s ) =
10
s(1 + 0.5s )(1 + 0.1s )
(c)
G ( s ) =
500
( s + 1.2)( s + 4 )( s + 10 )
866
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(d)
G ( s ) =
10( s + 1)
s( s + 2 )( s + 10 )
836(e)
G ( s ) =
0.5
s s + s +1
2
867
AutomaticControlSystems,9thEdition
Chapter8Solutions
(f)
G ( s ) =
100e
s s + 10 s + 50
2
868
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
(g)
G ( s ) =
100e
s s + 10 s + 100
2
836(h)
G ( s ) =
10( s + 5)
s s + 5s + 5
2
(a)
869
AutomaticControlSystems,9thEdition
Chapter8Solutions
MATLAB code:
s = tf('s')
num_G_a= 5;
den_G_a=s*(0.5*s+1)*(0.1*s+1);
G_a=num_G_a/den_G_a
margin(G_a)
Bode diagram:
(b)
MATLAB code:
s = tf('s')
num_G_a= 10;
den_G_a=s*(1+0.5*s)*(1+0.1*s);
G_a=num_G_a/den_G_a
margin(G_a)
870
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(c)
MATLAB code:
s = tf('s')
num_G_a= 500;
den_G_a=s*(s+1.2)*(s+4)*(s+10);
G_a=num_G_a/den_G_a
margin(G_a)
871
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(d)
MATLAB code:
s = tf('s')
num_G_a= 10*(s+1);
den_G_a=s*(s+2)*(s+10);
G_a=num_G_a/den_G_a
margin(G_a)
872
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(e)
MATLAB code:
s = tf('s')
num_G_a= 0.5;
den_G_a=s*(s^2+s+1);
G_a=num_G_a/den_G_a
margin(G_a)
873
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(f)
MATLAB code:
s = tf('s')
num_G_a= 100*exp(-s);
den_G_a=s*(s^2+10*s+50);
G_a=num_G_a/den_G_a
margin(G_a)
874
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(g)
MATLAB code:
s = tf('s')
num_G_a= 100*exp(-s);
den_G_a=s*(s^2+10*s+100);
G_a=num_G_a/den_G_a
margin(G_a)
875
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
(h)
MATLAB code:
s = tf('s')
num_G_a= 10*(s+5);
den_G_a=s*(s^2+5*s+5);
G_a=num_G_a/den_G_a
margin(G_a)
876
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
877
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
8-37)
MATLAB code:
s = tf('s')
num_GH_a= 25*(s+1);
den_GH_a=s*(s+2)*(s^2+2*s+16);
GH_a=num_GH_a/den_GH_a
margin(GH_a)
878
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Magnitude (dB)
0
-20
-40
-60
-80
-100
-45
Phase (deg)
-90
-135
-180
-225
-270
-1
10
10
10
Frequency (rad/sec)
879
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
G_a=num_G_a/den_G_a;
H_a = num_H_a/den_H_a;
CL_a = G_a/(1 + G_a*H_a);
margin(CL_a)
sisotool
Bodediagram:fork=1
Bode Diagram
Gm = Inf , Pm = Inf
0
Magnitude (dB)
-10
-20
-30
Phase (deg)
-40
0
-45
-90
-1
10
10
10
Frequency (rad/sec)
10
UsingMATLABsisotool,thetransferfunctiongaincanbeiterativelychangedinordertoobtaindifferentphase
margins. By changing the gain K between very small and very big numbers, it was found that the closed loop
systemarestable(positivePM)foreverypositiveKinthissystem.
K=0.034
880
AutomaticControlSystems,9thEdition
Chapter8Solutions
-20
-40
-60
-80
-5
-10
-2
Golnaraghi,Kuo
-1.5
-1
-0.5
-50
-45
-100
0
-90
-135
-45
P.M.: Inf
Freq: NaN
-90
-2
10
-180
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
K=59.9
Open-Loop Bode Editor for Open Loop 1 (OL1)
40
20
-20
-5
-10
-2
-1.5
-1
-0.5
-45
0
-20
90
-90
-135
-180
0
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
881
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
InordertotestthenegativerangeofK,1wasmultipliedtothelooptransferfunctionthroughthefollowing
code,andsisotoolwasusedagain.
figure(1);
num_G_a = -1 ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
G_a=num_G_a/den_G_a;
H_a = num_H_a/den_H_a;
CL_a = G_a/(1 + G_a*H_a);
margin(CL_a)
sisotool
atK=1,marginofstabilityisobservedasPM~=0:
K=1
Root Locus Editor for Open Loop 1 (OL1)
10
0
0.5
-10
-20
-30
-40
-0.5
-50
-60
-1
-4
-2
G.M.: -0.0609 dB
Freq: 0 rad/sec
-70
4
Unstable loop
-80
180
20
0
135
-20
-40
135
90
90
45
45
0
-4
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
ThesystemisstableforK>1asfollows:K=0.6
882
AutomaticControlSystems,9thEdition
Chapter8Solutions
0.5
-20
-40
-60
-0.5
-1
-6
Golnaraghi,Kuo
-4
-2
135
-50
180
90
45
90
P.M.: Inf
Freq: NaN
0
-2
10
0
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
AndthesystemisunstableforK<1:K=3
Root Locus Editor for Open Loop 1 (OL1)
20
0.5
-20
-40
-0.5
-1
-6
-4
-2
135
-20
-40
180
90
45
90
0
-1
10
10
10
Frequency (rad/sec)
10
-1
10
10
10
Frequency (rad/sec)
10
*CombiningtheindividualrangesforK,thesystemwillbestableintherangeofK>1
883
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
839SeesampleMATLABcodeinParte.TheMATLABcodesareidenticaltoproblem836.
(a)
G ( s ) =
K
s(1 + 0.1s )(1 + 0.5s )
TheBodeplotisdonewithK=1.
GM=21.58dBForGM=20dB,
Kmustbereducedby1.58dB.
ThusK=0.8337
(b)
G( s) =
K ( s + 1)
The
GM=19.98dB.ForGM=20dB,
K 1.
Kshouldbeincreasedby8.9dB.
Or,K=2.79.
884
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
839 (c)Seethetopplot
G ( s ) =
K
( s + 3)
TheBodeplotisdonewithK=1.
GM=46.69dB
PM=infinity.
ForGM=20dBKcanbe
increasedby26.69dBorK=21.6.
ForPM=45deg.Kcanbe
increasedby28.71dB,or
K=27.26.
(d)Seethemiddleplot
G( s) =
K
( s + 3)
TheBodeplotisdonewithK=1.
GM=50.21dB
PM=infinity.
ForGM=20dBKcanbe
increasedby30.21dBorK=32.4
ForPM=45deg.Kcanbe
increasedby38.24dB,or
K=81.66
(e)Seethebottomplot
TheBodeplotisdonewithK=1.
885
AutomaticControlSystems,9thEdition
G ( s ) =
Ke
Chapter8Solutions
Golnaraghi,Kuo
s 1 + 0.1s + 0.01s
GM=2.97dB;PM=26.58deg
ForGM=20dBKmustbe
MATLAB code:
s = tf('s')
num_G_a= exp(-s);
den_G_a=s*(0.01*s^2+0.1*s+1);
G_a=num_G_a/den_G_a
margin(G_a)
decreasedby17.03dBor
K=0.141.
ForPM=45deg.Kmustbe
decreasedby2.92dBorK=0.71.
886
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
839(f)
G ( s ) =
K (1 + 0.5s )
s s + s +1
2
TheBodeplotisdonewithK=1.
GM=6.26dB
PM=22.24deg
ForGM=20dBKmustbedecreasedby13.74dBor
K=0.2055.
ForPM=45degKmustbedecreasedby3.55dBor
K=0.665.
840(a)
G ( s ) =
10 K
s(1 + 0.1s )(1 + 0.5s )
Thegainphaseplotisdonewith
K=1.
GM=1.58dB
PM=3.95deg.
ForGM=10dB,Kmustbedecreasedby8.42
dBorK=0.38.
ForPM=45deg,Kmustbedecreasedby14dB,orK=0.2.
For M r = 1.2 ,Kmustbedecreasedto0.16.
887
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
SampleMATLAB code:
s = tf('s')
num_G_a= 10;
den_G_a=s*(1+0.1*s)*(0.5*s+1);
G_a=num_G_a/den_G_a
nichols(G_a)
(b)
888
AutomaticControlSystems,9thEdition
G( s) =
5K ( s + 1)
s(1 + 0.1s )(1 + 0.2 s)(1 + 0.5s )
Chapter8Solutions
Golnaraghi,Kuo
TheGainphaseplotisdonewith
K=1.
GM=6dB
PM=22.31deg.
ForGM=10dB,Kmustbedecreasedby4
dBorK=0.631.
ForPM=45deg,Kmustbe
decreaseby5dB.
For M r = 1.2 ,Kmustbedecreasedto0.48.
840(c)
G ( s ) =
10 K
s 1 + 0.1s + 0.01s
Thegainphaseplotisdonefor
K=1.
GM=0dB M r =
PM=0deg
ForGM=10dB,Kmustbedecreasedby10
dBorK=0.316.
ForPM=45deg,Kmustbedecreasedby5.3
dB,or
K=0.543.
For M r = 1.2, K mustbedecreasedto0.2213.
(d)
889
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
G ( s ) =
Ke
s 1 + 0.1s + 0.01s
Thegainphaseplotisdonefor
K=1.
GM=2.97dB M r = 3.09
PM=26.58deg
ForGM=10dB,Kmustbedecreasedby7.03
dB,K=0.445.
ForPM=45deg,Kmustbedecreasedby
2.92dB,or
K=0.71.
For M r = 1.2, K = 0.61.
890
AutomaticControlSystems,9thEdition
Chapter8Solutions
8-41
MATLAB code:
s = tf('s')
%a)
num_GH_a= 1*(s+1)*(s+2);
den_GH_a=s^2*(s+3)*(s^2+2*s+25);
GH_a=num_GH_a/den_GH_a;
CL_a = GH_a/(1+GH_a)
figure(1);
bode(CL_a)
%b)
figure(2);
rlocus(GH_a)
%c)
num_GH_c= 53*(s+1)*(s+2);
den_GH_c=s^2*(s+3)*(s^2+2*s+25);
GH_c=num_GH_c/den_GH_c;
figure(3);
nyquist(GH_c)
xlim([-2 1])
ylim([-1.5 1.5])
%d)
num_GH_d= (s+1)*(s+2);
den_GH_d=s^2*(s+3)*(s^2+2*s+25);
GH_d=num_GH_d/den_GH_d;
CL_d = GH_d/(1+GH_d)
figure(4);
margin(CL_d)
sisotool
891
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
50
Magnitude (dB)
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-2
-1
10
10
10
10
10
Frequency (rad/sec)
20
Imaginary Axis
10
-10
-20
-30
-40
-30
-20
-10
10
20
Real Axis
Part (c), Gain and frequency that instability occurs: Gain=53, Freq = 4.98 rad/sec, as seen in the data
point in the figure:
892
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1.5
Imaginary Axis
0.5
System: GH_a
Real: -1
Imag: 0.0174
Frequency (rad/sec): 4.98
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
0.5
Real Axis
corresponding Gain
figure
is K= 0.127.
893
AutomaticControlSystems,9thEdition
Chapter8Solutions
842(a)Gaincrossoverfrequency=2.09rad/sec
PM=115.85deg
GM=21.13dB
(b)Gaincrossoverfrequency=6.63rad/sec
PM=72.08deg
GM=15.11dB
(c)Gaincrossoverfrequency=19.1rad/sec
PM=4.07deg
GM=1.13dB
Phasecrossoverfrequency=20.31rad/sec
Golnaraghi,Kuo
Phasecrossoverfrequency=20.31rad/sec
Phasecrossoverfrequency=20.31rad/sec
(d)ForGM=40dB,reducegainby(4021.13)dB=18.7dB,orgain=0.116 nominalvalue.
(e)ForPM=45deg,themagntudecurvereads10dB.Thismeansthattheloopgaincanbeincreasedby
10dBfromthenominalvalue.Orgain=3.16 nominalvalue.
(f)Thesystemistype1,sincetheslopeof G ( j ) is20dB/decadeas 0.
(g)GM=12.7dB.PM=109.85deg.
(h)Thegaincrossoverfrequencyis2.09rad/sec.Thephasemarginis115.85deg.
Set
115.85
o
Td = 2.09Td =
180
= 2.022 rad
894
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
843(a)Thegainisincreasedtofourtimesitsnominalvalue.Themagnitudecurveisraisedby12.04dB.
Gaincrossoverfrequency=10rad/sec
PM=46deg
Phasecrossoverfrequency=20.31rad/sec
GM=9.09dB
(b)TheGMthatcorrespondstothenominalgainis21.13dB.TochangetheGMto20dBweneedto
increasethegainby1.13dB,or1.139timesthenominalgain.
(c)TheGMis21.13dB.Theforwardpathgainforstabilityis21.13dB,or11.39.
(d)ThePMforthenominalgainis115.85deg.ForPM=60deg,thegaincrossoverfrequencymustbe
movedtoapproximately8.5rad/sec,atwhichpointthegainis10dB.Thus,thegainmustbeincreased
by10dB,orbyafactorof3.162.
(e)Withthegainattwiceitsnominalvalue,thesystemisstable.Sincethesystemistype1,thesteadystate
errorduetoastepinputis0.
(f)Withthegainat20timesitsnominalvalue,thesystemisunstable.Thusthesteadystateerrorwouldbe
infinite.
(g)Withapuretimedelayof0.1sec,themagnitudecurveisnotchanged,butthethephasecurveissubject
Thenewphasecrossoverfrequencyisapproximately9rad/sec,wheretheoriginalphasecurveis
reducedby0.9rador51.5deg.Themagnitudeofthegaincurveatthisfrequencyis10dB.
Thus,thegainmarginis10dB.
(h)Whenthegainissetat10timesitsnominalvalue,themagnitudecurveisraisedby20dB.Thenew
gaincrossoverfrequencyisapproximately17rad/sec.Thephaseatthisfrequencyis30deg.
Thus,setting
30
o
Td = 17Td =
180
= 0.5236
895
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-44
MATLAB code:
s = tf('s')
%using pade cammand for PADE approximation of exponential term
num_G_a= pade((80*exp(-0.1*s)),2);
den_G_a=s*(s+4)*(s+10);
G_a=num_G_a/den_G_a;
CL_a = G_a/(1+G_a)
OL_a = G_a*1;
%(a)
figure(1)
nyquist(OL_a)
%(b) and (c)
figure(2);
margin(CL_a)
Imaginary Axis
-2
-4
-6
-8
-1
-0.8
-0.6
-0.4
-0.2
0.2
0.4
Real Axis
896
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = 6.3 dB (at 4.02 rad/sec) , Pm = 42.6 deg (at 2.9 rad/sec)
50
Magnitude (dB)
-50
-100
-150
360
Phase (deg)
180
0
-180
-360
-1
10
10
10
Frequency (rad/sec)
897
10
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
845(a)BodePlot:
Forstability:166(44.4dB)<K<7079(77dB)
Phasecrossoverfrequencies:7rad/secand85rad/sec
898
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
NyquistPlot:
899
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
845(b)RootLoci.
8100
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
846(a)NyquistPlot
BodePlot
8101
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
RootLocus
8102
AutomaticControlSystems,9thEdition
Chapter8Solutions
8-47
MATLAB code:
%a)
k=1
num_GH= k*(s+1)*(s+5);
den_GH=s*(s+0.1)*(s+8)*(s+20)*(s+50);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1);
bode(CL)
figure(2);
OL = GH;
nyquist(GH)
xlim([-1.5 0.5]);
ylim([-1 1]);
sisotool
8103
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
0
Magnitude (dB)
-50
-100
-150
Phase (deg)
-200
0
-90
-180
-270
-4
-3
10
10
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
0.5
Real Axis
Part (a), range of K for stability: By running sisotool command in MATLAB, the transfer functions
are imported and the gain is iteratively changed until the phase margin of PM=0 deg is achieved (where
K = ) which is the margin of stability. The stable rang for K is K>8.16x104:
8104
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Part (b), Root-locus diagram, K and at the points where the root loci cross the j-axis:
As can be seen in the figure at K=8.13x104 and =33.8 rad/sec, the poles cross the j axis. Both of
these values are consistent with the results of part(a) from sisotool.
8105
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Root Locus
150
System: CL
Gain: 8.13e+004
Pole: 0.0788 + 33.8i
Damping: -0.00233
Overshoot (%): 101
Frequency (rad/sec): 33.8
100
Imaginary Axis
50
System: CL
Gain: 7.99e+004
Pole: -0.045 - 33.5i
Damping: 0.00134
Overshoot (%): 99.6
Frequency (rad/sec): 33.5
-50
-100
-150
-200
-150
-100
-50
Real Axis
8106
50
100
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
848BodeDiagram
WhenK=1,GM=68.75dB,PM=90deg.ThecriticalvalueofKforstabilityis2738.
8107
AutomaticControlSystems,9thEdition
Chapter8Solutions
849(a)Forwardpathtransferfunction:
G( s) =
where
L ( s)
E ( s)
= K aG p ( s ) =
K a Ki ( Bs + K )
G ( s ) =
43.33( s + 500)
(b)BodeDiagram:
8108
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Gaincrossoverfrequency=5.85rad/sec
PM=2.65deg.
Phasecrossoverfrequency=11.81rad/sec GM=10.51dB
8109
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
849(c)ClosedloopFrequencyResponse:
8110
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-50
(a)
(b)
(c) to (e)
MATLAB code:
s = tf('s')
m
r
d
g
L
J
=
=
=
=
=
=
0.11;
0.015;
0.03;
9.8;
1.0;
9.99*10^-6
K=1
num_GH= K*m*g*d;
den_GH=L*(J/r^2+m)*s^2;
GH=num_GH/den_GH;
CL = GH/(1+GH)
%c)
figure(1);
nyquist(GH)
xlim([-1.5 0.5]);
ylim([-1 1]);
%d)
figure(2);
margin(CL)
Part (c): since the system is a double integrator (1/s2), the phase is always -180 deg, and the system is
always marginally stable for any K, leading to a complicated control problem.
8111
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Nyquist Diagram
1
0.8
0.6
Imaginary Axis
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.5
-1
-0.5
0.5
Real Axis
8112
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 0 deg (at 0.647 rad/sec)
150
System: CL
Frequency (rad/sec): 0.458
Magnitude (dB): 143
Magnitude (dB)
100
50
0
System: CL
Frequency (rad/sec): 0.712
Magnitude (dB): -3.05
-50
-100
-180
Phase (deg)
-225
-270
-315
-360
-2
10
-1
10
10
10
Frequency (rad/sec)
Part (e), Mr,= 143 dB, r = 0.458 rad/sec, and BW= 0.712 rad/sec as can be seen in the data points in
the above figure.
8-51 (a)WhenK=1,thegaincrossoverfrequencyis8rad/sec.
(b)WhenK=1,thephasecrossoverfrequencyis20rad/sec.
(c)WhenK=1,GM=10dB.
(d)WhenK=1,PM=57deg.
(e)WhenK=1, M r = 1.2.
(f)WhenK=1, r = 3 rad/sec.
(g)WhenK=1,BW=15rad/sec.
(h)WhenK=10dB(0.316),GM=20dB
(i)WhenK=10dB(3.16),thesystemismarginallystable.Thefrequencyofoscillationis20rad/sec.
(j)Thesystemistype1,sincethegainphaseplotof G ( j ) approachesinfinityat90deg.Thus,the
steadystateerrorduetoaunitstepinputiszero.
8113
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
8-52WhenK=5dB,thegainphaseplotof G ( j ) israisedby5dB.
(a)Thegaincrossoverfrequencyis~10rad/sec.
(b)Thephasecrossoverfrequencyis~20rad/sec.
(c)GM=5dB.
(d)PM=~34.5deg.
(e)WhenK=5,Mr=~2(smallestcircletangenttoanMcircle).
(f) r = 15 rad/sec
(g)BW=30rad/sec
(h)WhenK=30dB,theGMis40dB(shiftthegraphofK=1,30dbsdown).
WhenK=10dB,thegainphaseplotofG ( j ) israisedby10dB.
(a)Thegaincrossoverfrequencyis20rad/sec.
(b)Thephasecrossoverfrequencyis20rad/sec.
(c)GM=0dB.
(d)PM=0deg.
(e)WhenK=10,Mr=~1.1(smallestcircletangenttoanMcircle).
(f) r = 5 rad/sec
(g)BW=~40rad/sec
(h)WhenK=30dB,theGMis40dB(shiftthegraphofK=1,30dbsdown).
8-53
Since the function has exponential term, PADE command has been used to obtain the transfer function.
G ( s) H ( s) =
80e 0.1s
s ( s + 4)( s + 10)
MATLAB code:
s = tf('s')
%a)
8114
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
num_GH= pade(80*exp(-0.1*s),2);
den_GH=s*(s+4)*(s+10);
GH=num_GH/den_GH;
CL = GH/(1+GH)
BW = bandwidth(CL)
bode(CL)
%b)
figure(2);
nichols(GH)
Nichols Chart
40
20
0
-20
-40
-60
-80
-100
-120
-140
-270
-180
-90
0
Open-Loop Phase (deg)
8115
90
180
270
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
50
Magnitude (dB)
-50
-100
-150
360
Phase (deg)
180
0
-180
-360
-1
10
10
10
10
10
Frequency (rad/sec)
G
1+ G
To draw the Bode and polar plots use the closed loop transfer function, GCL, and find BW. Use G to
obtain the gain-phase plots and Gm and Pm. Use the Bode plot to graphically obtain Mr.
Sample MATLAB code:
s = tf('s')
%a)
num_G= 1+0.1*s;
den_G=s*(s+1)*(0.01*s+1);
G=num_G/den_G
figure(1)
nyquist(G)
figure(2)
margin(G)
GCL = G/(1+G)
BW = bandwidth(GCL)
figure(3)
bode(GCL)
8116
AutomaticControlSystems,9thEdition
Chapter8Solutions
Transfer function:
0.1 s + 1
----------------------0.01 s^3 + 1.01 s^2 + s
Transfer function:
0.001 s^4 + 0.111 s^3 + 1.11 s^2 + s
-------------------------------------------------------------0.0001 s^6 + 0.0202 s^5 + 1.041 s^4 + 2.131 s^3 + 2.11 s^2 + s
BW =
1.2235
8117
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
8118
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
producesaphaselagof17deg.Thegaincrossoverfrequencyis8rad/sec.
Thus,
Td = 17 =
Td =
17
o
180
0.2967
8
= 0.0371sec
(b)WithK=1,formarginalstability,thetimedelaymustproduceaphaselagof57deg.
Thus,at = 8 rad/sec,
57
o
Td = 57 =
o
180
= 0.9948 rad
8119
Td =
0.9948
8
= 0.1244 sec
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
856(a)ThephasemarginwithK=5dBandTd = 0 isapproximately34.5deg.ForaPMof30deg,thetime
delaymustproduceaphaselagof4.5deg.Thegaincrossoverfrequencyis10rad/sec.Thus,
4.5
o
Td = 4.5 =
o
180
= 0.0785 rad
Thus
Td =
0.0785
10
= 0.00785 sec
(b)WithK=5dB,formarginalstability,thetimedelaymustproduceaphaselagof34.5deg.
Thusat = 10 rad/sec,
34.5
o
Td = 34.5 =
o
180
= 0.602 rad
Thus Td =
0.602
10
= 0.0602 sec
857)ForaGMof5dB,thetimedelaymustproduceaphaselagof34.5degat = 10 rad/sec.Thus,
34.5
o
Td = 34.5 =
o
180
= 0.602 rad
Thus
Td =
0.602
10
= 0.0602 sec
858(a)ForwardpathTransferFunction:
G( s) =
Y ( s)
2 s
FromtheBodediagram,phasecrossoverfrequency=0.21rad/sec GM=21.55dB
E ( s)
(1 + 10 s )(1 + 25s )
8120
AutomaticControlSystems,9thEdition
G(s) =
Chapter8Solutions
gaincrossoverfrequency=0rad/sec
Golnaraghi,Kuo
PM=infinite
(b)
(1 + 10 s )(1 + 25s ) (1 + 2 s + 2 s
FromtheBodediagram,phasecrossoverfrequency=0.26rad/sec GM=25dB
G(s) =
gaincrossoverfrequency=0rad/sec
PM=infinite
(c)
1 s
(1 + s )(1 + 10 s )(1 + 2 s )
FromtheBodediagram,phasecrossoverfrequency=0.26rad/sec GM=25.44dB
gaincrossoverfrequency=0rad/sec
8121
PM=infinite
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
858(continued)Bodediagramsforallthreeparts.
8122
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
859(a)ForwardpathTransferFunction:
G( s) =
FromtheBodediagram,phasecrossoverfrequency=0.37rad/sec GM=31.08dB
G( s) =
(1 + 10 s )(1 + 25s )
gaincrossoverfrequency=0rad/sec
PM=infinite
(b)
FromtheBodediagram,phasecrossoverfrequency=0.367rad/secGM=30.72dB
G( s) =
gaincrossoverfrequency=0rad/sec
PM=infinite
(c)
(1 0.5s )
FromtheBodediagram,phasecrossoverfrequency=0.3731rad/secGM=31.18dB
gaincrossoverfrequency=0rad/sec
8123
PM=infinite
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Plots859(ac)
8124
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
860SensitivityPlot:
8125
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
SG
max
= 17.15
8-61)
(a)
(b)
(c)&(d)
MATLAB code:
s = tf('s')
%c)
K = 1
num_GH= K*(1.151*s+0.1774);
den_GH=(s^3+0.739*s^2+0.921*s);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
%(d)
figure(1)
margin(CL)
8126
AutomaticControlSystems,9thEdition
Chapter8Solutions
4
Root
Locus Editor for Open Loop 1 (OL1)
x 10
Golnaraghi,Kuo
2
180
1
160
0
-1
140
-2
-3
-0.4
-0.3
-0.2
-0.1
-45
-100
0
-90
-135
-90
-180
0
10
10
10
Frequency (rad/sec)
10
8127
-2
10
-1
10
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
Chapter8Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 61.3 deg (at 1.59 rad/sec)
20
Magnitude (dB)
0
-20
-40
-60
-80
0
Phase (deg)
-45
-90
-135
-180
-2
10
-1
10
10
Frequency (rad/sec)
8128
10
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Chapter 9
91ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
K v = lim sG ( s ) =
s 0
K
200 + 20a
200 a
200 + 20 a
= 5
Thusa=10
K=2000
Theforwardpathtransferfunctionis
Thecontrollertransferfunctionis
G ( s ) =
2000
s s + 30 s + 400
2
Gc ( s ) =
G(s)
Gp (s)
20 s + 10 s + 100
(s
+ 30 s + 400
Themaximumovershootoftheunitstepresponseis0percent.
92ForwardpathTransferFunction:
G( s) =
M ( s)
1 M ( s)
K
3
K v = lim sG ( s ) =
s 0
K
200 + 20a
200 a
200 + 20 a
91
= 9
Thusa=90
K=18000
AutomaticControlSystems,9thEdition
Chapter9Solutions
Theforwardpathtransferfunctionis
Golnaraghi,Kuo
Thecontrollertransferfunctionis
G ( s ) =
18000
s s + 110 s + 2000
2
Gc ( s ) =
G(s)
G p ( s)
)
( s + 110s + 2000 )
180 s + 10 s + 100
2
Themaximumovershootoftheunitstepresponseis4.3percent.
Fromtheexpressionfortheramperrorconstant,weseethatasaorKgoestoinfinity, Kv approaches10.
Thusthemaximumvalueof Kv thatcanberealizedis10.ThedifficultieswithverylargevaluesofKand
aarethatahighgainamplifierisneededandunrealisticcircuitparametersareneededforthecontroller.
93)Thecloselooptransferfunctionis:
Comparingwithsecondordersystem:
and2
exp
0.254 =0.4
3
n=1.14
=1.09
K=1.42
24
s ( s + 1)( s + 6)
1. The steady state error is less than to /10 when the input is a ramp with a slope of 2 rad/sec
92
AutomaticControlSystems,9thEdition
10
lim
As a result K
Chapter9Solutions
lim
24
s ( s + 1)( s + 6)
Golnaraghi,Kuo
4K
0.2
93
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
YoucanalsoopenAnalysisPlotstabtoaddothergraphssuchasNyquistdiagramasshowninthefollowing
figure:
94
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Inthisparticularquestion,youneedtoaddazerotoincludetheeffectof K d .Youcanaddazerobyusingthe
CompensatorEditortab,asshowninthefollowinggraph.Thelastthingyouneedtodoforthisproblem,isto
dragthelocationofzeroandgaininthefollowingdiagram(oredittheselocationsbyassigningCgainandZero
locationintheCompensatorEditortab),soitsatisfiesthePMof40to50deg;whilegainofCiskeptabove
0.2( K p 0.2 ,frompart(a)).
InthefollowingsnapshotofCompensatorEditor,Cgainor K p issetto1,andthezerolocationissetto2.7,
resultingin44.2[deg]phasemargin,presentedinthefollowingfigure.
95
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Magnitude (dB)
Imag Axis
1000
-1000
20
0
-20
-2000
-6
-5
-4
-3
-2
-1
Phase (deg)
Magnitude (dB)
20
Phase (deg)
-60
0
-45
-150
-90
P.M.: 44.2 deg
Freq: 2.07 rad/sec
-135
-180
-1
10
-180
0
10
10
Frequency (rad/sec)
10
Finalanswers: K p = 1, K d = 0.3704
96
-120
-2
10
-1
10
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
PreliminaryMATLABcodefor94:
%solving for k:
syms kc
omega=1.5
sol=eval(solve('0.25*kc^2=0.7079^2*((-0.25*omega^3+omega)^2+(0.375*omega^2+0.5*kc)^2)',kc))
sisotool;
97
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
K p = 1, K d = 0.3704
98
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
99
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-5)(a)RamperrorConstant:
K v = lim s
1000 ( K P + K D s )
CharacteristicEquation:
s 0
s ( s + 10)
1000 K P
10
= 100 K P = 1000
Thus
K P = 10
Thus
KD =
90
1000
= 0.09
910
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Thus
KD =
131.4
= 0.1314
1000
Thus
KD =
190
1000
= 0.19
9-6)Theramperrorconstant:
K v = lim s
1000 ( K P + K D s )
s 0
s ( s + 10)
Thus K P = 100
Theforwardpathtransferfunctionis:
G(s) =
1000 (100 + K D s )
s ( s + 10)
KD PM(deg)
GM
Mr
BW(rad/sec)
Maxovershoot(%)
1.814
13.5
493
46.6
0.2
36.58
1.817
525
41.1
0.4
62.52
1.291
615
22
0.6
75.9
1.226
753
13.3
0.8
81.92
1.092
916
8.8
1.0
84.88
1.06
1090
6.2
Thephasemarginincreasesandthemaximumovershootdecreasesmonotonicallyas K D increases.
911
AutomaticControlSystems,9thEdition
Chapter9Solutions
Zero/pole/gain:
1000(s+100)
(s+111.3)(s+898.7)
912
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
UsethecursortoobtainthePOandtrvalues.
KDincreaseresultsintheminimumovershoot.
913
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
914
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-7)
PDcontrollerdesign
Theopenlooptransferfunctionofasystemis:
G(s) H (s) =
1
(2 s + 1)( s + 1)(0.5s + 1)
Thesolutionisverysimilarto94.Thetransferfunctionsareinsertedintosisotool,whereanotherrealzerois
addedtorepresenttheeffectof K d .Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthe
compensatortransferfunctioninsisotool.Theplaceofrealzerois Z = K p / K d ,andthegainofthe
compensatorisequalto K p ,asnotedinthefollowingsisotoolwindow:
915
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Byfixingthegainto9,andstartingtochangethezerolocation,PMcanbeadjustedtoabove25[deg]as
requiredbythequestion.Thecurrentsettinghasazeroat3.5,whichresultedin30[deg]phasemarginand
33.1dBgainmarginasseeninthefollowingdiagrams.
Thedesignrequires K p = 9 and K d = K p / Z = 9 / 3.6 = 2.5
20
10
10
5
0
0
-10
-5
-20
-10
-15
-4
G.M.: 33.1 dB
Freq: 10.8 rad/sec
Stable loop
-30
-3
-2
-1
-40
0
50
0
-45
-50
-90
-100
0
-135
-90
-180
-180
-270
-1
10
10
10
Frequency (rad/sec)
10
-2
10
-1
10
10
10
Frequency (rad/sec)
10
PreliminaryMATLABcodefor97:
s = tf('s')
Kp = 1
num_GH= Kp*1;
den_GH=(2*s+1)*(s+1)*(0.5*s+1);
916
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
GH=num_GH/den_GH;
CL = GH/(1+GH)
Sisotool
G ( s) H ( s) =
60
s (0.4 s + 1)( s + 1)( s + 6)
Kv =10
(ii)
lim
lim
60
0.4
As a result:
1
Therestoftheprocedureissimilarto97:
917
10
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Thetransferfunctionsareinsertedintosisotool,whereanotherrealzeroisaddedtorepresenttheeffectof K d
.Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthecompensatortransferfunctioninsisotool.
Theplaceofrealzerois Z = K p / K d ,andthegainofthecompensatorisequalto K p ,asnotedinthe
sisotoolwindow:
K p = 1 fixedto1,andzerolocationwaschangedintheentirerealaxis.However,2oftheclosedlooppoles
remainedintherighthandsideofSplaneintherootlocusdiagram,indicatinginstabilityforallKdvalues.
Solutionfor K v = 10 withPDcontrollerandPM=45[deg]doesnotexist.Unstablecloselooppolesare
indicatedintherootlocusdiagramofthefollowingfigure:
918
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
98)
PreliminaryMATLABcodefor98:
s = tf('s')
Kp = 1
num_GH= Kp*60;
den_GH=s*(0.4*s+1)*(s+1)*(s+6);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
919
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-9)(a)ForwardpathTransferFunction:
G ( s ) = Gc ( s )G p ( s ) =
4500 K ( K D + K P s )
s ( s + 361.2)
RampErrorConstant: K v = lim sG ( s ) =
e ss =
s 0
1
Kv
0.0802
KK P
4500 KK P
361.2
= 12.458 KK P
AttributesofUnitstepResponse:
KD
tr(sec)
ts (sec)
MaxOvershoot(%)
0.00221
0.0166
37.1
0.0005
0.00242
0.00812
21.5
0.0010
0.00245
0.00775
12.2
0.0015
0.0024
0.0065
6.4
0.0016
0.00239
0.00597
5.6
0.0017
0.00238
0.00287
4.8
0.0018
0.00236
0.0029
4.0
0.0020
0.00233
0.00283
2.8
Select K D 0.0017
(b)BWmustbelessthan850rad/sec.
920
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
KD
GM
PM(deg)
Mr
BW(rad/sec)
0.0005
48.45
1.276
827
0.0010
62.04
1.105
812
0.0015
73.5
1.033
827
0.0016
75.46
1.025
834
0.0017
77.33
1.018
842
0.00175
78.22
1.015
847
0.0018
79.07
1.012
852
921
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-10)
TheforwardpathTransferFunction:N=20
200 ( K P + K D s )
Tostabilizethesystem,wecanreducetheforwardpathgain.Sincethesystemistype1,reducingthe
gaindoesnotaffectthesteadystateliquidleveltoastepinput.Let K P = 0.05
UnitstepResponseAttributes:
G(s) =
G(s) =
s ( s + 1)( s + 10)
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
KD
ts(sec)
MaxOvershoot(%)
0.01
5.159
12.7
0.02
4.57
7.1
0.03
2.35
3.2
0.04
2.526
0.8
0.05
2.721
0.06
3.039
0.10
4.317
922
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-11)
(a)For e ss = 1,
K v = lim sG ( s ) = lim s
ForwardpathTransferFunction:
AttributesofFrequencyResponse:
s 0
s 0
200 ( K P + K D s )
s ( s + 1)( s + 10)
G ( s ) =
= 20 K P = 1 Thus K P = 0.05
200 ( 0.05 + K D s )
s ( s + 1)( s + 10)
KD
PM(deg)
GM(deg)
Mr
BW(rad/sec)
47.4
20.83
1.24
1.32
0.01
56.11
1.09
1.24
0.02
64.25
1.02
1.18
0.05
84.32
1.00
1.12
0.09
93.80
1.00
1.42
0.10
93.49
1.00
1.59
0.11
92.71
1.00
1.80
0.20
81.49
1.00
4.66
0.30
71.42
1.00
7.79
0.50
58.55
1.03
12.36
Formaximumphasemargin,thevalueof K D is0.09.PM=93.80deg.GM= , M r = 1,
andBW=1.42rad/sec.
923
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(b)SensitivityPlots:
ThePDcontrolreducesthepeakvalueofthesensitivityfunction SG ( j )
924
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-12)
PDcontrollerdesign:The open loop transfer function of a system is:
G ( s) H ( s) =
100
s (0.1s + 1)(0.02 s + 1)
Design the PD controller so that the phase margin is greater than 50 degrees and the BW is greater than
20 rad/sec.
The transfer functions are generated and imported in sisotool as in 9-4:
MATLABcode:
s = tf('s')
Kp = 1
num_GH= Kp*100;
den_GH=s*(0.1*s+1)*(0.02*s+1);
GH=num_GH/den_GH;
CL = GH/(1+GH)
sisotool
Followingsimilarstepsin94,thelooptransferfunctionsareinsertedintosisotool.Anotherrealzeroisaddedto
representtheeffectof K d .Thatis C ( s ) = K p + K d s = K p (1 + K d s / K p ) ,whichiscalledthecompensator
transferfunctioninsisotool.Theplaceofrealzerois Z = K p / K d ,andthegainofthecompensatorisequal
to K p .Thezerolocationand K p gainwerechangedinteractivelyinsisotooluntilthedesiredPM(59.5[deg])
andBWisachieved.FollowingfiguresshowsthisPMatcrossoverfrequencyof38.6rad/sec,whichinsuresBW
925
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
of higher than 38.6 rad/sec (as the bandwidth is @ 3dB rather than 0 DB, i.e. bandwidth occurs at higher
frequencycomparedtocrossoverfrequency).
Finalpossibleanswer: K p = 0.25 and K d = K p / Z = 0.25 / 5 = 0.05
926
AutomaticControlSystems,9thEdition
Chapter9Solutions
927
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-13)
Leadcompensatordesign:
G(s) H (s) =
1000 K
s (0.2 s + 1)(0.005s + 1)
Designacompensatorsuchthatthesteadystateerrortotheunitstepinputislessthan0.01andtheclosedloop
dampingratio>0.4.
Thetransferfunctionsaregeneratedandimportedinsisotoolasin94:
e ss =
1
< 0.01 1000 K p > 101 Therefore, K p isselectedas150:( K p =0.11)
1 + 1000 K p
Toachievetherequireddampingratio,thepolesoftheclosedloopsystemareplacedwithanangleoflessthan
ArcCos(=0.4),intherootlocusdiagramofsisotool.Thisisdonebyiterativelychangethelocationofpolesand
zeros of a lead compensator and setting K p =0.11. The pole and zero (which perform as a lead compensator
when the pole is further away from zero to the left) are inserted in sisotool as explained in 94. The lead
compensatorwillintroducesomephaseleadatlowerfrequenciesaboutthezerolocationwhichimprovesthe
closed loop response in terms of damping and phase margin. Following is the chosen location for lead
compensatorpoleandzero:
Pole@100rad/sec
Zero@1.08rad/sec
Whichresultedinsmallestanglesof dominant polelocations (theonesclosertoimaginaryaxis)with thereal
axis.Thissmallanglemeanshigherdampingofthepolesas=ArcCos(polesanglewithrealaxis).
928
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
G.M.: 17.3 dB
Freq: 3.64 rad/sec
Stable loop
-200
-2
-1
-250
-90
-135
-100
-180
-200
-225
0
-270
-90
-180
-270
-360
-2
10
10
10
Frequency (rad/sec)
10
-2
10
10
10
Frequency (rad/sec)
10
929
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Inthisparticularcase,closedloopcomplexpolescanbeobservedintheshownrootlocusdiagramatabout
0.81.2j.Thiscorrespondstodampingofabout:
cos(atan(1.2/0.8))=0.554
0.55
PreliminaryMATLABcodefor913:
s = tf('s')
Kp = 1
num_GH= Kp*60;
den_GH=s*(0.4*s+1)*(s+1)*(s+6);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1)
margin(CL)
sisotool
930
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-14)
PDcontrollerdesignedforamaximumovershootandamaximumsteadystateerror
1
0.005
lim
Therefore:
1
1
4
0.005 K p >
Kp >
250 K p
0.005 * 250
5
Let K p = 1 ,then:
M p = exp(
Let
0.6;then:
0.2
Accordingly,
whichgives:
1250,or
1250
0.034
250
250
1
1
250
35.35.therefore,
5
2
1250
Thedesigncharacteristicscanbeobservedinthediagrambelow:
931
1250
1250
1
5
1250
2 0.6 0.35
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
110
100
0.5
90
0
80
-0.5
-1
-4
0
70
G.M.: Inf
Freq: NaN
Stable loop
60
-3
-2
-1
50
0
P.M.: 90 deg
Freq: 3.68e+004 rad/sec
-10
-20
-45
-30
0
-90
-45
-90
-2
10
-135
0
10
10
10
Frequency (rad/sec)
10
-4
10
-2
9-15)
Leadcompensatorcontrollerdesign
Thebodediagramofthesystemwithoutleadcompensatorisshownbelow:
932
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 32.7 deg (at 17.3 rad/sec)
20
Magnitude (dB)
0
-20
-40
-60
-80
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
10
IndicatingaPMof32.7[deg].Toreach45[deg]phasemargin,additional12.3[deg]phaseleadis
needed.At=17.3rad/scrossoverfrequency,ifin=12.3then
1
1
sin
sin
0.6488
17.3,then=0.0718
As=
Sincethegainisloweredby
Againcompensatorwithgainof0.7789isrequired,where,
1.2838
933
AutomaticControlSystems,9thEdition
9-16) If r = 0.1
tan
sin
Chapter9Solutions
Golnaraghi,Kuo
55
tan
17.3
tan
17.3
tan
1.73
12.3
then from trial and error we found = 0.014088 and required gain would be 9.7185
9-17) K
lim
sG s G s
100K
100 K
934
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -12 dB (at 10 rad/sec) , Pm = -28.3 deg (at 18.8 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
10
10
Frequency (rad/sec)
The bode diagram with K=1 shows -28 deg PM at 18.8 rad/sec.
According to the requirements the gain must be greater than
must be less than
or 0.01 for
200
or 250 for
0.2
/ and
1
1
In order to introduce some phase lead to obtain the require PM, a lead compensator is also
designed as:
1
10
1
28.310
935
0.0112
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Where is overlaid with the crossover frequency (28.3 rad/sec) for applying the maximum
phase lead at this frequency. The Lead compensator T.F. will be as follows:
/5 1
/50 1
1
1
Resulting in the following Bode diagram for the compensated system, showing 44 deg PM:
To obtain a slightly higher PM, lead compensator zero was re-tuned, where the zero is pulled
closer to imaginary axis from -5 to -4:
1
1
/4 1
/50 1
This resulted in a higher PM as shown in the following bode diagram of loop transfer function:
Bode Diagram
Gm = 14.5 dB (at 30.7 rad/sec) , Pm = 45 deg (at 10.6 rad/sec)
100
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
936
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
20
Magnitude (dB)
0
-20
-40
-60
-80
Phase (deg)
-100
0
-90
-180
-270
-1
10
10
10
10
10
Frequency (rad/sec)
9-18)SeeChapter5solutionsforMATLABcodesforthisproblem.
(a)ForwardpathTransferFunction:
100 K P +
G ( s ) =
Thus K I = 10.
KI
s + 10 s + 100
2
For K v = 10,
100 ( K P s + K I )
K v = lim sG ( s ) = lim s
s 0
s s + 10 s + 100
s 0
= K I = 10
Thequadraticportionofthecharacteristicequationis
937
s + 2 s + + 225 = 0
2
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Thecharacteristicequationofthesystemis
Thequadraticequationmustsatisfythecharacteristicequation.Usinglongdivisionandsolveforzero
remaindercondition.
s + (10 2 )
s + 2 s + + 225 s
3
(
)
+ ( 20 4 ) s + (10 2 ) ( s
(10 2 ) s
(100 K
+ 225
Forzeroremainder,
2 10 + 450 1250 = 0
and
100 K P + 3 20 125 = 0
(1)
(2)
KP =
125 + 20 3
100
= 15765
.
(c)RootContours:
938
AutomaticControlSystems,9thEdition
Geq ( s ) =
Chapter9Solutions
100 K P s
s + 10 s + 100 s + 1000
3
Golnaraghi,Kuo
100 K P s
( s + 10 ) ( s
+ 100
RootContours:
939
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-19)
(a)ForwardpathTransferFunction:
100 K P +
G ( s ) =
KI
s
For K = 10,
v
s + 10 s + 100
2
K v = lim sG ( s ) = lim s
s 0
s 0
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 10
Thustheforwardpathtransferfunctionbecomes
G(s) =
10 (1 + 0.1K P s )
s 1 + 0.1s + 0.01s
AttributesoftheFrequencyResponse:
PM(deg)
GM(dB)
Mr
BW(rad/sec)
0.1
5.51
1.21
10.05
14.19
0.5
22.59
6.38
2.24
15.81
0.6
25.44
8.25
1.94
16.11
0.7
27.70
10.77
1.74
16.38
0.8
29.40
14.15
1.88
16.62
KP
940
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
0.9
30.56
20.10
1.97
17.33
1.0
31.25
2.00
18.01
1.5
31.19
1.81
20.43
1.1
31.51
2.00
18.59
1.2
31.40
1.97
19.08
When K P = 11
. and K I = 10, K v = 10, thephasemarginis31.51deg.,andismaximum.
Thecorrespondingrootsofthecharacteristicequationrootsare:
ReferringtheserootstotherootcontoursinProblem108(c),thecomplexrootscorrespondsto
arelativedampingratiothatisnearoptimal.
(b)SensitivityFunction:
941
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Inthepresentcase,thesystemwiththePIcontrollerhasahighermaximumvalueforthesensitivity
function.
942
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-20)
(a)ForwardpathTransferFunction:
G(s) =
For K v = 100,
100 ( K P s + K I )
s s + 10 s + 100
2
K v = lim sG ( s ) = lim s
s 0
s 0
(b)Thecharacteristicequationis
100 ( K P s + K I )
s s + 10 s + 100
2
= K I = 100
Thus K I = 100.
RouthTabulation:
100 + 100 K P
10
10,000
100 K P 900
10,000
Thus
RootContours:
Geq ( s ) =
100 K P s
3
s + 10 s + 100 s + 10,000
100 K P s
( s + 23.65)( s 6.825 + j19.4)( s 6.825 j19.4)
943
KP > 9
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(c) K I = 100
Thefollowingmaximumovershootsofthesystemarecomputedforvariousvaluesof K P .
G(s) =
100 ( K P s + 100 )
s s + 10 s + 100
2
KP
15
20
22
24
1.794
1.779
1.7788 1.7785
25
26
30
40
100
1000
1.7756
1.779
1.782
1.795
1.844
1.859
ymax
WhenKP=25,minimumymax=1.7756
944
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-21)
(a)ForwardpathTransferFunction:
G(s) =
100 ( K P s + K I )
s s + 10 s + 100
2
For Kv =
100 K I
100
= 10,
K I = 10
RouthTabulation:
100 + 100 K P
10
1000
100 K P
1000
RootContours:
Geq ( s ) =
s3 + 10 s 2 + 100 K + 1 s + 1000 = 0
P
(b)CharacteristicEquation:
Forstability,KP>0
100 K P s
3
s + 10 s + 100 s + 1000
945
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(c)Themaximumovershootsofthesystemfordifferentvaluesof K P rangingfrom0.5to20are
computedandtabulatedbelow.
KP
0.5
1.0
1.6
1.7
1.8
1.393
1.275
1.9
2.0
3.0
5.0
10 20
1.2441
1.246
1.28
1.372
1.514
ymax
WhenKP=1.7,maximumymax=1.2416
9-22) K
lim
sG s G s
20
20 K
946
1.642
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -12.6 dB (at 2.2 rad/sec) , Pm = -25.2 deg (at 4.35 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
Phase (deg)
-150
-135
-180
-225
-270
-2
-1
10
10
10
10
10
10
Frequency (rad/sec)
To achieve the PM of 45 deg, we need to add a phase lead of (45 (-25.2)=70.2). By try and error, 2
compensators (a double lead compensator) each with phase lead of 55 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 52 deg
was obtained as seen in the bode diagram of compensated loop:
Double Lead filter design:
1
1
sin
sin
1
1
sin 55
sin 55
10.0590,
1
10.059
1
1510.0590
0.0210
The maximum phase lead of the compensators are placed at 15 rad/sec, which resulted in a larger PM
(=52.5 deg) compared to applying this phase lead at original cross over frequency of 4.35 rad/sec. This
was due to the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0
rad/sec.
The gain crossover frequency is 6.92 rad/sec. Bode diagram of compensated loop transfer
function can be observed in the following figure, showing a PM pf 52.5 deg:
947
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = 22.4 dB (at 44.9 rad/sec) , Pm = 52.5 deg (at 6.92 rad/sec)
100
Magnitude (dB)
50
-50
-100
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
Bode Diagram
20
Magnitude (dB)
0
-20
-40
-60
-80
Phase (deg)
-100
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
948
10
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
MATLAB code:
s = tf('s')
Kp = 6;
Ki = 1;
num_GH= 24*(Kp+Ki/s);
den_GH=s*(s+1)*(s+6);
GH=num_GH/den_GH;
%lead design
PL=55
CRover=15
alpha=(1+sin(PL/180*pi))/(1-sin(PL/180*pi))
T=1/alpha^0.5/CRover
lead=(1+T*alpha*s)/(1+T*s)
LT=GH*lead*lead %double lead compensation
CL = LT/(1+LT);
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Bode(CL)
grid on;
9-23)
K
Lets consider
1
K
lim s G s G s
lim
0.05
40 K s K I
s 2 s 20
KI
20
21
1 |G G j |
1.25
Lets see if the PM is in the required range. The bode of the loop transfer function shows a PM
of -57 deg at 3.31.
949
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = -Inf dB (at 0 rad/sec) , Pm = -57.1 deg (at 3.31 rad/sec)
100
Magnitude (dB)
50
-50
Phase (deg)
-100
-180
-225
-270
-1
10
10
10
10
Frequency (rad/sec)
By try and error, a double lead compensator, each with phase lead of 53 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 35.4 deg
was obtained as seen in the bode diagram of compensated loop:
Double Lead filter design:
1
1
sin
sin
1
1
sin 53
sin 53
8.9322,
1
8.9322
1
7.58.9322
0.0446
The maximum phase lead of the compensators are placed at 7.5 rad/sec, resulting in a larger PM (= 52.5
deg) compared to applying this phase lead at original cross over frequency of 3.31 rad/sec. This was due
to the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0 rad/sec.
Then the gain crossover frequency is 6.8 rad/sec. Bode diagram of compensated loop can be
observed in the following figure, showing a PM pf 35.4 deg:
950
AutomaticControlSystems,9thEdition
Chapter9Solutions
MATLAB code:
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Bode(CL)
grid on;
Bode Diagram
Gm = 14.6 dB (at 21.2 rad/sec) , Pm = 35.4 deg (at 6.8 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
-150
-135
-180
Phase (deg)
s = tf('s')
Kp = 1.25;
Ki = 21;
num_GH= 40*(Kp+Ki/s);
den_GH=s*(s+2)*(s+20);
GH=num_GH/den_GH;
CL = GH/(1+GH);
%lead design
PL=53
CRover=7.5
alpha=(1+sin(PL/180*pi))/(1
-sin(PL/180*pi))
T=1/alpha^0.5/CRover
lead=(1+T*alpha*s)/(1+T*s)
LT=GH*lead*lead
CL = LT/(1+LT);
Golnaraghi,Kuo
-225
-270
-1
10
10
10
10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
Bode Diagram
50
Magnitude (dB)
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-1
10
10
10
Frequency (rad/sec)
951
10
10
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-24)
To satisfy the unity DC gain (G(0)/(1+Kp*G(0)) = 1), Kp should be equal to 1: Kp=1
0.2 was chosen as the integral gain.
First, the bode plot of the Loop transfer function is obtained demonstrating a PM of -23.8 deg at 3
rad/sec cross over frequency:
Bode Diagram
Gm = -9.18 dB (at 1.82 rad/sec) , Pm = -23.8 deg (at 3 rad/sec)
100
Magnitude (dB)
50
-50
Phase (deg)
-100
-135
-180
-225
-270
-2
-1
10
10
10
10
10
Frequency (rad/sec)
First, the bode plot of the Loop transfer function is obtained demonstrating a PM of -23.8 deg at 3
rad/sec cross over frequency:
By try and error, a double lead compensator, each with phase lead of 48 deg was found suitable.
Considering the change in cross over frequency after applying the lead filters, overall, a PM of 41.9 deg
was obtained as seen in the bode diagram of compensated loop:
Double Lead filter design:
1
1
sin
sin
1
1
sin 48
sin 48
6.7865,
952
1
6.7865
1
98.9322
0.0427
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
The maximum phase lead of the compensators are placed at 9 rad/sec, resulting in a larger PM (= 41.9
deg) compared to applying this phase lead at original cross over frequency of 3 rad/sec. This was due to
the shape of phase diagram affected by integral action (i.e. phase starts at -180 @ = 0 rad/sec.
Then the gain crossover frequency is 4.35 rad/sec. Bode diagram of compensated loop can be
observed in the following figure, showing a PM pf 35.4 deg:
Bode Diagram
Gm = 20.2 dB (at 20.6 rad/sec) , Pm = 41.9 deg (at 4.35 rad/sec)
100
Magnitude (dB)
50
0
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-2
10
-1
10
10
10
Frequency (rad/sec)
MATLAB code:
s = tf('s')
Kp=1;
Ki=0.2;
num_GH= 210*(Kp+Ki/s);
den_GH=s*(5*s+7)*(s+3);
GH=num_GH/den_GH;
%lead design
PL=48
CRover=9
alpha=(1+sin(PL/180*pi))/(1-sin(PL/180*pi))
T=1/alpha^0.5/CRover
lead=(1+T*alpha*s)/(1+T*s)
LT=GH*lead*lead
CL = LT/(1+LT);
953
10
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
figure(1)
Margin(GH)
figure(2)
Margin(LT)
figure(3)
Margin(CL)
Correspondingly, the Bode diagram of closed loop system can be shown as:
Bode Diagram
Gm = 19.3 dB (at 20.6 rad/sec) , Pm = 78.6 deg (at 5.95 rad/sec)
50
Magnitude (dB)
0
System: CL
Frequency (rad/sec): 7.44
Magnitude (dB): -3.08
-50
-100
Phase (deg)
-150
0
-90
-180
-270
-1
10
10
10
10
10
Frequency (rad/sec)
The Bandwidth can be obtained from -3dB in magnitude diagram of the Bode plot. He above data point
in the figure shows BW = 7.44 rad/sec
954
AutomaticControlSystems,9thEdition
Chapter9Solutions
2 , therefore,
9-25)
Golnaraghi,Kuo
Magnitude (dB)
50
-50
Phase (deg)
-100
270
180
90
0
-3
10
-2
-1
10
10
10
10
Frequency (rad/sec)
K
K
. Lets
place this zero at 71/500 to cancel the Phase lag originating from the unstable zero of G at +71/500:
2353 K (71 500 s )
( G (s) =
).
71s ( 40 s + 13)(5000 s + 181)
The compensator can be expressed as:
PI
K
K
K s
955
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
10
50
0
5
-50
0
-100
-150
-5
-200
-10
-10
-5
G.M.: 10.5 dB
-250 Freq: 0.0343 rad/sec
10
Stable loop
-300
270
0
180
-200
90
-400
360
-90
P.M.: 50.5 deg
Freq: 0.0137 rad/sec
-360
-4
10
-180
-2
10
10
10
Frequency (rad/sec)
10
-4
10
-2
10
10
10
Frequency (rad/sec)
10
Considering the slow dynamic of the ship, and the RHS zero, the crossover frequency is relatively low.
Zoom in
956
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Root Locus
0.06
0.04
Imaginary Axis
0.02
-0.02
-0.04
-0.06
-0.08
-0.6
-0.5
-0.4
-0.3
-0.2
-0.1
0.1
0.2
Real Axis
Zoom out
Root Locus
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-8
-7
-6
-5
-4
-3
Real Axis
MATAB Code:
s = tf('s')
Kp=1;
Ki=1;
num_G= 2353*2*(71-500*s)
den_G=71*s*(40*s+13)*(5000*s+181)*(71+500*s)^2;
G=num_G/den_G;
%PI design
957
-2
-1
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Kp=1
Ki=71/500
PI=Kp+Ki*s
figure(100)
Margin(G)
figure(101)
rlocus(G*PI)
sisotool
9-26) a) Transfer functions G and H are generated in MATLAB and imported into sisotool:
MATLAB Code:
s = tf('s')
num_G= 2*10^5;
den_G=s*(s+20)*(s^2+50*s+10000);
G=num_G/den_G;
num_c1= 0.05*s+1;
den_c1=0.01*s+1;
c1=num_c1/den_c1;
num_c2= s/0.316+1;
den_c2=s/3.16+1;
c2=num_c2/den_c2;
sisotool
(a) The gain was changed until the cross over frequency matches 31.6 rad/sec as a requirement. At
K=30.3, the desired cross over frequency of 31.6 rad/sec happens as can be seen in the following
sisotool results:
958
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
300
50
200
0
100
0
-50
-100
-200
-300
-300
-100
-200
-100
100
G.M.: 5.26 dB
Freq: 81.6 rad/sec
Stable loop
200
-150
-90
50
0
-50
-180
-100
0
-270
-180
P.M.: 62.5 deg
Freq: 31.6 rad/sec
-360
0
10
-360
1
10
10
Frequency (rad/sec)
10
959
10
10
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
b) K
K
lim
Lim
Golnaraghi,Kuo
30.3 , then
30.3
c) Again, K
K
sG s G s
Chapter9Solutions
lim
sG s G s
Lim
r. To have
100 , the overall gain of the PI controller should be equal to 100 (r = 100).
d & e) In this part, the PI pole is asked to be placed at -3.16 rad/sec and the crossover frequency needs to
be at 31.6 rad/sec. The zero and the gain of the PI controller needs to be designed.
r (s + 1)
, the corresponding
(rs + 1)
pole is set to -3.16 in sisotool. The place of the zero and the overall gain is iteratively changed in the
MATLAB sisotool to achieve the crossover frequency of 31.6 rad/sec.
Considering the structure of the PI controller given in the question, H ( s ) =
With a zero at -0.06321 rad/sec and overall gain of K=270, required crossover frequency (31.6 rad/sec)
and PM of 21.9 deg is obtained as shown in the following sisotool results:
Open-Loop Bode Editor for Open Loop 1 (OL1)
150
200
100
100
50
-100
-50
-200
-100
-300
-300
-200
-100
100
G.M.: 6.61 dB
-150 Freq: 53.2 rad/sec
200
Stable loop
-200
-90
0
-100
-180
-200
0
-270
-180
P.M.: 21.9 deg
Freq: 31.6 rad/sec
-360
-2
10
-360
0
10
10
Frequency (rad/sec)
10
960
-4
10
-2
10
10
10
Frequency (rad/sec)
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
e) the presented sisotool figure shows the compensated bode diagram and 21.9 deg of PM.
961
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-27)
Gc ( s ) = K P + K D s +
where
KI
s
= (1 + K D 1 s ) K P 2 +
K P = K P 2 + K D1 K I 2
KDs + KPs + KI
2
K D = K D1 K P 2
KI 2
KI = KI 2
ForwardpathTransferFunction:
100 (1 + K D1 s )( K P 2 s + K I 2 )
G ( s ) = Gc ( s )G p ( s ) =
Thus
ConsideronlythePIcontroller,(with K D1 = 0 )
s s + 10 s + 100
2
K v = lim sG ( s ) = K I 2 = 100
s 0
K I = K I 2 = 100
ForwardpathTransferFunction:
CharacteristicEquation:
100 ( K P 2 s + 100 )
G ( s ) =
s s + 10 s + 100
2
G(s) =
1000 (1 + K D1 s )( s + 10 )
s s + 10 s + 100
2
962
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
overshootrequirementsaresatisfied.
K D = K D1 K P 2 = 0.2 10 = 2
K P = K P 2 + K D1 K I 2 = 10 + 0.2 100 = 30
Gc ( s ) = 30 + 2 s +
100
s
UnitstepResponse
963
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-28)
ProcessTransferFunction:
Gp (s) =
Y (s)
U (s)
0.2 s
1 + 0.25s
(a)PIController:
KP +
KI
200 ( K P s + K I )
s
=
2
2
1 + 0.2 s + 0.02 s
s ( s + 4 ) s + 10 s + 50
G ( s ) = Gc ( s )G p ( s )
For K v = 2,
Thus
Thefollowingvaluesoftheattributesoftheunitstepresponsearecomputedforthesystemwithvarious
valuesfor K P .
G(s) =
KP
(1 + 0.25s ) (
K v = lim sG ( s ) =
s 0
200 ( 2 + K P s )
s ( s + 4 ) s + 10 s + 50
2
200 K I
4 50
= KI = 2
Thus K I = 2
Maxovershoot
ts
ts
(%)
(sec)
(sec)
0.1
19.5
0.61
2.08
0.2
13.8
0.617
1.966
0.3
8.8
0.615
1.733
0.4
4.6
0.606
0.898
0.5
1.0
0.5905
0.878
0.6
0.568
0.851
0.7
0.541
1.464
0.8
0.5078
1.603
1.0
0.44
1.618
964
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
965
AutomaticControlSystems,9thEdition
Chapter9Solutions
966
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
967
AutomaticControlSystems,9thEdition
Chapter9Solutions
9-29)
968
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
2
2
1/
If D is sufficiently smaller than I then the I has minor effect in PID controller. Lets examine
PID controller when D is varied.
0.5
100
If
180
90
10
65
0.5
20
so lets consider D
1
10, then
0.1
20 D
200
0.005
Now we have to determine the value of K so that the gain at the crossover frequency remains at 1.
If K=1 then |G s G s |
20. Therefore,
20, or K=0.05
9-31) Let
1
1
1
where
0.01. therefore,
which gives
10 . Now
required to achieve PM 45
10
10,then PM
100
The crossover frequency is 12.3 rad/sec as can be seen in the uncompensated bode diagram. The
lag compensator must position
5rad/sec, where its gain is 17.5 dB. Therefore the ratio of
lag compensator can be chosen for this purpose as 3
969
10
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 22.6 deg (at 12.3 rad/sec)
40
Magnitude (dB)
20
-20
-40
0
Phase (deg)
-45
-90
-135
-180
-2
-1
10
10
10
10
10
Frequency (rad/sec)
Now the gain, which is obtained from combination of lead and lag compensator, is
1
1
5
5
or
1
1
20
5
5
where
1 for 1 < 1. Since it is required that the final gain is increased by 17.5 dB,
lets choose
.
0.5
1
1
5
5
970
20
2. Therefore,
23.5
AutomaticControlSystems,9thEdition
Chapter9Solutions
20
23.5
Golnaraghi,Kuo
17.5
5.33
45
5.33
0.068 and
971
53.33, where
0.35. Therefore
147 where
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-32)
972
AutomaticControlSystems,9thEdition
UnitstepResponse.
Chapter9Solutions
Golnaraghi,Kuo
Theunitstepresponseshowsamaximumovershootof26%.Althoughtherelativedampingratioofthe
complexrootsis0.707,therealpoleofthethirdordersystemtransferfunctionisat0.667whichadds
totheovershoot.
(c)
G ( s ) = Gc ( s )G p ( s ) =
0.00667 (1 + K D1 s )( K P 2 s + K I 2 )
approximately4.5%.Thus,
G(s) =
s s + 0.00667
2
0.00667 (1 + K D1 s )( 50 s + 100 )
s s + 0.00667
2
973
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
K D = K D1 K P 2 = 100 50 = 5000
K I = 100
3
SystemCharacteristicEquation:
0.01,2.138,31.2
UnitstepResponse.
Roots:
974
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-33)(a)
G p ( s) =
n = 0.0816 rad/sec.
Z ( s)
F ( s)
1
2
Ms + K s
1
2
150 s + 1
0.00667
2
s + 0.00667
(b)PIDController:
0.00667 K D s + K P s + K I
2
G ( s ) = Gc ( s )G p ( s ) =
K v = lim sG ( s ) = K I = 100
CharacteristicEquation:
Dividingthecharacteristicequationbytheseondorderterm.
s 0
s s + 0.00667
2
Thus
K I = 100
s + ( 0.00667 K D 2 )
s + 2s + s
3
( 0.00667 K
( 0.00667 K
( 0.00667 K
2 ) s + ( 0.01334 K D 4 ) s + 0.00667 K D 2
Forzeroremainder,
0.00667 K D + 0.00667 K I + 2 = 0
FromEq.(2),
FromEq.(1),
(1)
(2)
Thus
975
K D = 399.85
AutomaticControlSystems,9thEdition
Chapter9Solutions
ForwardpathTransferFunction:
G(s) =
CharacteristicEquation:
Roots:1,1,0.667
UnitstepResponse.
s s + 0.00667
2
Thus K P = 348.93
Golnaraghi,Kuo
)
2
( s + 0.667 ) = 0
Themaximumovershootis20%.
976
AutomaticControlSystems,9thEdition
9-34) a) As
Chapter9Solutions
Golnaraghi,Kuo
, therefore,
or
b)
According to the second order system:
1.8
1.8
5
0.36
0.6
1
Let's first add a PD controller with G s
overshoot requirement.
After writing the closed-loop transfer function including the PD controller, the characteristic equation
(denominator of the closed loop T.F.) is:
Therefore:
1000 0.36
2
Also,
129.6
KI
50
382 Nsec/m
Now, for the PI part, K I should be selected so that the additional pole at
KI
K
with the system dynamics. This pole is usually placed at least 1 decade lower (frequency wise)
than the slowest existing poles of the system. In this case, since
KI
K
0.005, resulting in K I
K 0.005
129.6 0.005
0.648
The step response is obtained through the following MATLAB code, showing the rise time of
less than 5 sec, and almost no overshoot
977
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Step Response
1
0.99
0.98
0.97
Amplitude
0.96
0.95
0.94
0.93
0.92
0.91
0.9
0
10
15
20
25
Time (sec)
MATLAB code:
s = tf('s')
Kp = 129.6
Kd = 382
Ki = 0.648
num_GH= (Kp*Kd*s)*(1+Ki/s);
den_GH=(1000*s+50);
GH=num_GH/den_GH;
CL = GH/(1+GH)
figure(1)
step(CL)
xlim([-1 50])
ylim([0.9 1])
978
30
35
40
45
50
AutomaticControlSystems,9thEdition
9-35)(a)ProcessTransferFunction:
G p ( s) =
ForwardpathTransferFunction
G ( s ) = Gc ( s )G p ( s ) =
4 ( KP + KD s)
CharacteristicEquation:
Golnaraghi,Kuo
Chapter9Solutions
UnitstepResponse.
Maximumovershoot=20.8%
(b)Selectarelativelylargevaluefor K D andasmallvaluefor K P sothattheclosedlooppolesarereal.
Theclosedloopzeroat s = K P / K D isveryclosetooneoftheclosedlooppoles,andthesystem
dynamicsaregovernedbytheotherclosedlooppoles.Let K D = 10 andusesmallvaluesof K P .
Thefollowingresultsshowthatthevalueof K P isnotcriticalaslongasitissmall.
979
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Kp
Maxovershoot
tr
ts
(%)
(sec)
(sec)
0.1
0.0549
0.0707
0.05
0.0549
0.0707
0.2
0.0549
0.0707
Thefollowingfrequencydomainresultssubstantiatethedesign.
Kp
PM
Mr
BW
(deg)
(rad/sec)
0.1
89.99
40
0.05
89.99
40
0.2
89.99
40
980
AutomaticControlSystems,9thEdition
Chapter9Solutions
9-36)(a)ForwardpathTransferFunction:
G ( s ) = Gc ( s )G p ( s ) =
RouthTabulation:
10, 000 ( K P + K D s )
s
( s + 10 )
10,000 K D
10
10,000 K P
10,000 K D 1000 K P
Golnaraghi,Kuo
CharacteristicEquation:
3
s + 10 s + 10,000 K D s + 10,000 K P = 0
10,000 K P
(b)RootLocusDiagram:
G ( s ) =
10, 000 K P
s
( s + 10 )
981
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
RootContours:
0 K D < , K P = 0.001, 0.002, 0.005, 0.01.
Geq ( s ) =
10,000 K D s
3
s + 10 s + 10,000 K P
Theforwardpathtransferfunctionbecomes
982
AutomaticControlSystems,9thEdition
G(s) =
10 (1 + 5 s )
Sincethezeroof G ( s ) isats=0.2,whichisveryclosetos=0,G(s)canbeapproximatedas:
Forthesecondordersystem, = 0.707.UsingEq.(7104),therisetimeisobtainedas
UnitstepResponse:
Golnaraghi,Kuo
Chapter9Solutions
G(s)
tr =
50
s ( s + 10 )
( s + 10 )
1 0.4167 + 2.917
= 0.306 sec
(d)FrequencydomainCharacteristics:
G(s) =
10 (1 + 5 s )
s
( s + 10 )
PM
GM
(deg)
(dB)
63
Mr
(rad/sec)
1.041
983
BW
7.156
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-37) This problem is extensively discussed in Chapters 5 and 6. Use the transfer function (5-123) for
the open-loop system, and a series PID compensator in a unity feedback system.
Gc
Reduce to:
Gc
in_Va
Where:
G (s) =
(s)
Kt
=
2
Va ( s ) s ( La Js + ( La B + Ra J ) s + Ra B + K t K b )
Gc ( s ) = K p + K D s +
2
KI KDs + K ps + KI
=
s
s
With
the rotor inertia (J) = 0.01 kg.m2/s2
damping ratio of the mechanical system (B) = 0.1 Nms
back-emf constant (Kb) = 0.01 Nm/Amp
torque constant (Kt) = 0.01 Nm/Amp
armature resistance (Ra) = 1
armature inductance (La) = 0.5 H
Starting systematically, set KI=KD=0. Assume a small electric time constant (or small inductance) and
simplify to Equation (5-126):
m ( s )
in ( s )
KK m K s
Ra
KK
KK K
( e s + 1) J m s 2 + B + b m s + m s
Ra
Ra
984
(5-125)
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
WhereKsisthesensorgain,and,asbefore,e=(La/Ra)maybeneglectedforsmallLa.
KK t K s
m ( s )
Ra J
=
in ( s )
R B + Kt Kb
KK t K s
s2 + a
s+
Ra J
Ra J
KK t K s
m ( s )
Ra J
=
in ( s )
R B + Kt Kb
KK t K s
s2 + a
s+
Ra J
Ra J
m ( s )
=
in ( s )
(5-126)
K p 0.1
0.01
K p 0.1
0.1
(0.01)(0.01)
+
s2 +
s+
0.01
0.01
10 K p
m ( s )
=
in ( s ) s 2 + 12 s + 10 K p
Where Ks=0.
Using ts
3 .2
985
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
10 ( K D s + K p )
m ( s )
5.12
= 2
2
in ( s ) s + (12 + 10 K D ) s + 10 K p s + 3.2 s + 5.12
(12 + 10 K D ) = 5.12
10 K p = 5.12
K D = 0.688
K p = 0.512
Although the two systems are not the same because one has a zero, we chose the controller gain values
by matching the two characteristic equations as an initial approximation. The resulting zero in the right
hand plane is troubling.
Lets find the response of the system through ACSYS:
Looking at the TF poles, it seems prudent to design the controller by placing its zero farther to LHS of
the s-plane. Set z=-Kp/KD=-20 and vary KD to find the root locus or the response.
986
AutomaticControlSystems,9thEdition
Chapter9Solutions
Done!
987
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-39)
0
25.92
A =
0
2.36
1
s
25.92 s
sI A =
0
0
0
2.36
0 0 1
0 0 0
0
0
25.92
1 = s
2.36
= sI A = s 0 s 1 +
(s
25.92
s3
2
1 25.92 s
=
2.36 s
2
2.36 s
s
0
0
3
2
2.36 s 25.92 s s 25.92
3
2.36 s
0
s 25.92 s
s
( sI A )
0.0732 s 2
0
0.0732 1 0.0732 s 3
1
1
s
s
I
A
B
I
A
(
)
(
) 0 =
2
0.0976 s 2.357
3
0.0976
0.0976 s 2.357 s
Y ( s ) = D ( sI A
B = [0
0 ] sI A
B=
0.0976 s 24.15
2
requireoppositesignsfor K D .
(s
25.92
988
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-40)
LetusfirstattempttocompensatethesystemwithaPIcontroller.
Gc ( s ) = K P +
KI
s
Then G ( s ) = Gc ( s )G p ( s ) =
100 ( K P s + K I )
s s + 10 s + 100
2
SincethesystemwiththePIcontrollerisnowatype1system,thesteadystateerrorofthesystemduetoa
stepinputwillbezeroaslongasthevaluesof K P and K I arechosensothatthesystemisstable.
Letuschoosetheramperrorconstant K v = 100 .Then, K I = 100. Thefollowingfrequencydomain
performancecharacteristicsareobtainedwith K I = 100 andvariousvalueof K P rangingfrom10to100.
KP
PM
GM
Mr
BW
(deg)
(dB)
10
1.60
29.70
50.13
20
6.76
7.62
69.90
30
7.15
7.41
85.40
40
6.90
8.28
98.50
50
6.56
8.45
106.56
100
5.18
11.04
160.00
(rad/sec)
ThemaximumphasemarginthatcanbeachievedwiththePIcontrollerisonly7.15degwhen K P = 30.
Thus,theovershootrequirementcannotbesatisfiedwiththePIcontrolleralone.
Next,wetryaPIDcontroller.
989
AutomaticControlSystems,9thEdition
Chapter9Solutions
KI
(1 + K s )( K
s + KI 2 )
s + 100 )
Gc ( s ) = K P + K D s +
becomes
ThefollowingattributesofthefrequencydomainperformanceofthesystemwiththePIDcontroller
areobtainedforvariousvaluesof K D1rangingfrom0.05to0.4.
G(s) =
D1
P2
s s + 10 s + 100
2
(1 + K s )( K
Golnaraghi,Kuo
D1
P2
KD1
PM
GM
Mr
BW
(deg)
(dB)
0.05
85.0
1.04
164.3
0.10
89.4
1.00
303.8
0.20
90.2
1.00
598.6
0.30
90.2
1.00
897.0
0.40
90.2
1.00
1201.0
(rad/sec)
Weseethatforvaluesof K D1greaterthan0.2,thephasemarginnolongerincreases,butthe
bandwidthincreaseswiththeincreasein K D1.Thuswechoose
K P = K P 2 + K D1 K I 2 = 30 + 0.2 100 = 50
Gc ( s ) = 50 + 6 s +
100
ThetransferfunctionofthePIDcontrolleris
Theunitstepresponseisshowbelow.Themaximumovershootiszero,andtherisetimeis0.0172sec.
990
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
991
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-41)
3.6
3.6
3.6
0.5 and
where 2
far enough from pole dominant of second order. Let p = 10, then the characteristic equation
would be:
36
where
9
160 ,
14
0.29, and
160
0.065
160 0.065
992
56
0.29
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-42)
(a)
Gp (s) =
G ( s ) = Gc ( s )G p ( s ) =
RootContours:(Tisfixedandavaries)
4 (1 + aTs )
s (1 + Ts )
2
Geq ( s ) =
4 aTs
3
Ts + s + 4
SelectasmallvalueforTandalargevaluefora.LetT=0.02anda=100.
Thecharacteristicequationis
s + 50 s + 400 s + 200 = 0
Therootsare:
0.5355,9.3,40.17
Thesystemtransferfunctionis
Gc ( s ) =
1+ 2s
1 + 0.02 s
G(s) =
400 ( s + 0.5 )
s
( s + 50 )
Y (s)
R(s)
400 ( s + 0.5 )
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Sincethezeroat0.5isveryclosetothepoleat0.5355,thesystemcanbeapproximatedbyasecond
ordersystem,
Theunitstepresponseisshownbelow.Theattributesoftheresponseare:
UnitstepResponse.
Y (s)
R(s)
373.48
( s + 9.3 )( s + 40.17 )
Thefollowingattributesofthefrequencydomainperformanceareobtainedforthesystemwiththe
phaseleadcontroller.
PM=77.4degGM=infiniteMr=1.05BW=9.976rad/sec
(b)TheBodeplotoftheuncompensatedforwardpathtransferfunctionisshownbelow.Thediagram
showsthattheuncompensatedsystemismarginallystable.ThephaseofG ( j ) is180degatall
994
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
frequencies.Forthephaseleadcontrollerweneedtoplace m atthenewgaincrossoverfrequency
torealizethedesiredphasemarginwhichhasatheoreticalmaximumof90deg.
Foradesiredphasemarginof80deg,
a=
1 + sin 80
1 sin 80
= 130
Or
G ( j ) =
G ( j ) =
= 0.0877
42
2
= 21dB
2
= 45.61
Thus
= 6.75 rad/sec
1
T
= a m = 130 6.75 = 77
Thus
T = 0.013
1
aT
= 0.592
Gc ( s ) =
1 + aTs
1 + Ts
Thus
aT = 169
.
1 + 1.702 s
G (s) =
1 + 0.0131s
BodePlot.
995
4 (1 + 1.702 s )
s (1 + 0.0131s )
2
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
996
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-43)(a)ForwardpathTransferFunction:
1000 (1 + aTs )
aT
G ( s ) = Gc ( s )GP ( s ) =
=
1
s ( s + 10 )(1 + Ts )
s ( s + 10 ) s +
T
1000a s +
Set1/aT=10sothatthepoleofG ( s ) ats=10iscancelled.Thecharacteristicequationofthesystem
becomes
n = 1000 a
s +
2 n =
1
T
1
T
s + 1000 a = 0
= 2 1000 a
Thusa=40andT=0.0025
ControllerTransferFunction:
Gc ( s ) =
1 + 0.01s
1 + 0.0025 s
ForwardpathTransferFunction:
G ( s ) =
40, 000
s ( s + 400 )
Theattributesoftheunitstepresponseofthecompensatedsystemare:
t s = 0.02367 sec
(b)FrequencydomainDesign
TheBodeplotoftheuncompensatedforwardpathtransferfunctionismadebelow.
G(s) =
1000
Mr=3.117,andBW=48.53rad/sec.
s ( s + 10 )
TheattributesofthesystemarePM=17.96deg,GM=infinite.
997
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Torealizeaphasemarginof75deg,weneedmorethan57degofadditionalphase.Letusaddan
additional10degforsafety.Thus,thevalueof m forthephaseleadcontrollerischosentobe
67deg.Thevalueofaiscalculatedfrom
a=
1 + sin 67
1 sin 67
= 24.16
isat
FromtheBodeplot m isfoundtobe70rad/sec.Thus,
'
G ( j m ) =
27.66
2
= 13.83 dB
'
= aT = 24.16 70 = 344
or T = 0.0029
aT = 0.0702
Thus
Thecompensatedsystemhasthefollowingfrequencydomainattributes:
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.0702 s
1 + 0.0029 s
PM=75.19deg
GM=infinite
Mr=1.024
BW=91.85rad/sec
Theattributesoftheunitstepresponseare:
Risetimetr=0.02278sec
Settlingtimets=0.02828secMaximumovershoot=3.3%
998
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
999
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
cc ( x&c x&w )
mw
k w ( xw y )
mw
0
mc
kc ( xc xw )
cw ( x&w y& )
0 &&
xw cw + cc
+
mc &&
xc cc
cc x&w kw + kc
+
cc x&c kc
kc xw cw
=
kc xc 0
cc ( x&c x&w )
0 y& kw
+
0 0 0
0 y
0 0
Placing an actuator between the two masses (ignore actuator dynamics for simplicity), and use a
PD control: the control force is (mc is added to make the final equation look simpler):
F = mc K D ( x&c x&w ) + mc K P ( xc xw )
where
xw = y, x&w = y&
The transfer function of the system is:
9100
AutomaticControlSystems,9thEdition
Chapter9Solutions
( 2n + K D ) s + (n2 + K P )
Xc
= 2
Y
s + ( 2n + K D ) s + ( 2n + K D )
The rest is a standard PD controller design.
9101
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-45)(a)ForwardpathTransferFunction:(N=10)
G ( s ) = Gc ( s )G p ( s ) =
200 (1 + aTs )
s ( s + 1)( s + 10 )(1 + Ts )
Startingwitha=1000,wevaryTfirsttostabilizethesystem.Thefollowingtimedomainattributes
areobtainedbyvaryingthevalueofT.
MaxOvershoot
tr
ts
(%)
0.0001
59.4
0.370
5.205
0.0002
41.5
0.293
2.911
0.0003
29.9
0.315
1.83
0.0004
22.7
0.282
1.178
0.0005
18.5
0.254
1.013
0.0006
16.3
0.230
0.844
0.0007
15.4
0.210
0.699
0.0008
15.4
0.192
0.620
0.0009
15.5
0.182
0.533
0.0010
16.7
0.163
0.525
ThemaximumovershootisataminimumwhenT=0.0007orT=0.0008.Themaximumovershoot
is15.4%.
9102
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponse.(T=0.0008seca=1000)
(b)FrequencydomainDesign.
Similartothedesigninpart(a),weseta=1000,andvarythevalueofTbetween0.0001and0.001.
Theattributesofthefrequencydomaincharacteristicsaregivenbelow.
GM
BW
Mr
PM
(deg)
(rad/sec)
(dB)
T
0.0001
17.95
60.00
3.194
4.849
0.0002
31.99
63.53
1.854
5.285
0.0003
42.77
58.62
1.448
5.941
0.0004
49.78
54.53
1.272
6.821
0.0005
53.39
51.16
1.183
7.817
0.0006
54.69
48.32
1.138
8.869
0.0007
54.62
45.87
1.121
9.913
0.0008
53.83
43.72
1.125
10.92
0.0009
52.68
41.81
1.140
11.88
0.0010
51.38
40.09
1.162
12.79
Thephasemarginisatamaximumof54.69degwhenT=0.0006.Theperformanceworsensifthevalueofaislessthan
1000.
9103
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
946(a)BodePlot.
Theattributesofthefrequencyresponseare:
PM=4.07deg
GM=1.34dB
Mr=23.24
BW=4.4rad/sec
(b)SinglestagePhaseleadController.
G(s) =
6 (1 + aTs )
Wefirstseta=1000,andvaryT.Thefollowingattributesofthefrequencydomaincharacteristics
areobtained.
PM
(deg)
0.0050
17.77
3.21
0.0010
43.70
1.34
0.0007
47.53
1.24
0.0006
48.27
1.22
0.0005
48.06
1.23
0.0004
46.01
1.29
0.0002
32.08
1.81
0.0001
19.57
2.97
Mr
Thephasemarginismaximumat48.27degwhenT=0.0006.
9104
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Next,wesetT=0.0006andreduceafrom1000.Wecanshowthatthephasemarginisnotvery
sensitivetothevariationofawhenaisnear1000.Theoptimalvalueofaisaround980,andthe
correspondingphasemarginis48.34deg.
Witha=980andT=0.0006,theattributesoftheunitstepresponseare:
Maximumovershoot=18.8%
tr=0.262sec
ts=0.851sec
(c)TwostagePhaseleadController.(a=980,T=0.0006)
G(s) =
6 (1 + 0.588s ) 1 + bT s
2
Again,letb=1000,andvary T2 .Thefollowingresultsareobtainedinthefrequencydomain.
T2
PM
Mr
(deg)
0.0010
93.81
1.00
0.0009
94.89
1.00
0.0008
96.02
1.00
0.0007
97.21
1.00
0.0006
98.43
1.00
0.0005
99.61
1.00
0.0004
100.40
1.00
0.0003
99.34
1.00
0.0002
91.98
1.00
0.0001
73.86
1.00
Reducingthevalueofbfrom1000reducesthephasemargin.Thus,themaximumphasemarginof
100.4degisobtainedwithb=1000andT2=0.0004.Thetransferfunctionofthetwostagephase
leadcontrolleris
9105
AutomaticControlSystems,9thEdition
Gc ( s ) =
Chapter9Solutions
Golnaraghi,Kuo
(c)UnitstepResponses.
9106
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
L
x(t)
F
M
Here is an alternative representation including friction (damping) . In this case the angle is
measured differently.
Lets find the dynamic model of the system:
1)
2)
Let
1 and
, therefore
which gives:
s
F s
Ignoring friction
s
F s
where
0.
Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
9107
AutomaticControlSystems,9thEdition
Chapter9Solutions
KP+KDs
R_F
F ( s) = K p ( R ( s ) ) K D s ( R ( s ) )
The system transfer function is:
A( K p + KDs)
= 2
R (s + K D s + A ( K p B )
Control is achieved by ensuring stability (Kp>B)
9108
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Adjust parameters to achieve desired response. Use THE PROCEDURE in Example 5-11-1.
You may look at the root locus of the forward path transfer function to get a better perspective.
A ( K p + K D s ) AK D ( z + s )
=
=
E
s 2 AB
s 2 AB
fix z and vary K D .
clear all
z=100;
Kd=0.01;
A=10;
B=8;
num = [A*Kd A*Kd*z];
den =[1 0 -(A*B)];
G=tf(num,den)
rlocus(G)
Transfer function:
0.1 s + 10
---------s^2 80
9109
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Forz=10,alargeKD=0.805resultsin:
clear all
Kd=0.805;
Kp=10*Kd;
A=10;
B=8;
num = [A*Kd A*Kp];
den =[1 Kd A*(Kp-B)];
G=tf(num,den)
pole(G)
zero(G)
step(G)
Transfer function:
8.05 s + 80.5
------------------s^2 + 0.805 s + 0.5
ans =
9110
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
-0.4025 + 0.5814i
-0.4025 - 0.5814i
ans =
-10
Looking at dominant poles we expect to see an oscillatory response with overshoot
close to desired values.
For a better design, and to meet rise time criterion, use Example 511-1 and Chapter 9 PD design examples.
9111
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-48)(a)Thelooptransferfunctionofthesystemis
G(s) H (s) =
10 K p K a K e
1 + R2 Cs
68.76
1 + R2 10 s
Forrootlocusplotwith R2 asthevariableparameter,wehave
Ns (1 + 0.05 s )
R1Cs
s (1 + 0.05 s )
2s
6.876 10 R2 s
Geq ( s ) =
RootLocusPlot.
s + 20 s + 687.6
3
6.876 10 R2 s
( s + 21.5 )( s 0.745 +
9112
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
maximum.Theunitstepresponseisplottedattheendtogetherwiththoseofparts(b)and(c).
(b)PhaseleadController.
G(s) H (s) =
68.76 (1 + aTs )
WithT=0.01,thecharacteristicequationbecomes
Thelastequationisconditionedforarootcontourplotwithaasthevariableparameter.
Thus
Fromtherootcontourplotonthenextpageweseethatwhena=3.4thecharacteristicequationroots
0.682.
s (1 + 0.05 s )(1 + Ts )
Geq ( s ) =
3
2
s + 120 s + ( 2000 + 1375.2a ) s + 137520 = 0
1375.2as
3
RootContourPlot(avaries).
9113
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponses.
9114
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(c)FrequencydomainDesignofPhaseleadController.
Foraphasemarginof60deg,a=4.373andT=0.00923.Thetransferfunctionofthecontrolleris
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.04036 s
1 + 0.00923 s
949(a)TimedomainDesignofPhaselagController.
ProcessTransferFunction:
and0.475 j 0.471whichcorrespondtoarelativedampingratioof0.707,whentheforwardpathgain
is4.5(asagainst200).Thus,thevalueofaofthephaselagcontrollerischosentobe
Gp (s) =
200
s ( s + 1)( s + 10 )
a=
4.5
Then
UnitstepResponse.
200
Gc ( s ) =
= 0.0225
1 + aTs
1 + Ts
SelectT=1000whichisalargenumber.
1 + 22.5 s
1 + 1000 s
G ( s ) = Gc ( s )G p ( s ) =
9115
4.5 ( s + 0.0889) )
s ( s + 1)( s + 10 )( s + 0.001)
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Maximumovershoot=13.6
tr=3.238sec
ts=18.86sec
BodePlot(withphaselagcontroller,a=0.0225,T=1000)
9116
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
PM=59deg.
GM=27.34dB Mr=1.1BW=0.6414rad/sec
(b)FrequencydomainDesignofPhaselagController.
ForPM=60deg,wechoosea=0.02178andT=1130.55.Thetransferfunctionofthephaselag
controlleris
Gc ( s ) =
1 + 24.62 s
1 + 1130.55s
GM=27.66dBMr=1.093BW=0.619rad/sec
9117
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponse. Maxovershoot=12.6%,tr=3.297sects=18.18sec
950(a)TimedomainDesignofPhaseleadController
ForwardpathTransferFunction.
G ( s ) = Gc ( s )G p ( s ) =
K (1 + aTs )
s ( s + 5 ) (1 + Ts )
2
K v = lim sG ( s ) =
s 0
K
25
= 10 ThusK=250
WithK=250,thesystemwithoutcompensationismarginallystable.Fora>1,selectasmallvaluefor
Tandalargevaluefora.Leta=1000.ThefollowingresultsareobtainedforvariousvaluesofT
rangingfrom0.0001to0.001.WhenT=0.0004,themaximumovershootisnearminimumat23%.
MaxOvershoot
tr
ts
(%)
(sec)
(sec)
0.0010
33.5
0.0905
0.808
0.0005
23.8
0.1295
0.6869
0.0004
23.0
0.1471
0.7711
9118
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
0.0003
24.4
0.1689
0.8765
0.0002
30.6
0.1981
1.096
0.0001
47.8
0.2326
2.399
Asitturnsouta=1000isnearoptimal.Ahigherorlowervalueforawillgivelargerovershoot.
UnitstepResponse.
(b)FrequencydomainDesignofPhaseleadController
G(s) =
250 (1 + aTs )
Settinga=1000,andvaryingT,thefollowingattributesareobtained.
( s + 5 ) (1 + Ts )
2
9119
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
PM
(deg)
0.00050
41.15
1.418
16.05
0.00040
42.85
1.369
14.15
0.00035
43.30
1.355
13.16
0.00030
43.10
1.361
12.12
0.00020
38.60
1.513
10.04
Mr
BW
(rad/sec)
Whena=1000,thebestvalueofTforamaximumphasemarginis0.00035,andPM=43.3deg.
Asitturnsoutvaryingthevalueofafrom1000doesnotimprovethephasemargin.Thusthe
transferfunctionofthecontrolleris
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.35 s
1 + 0.00035 s
and
G(s) =
250 (1 + 0.35 s )
s ( s + 5 ) (1 + 0.00035s )
2
(c)TimedomainDesignofPhaselagController
Withoutcompensation,therelativedampingiscriticalwhenK=18.5.Then,thevalueofais
chosentobe
Wecanusethisvalueofaasareference,andconductthedesignaroundthispoint.Thevalueof
Tispreferrablytobelarge.However,ifTistoolarge,riseandsettlingtimeswillsuffer.
Thefollowingperformanceattributesoftheunitstepresponseareobtainedforvariousvaluesof
aandT.
a =
18.5
250
= 0.074
9120
AutomaticControlSystems,9thEdition
Chapter9Solutions
MaxOvershoot
Golnaraghi,Kuo
tr
ts
(%)
0.105
500
2.6
1.272
1.82
0.100
500
2.9
1.348
1.82
0.095
500
2.6
1.422
1.82
0.090
500
2.5
1.522
2.02
0.090
600
2.1
1.532
2.02
0.090
700
1.9
1.538
2.02
0.090
800
1.7
1.543
2.02
0.090
1000
1.4
1.550
2.22
0.090
2000
0.9
1.560
2.22
0.090
3000
0.7
1.566
2.22
Asseenfromtheresults,whena=0.09andforT 2000,themaximumovershootisless
than1%andthesettlingtimeislessthan2.5sec.WechooseT=2000anda=0.09.
Thecorrespondingfrequencydomaincharacteristicsare:
PM=69.84deg
(d)FrequencydomainDesignofPhaselagController
9121
AutomaticControlSystems,9thEdition
G ( s ) =
Chapter9Solutions
250 (1 + aTs )
Golnaraghi,Kuo
a <1
s ( s + 5 ) (1 + Ts )
2
TheBodeplotoftheuncompensatedsystemisshownbelow.Letusaddasafetyfactorby
requiringthatthedesiredphasemarginis75degrees.Weseethataphasemarginof75degrees
canberealizedifthegaincrossoverismovedto0.64rad/sec.ThemagnitudeofG ( j ) atthis
frequencyis23.7dB.Thusthephaselagcontrollermustprovideanattenuationof23.7dBat
thenewgaincrossoverfrequency.Setting
20 log10 a = 23.7 dB
Wecansetthevalueof1/aTtobeatleastonedecadebelow0.64rad/sec,or0.064rad/sec.Thus,
wegetT=236.LetuschooseT=300.Thetransferfunctionofthephaselagcontrollerbecomes
Gc ( s ) =
1 + aTs
1 + Ts
wehavea=0.065
1 + 19.5s
1 + 300 s
9122
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9123
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Theattributesofthefrequencyresponseofthecompensatedsystemare:
PM=71deg
GM=23.6dB
Mr=1.065
Theattributesoftheunitstepresponseare:
Maximumovershoot=6%tr=2.437sec
Comparingwiththephaselagcontrollerdesignedinpart(a)whichhasa=0.09andT=2000,
thetimeresponseattributesare:
Maximumovershoot=0.9%
ThemaindifferenceisinthelargevalueofTusedinpart(c)whichresultedinlessovershoot,
riseandsettlingtimes.
BW=0.937rad/sec
ts=11.11sec
tr=1.56sec
ts=2.22sec
9124
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9-51)
9-52)ForwardpathTransferFunction(Nocompensation)
G(s) = Gp (s) =
6.087 10
Theuncompensatedsystemhasamaximumovershootof14.6%.Theunitstepresponseisshown
below.
(a)PhaseleadController
Gc ( s ) =
1 + aTs
1 + Ts
(a>1)
ByselectingasmallvalueforT,thevalueofabecomesthecriticaldesignparameterinthiscase.
Ifaistoosmall,theovershootwillbeexcessive.Ifthevalueofaistoolarge,theoscillationin
thestepresponsewillbeobjectionable.Bytrialanderror,thebestvalueofaisselectedtobe6,
andT=0.001.Thefollowingperformanceattributesareobtainedfortheunitstepresponse.
Maximumovershoot=0%tr=0.01262sec
ts=0.1818sec
However,thestepresponsestillhasoscillationsduetothecomplianceinthemotorshaft.Theunit
stepresponseofthephaseleadcompensatedsystemisshownbelow,togetherwiththatofthe
uncompensatedsystem.
(b)PhaseleadandSecondorderController
9125
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Thepolesoftheprocess G p ( s ) areat161.3,131+j1614.7and131j1614.7.Thesecond
Gc1 ( s ) =
s + 262 s + 2,624,417.1
s + 2 p n s + n
Gc1 ( s ) =
s + 262 s + 2,624,417.1
G ( s ) = Gc ( s )Gc1 ( s )G p ( s ) =
Theunitstepresponseisshownbelow,andtheattributesare:
s + 3240 s + 2,624,417.1
6.087 10
10
(1 + 0.006 s )
Maximumovershoot=0.2tr=0.01012sec
Thestepresponsedoesnothaveanyripples.
UnitstepResponses
9126
ts=0.01414sec
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
953(a)SystemEquations.
ea = Ra ia + Kb m
Tm = Ki ia
Tm = J m
d m
dt
K L ( m L ) + BL ( m L ) = J L
d L
dt
StateEquationsinVectormatrixForm:
9127
+ Bm m + K L ( m L ) + BL ( m L )
AutomaticControlSystems,9thEdition
d L
dt 0
K
d L L
dt J L
d = 0
m
dt K L
d m J
m
dt
Chapter9Solutions
KL
JL
JL
BL
Jm
0
BL
L 0
JL
L
+ 0 ea
1
m K
a
B + Bl K i K b m
m
R
J
a m
Jm
J m Ra
BL
Golnaraghi,Kuo
KL
Jm
StateDiagram:
TransferFunctions:
m (s)
Ea ( s )
K i s + BL s + K L / Ra
2
J m J L s + ( K e J L + BL J L + BL J m ) s + ( J m K L + J L K L + K e BL ) s + K L K e
2
L (s)
Ea ( s )
K i ( BL s + K L ) / Ra
J m J L s + ( K e J L + B L J L + B L J m ) s + ( J m K L + J L K L + K e BL ) s + K L K e
3
9128
AutomaticControlSystems,9thEdition
m (s)
Ea ( s )
Chapter9Solutions
133.33 s + 10 s + 3000
2
Golnaraghi,Kuo
133.33 s + 10 s + 3000
2
( s + 0.9644 )( s + 158.59 +
L (s)
Ea ( s )
1333.33 ( s + 300 )
( s + 0.9644 )( s + 158.59 +
(b)DesignofPIController.
G ( s ) =
L (s)
E (s)
s ( s + 0.9644 )
KI
( s + 300 )
KP
2
s + 317.186 s + 60388.23
1333.33 K P s +
K v = lim sG ( s ) =
s 0
1333.33 300 K I
0.9644 60388.23
= 6.87 K I = 100
Thus K I = 14.56
KP
tr
ts
MaxOvershoot
(sec)
(sec)
(%)
20
0.00932
0.02778
4.2
18
0.01041
0.01263
0.7
17
0.01113
0.01515
16
0.01184
0.01515
15
0.01303
0.01768
10
0.02756
0.04040
0.6
9129
AutomaticControlSystems,9thEdition
Chapter9Solutions
UnitstepResponse:
(c)FrequencydomainDesignofPIController(KI=14.56)
G(s) =
9130
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
KP
PM
GM
(deg)
(dB)
20
65.93
18
69.76
17
Mr
BW
MaxOvershoot
tr
ts
(rad/sec)
(%)
(sec)
(sec)
1.000
266.1
4.2
0.00932
0.02778
1.000
243
0.7
0.01041
0.01263
71.54
1.000
229
0.01113
0.01515
16
73.26
1.000
211.6
0.01184
0.01515
15
74.89
1.000
190.3
0.01313
0.01768
10
81.11
1.005
84.92
0.6
0.0294
0.0404
82.66
1.012
63.33
1.3
0.04848
0.03492
83.14
1.017
54.19
1.9
0.03952
0.05253
83.29
1.025
45.81
2.7
0.04697
0.0606
82.88
1.038
38.12
4.1
0.05457
0.0606
Fromtheseresultsweseethatthephasemarginisatamaximumof83.29degreeswhen K P = 6 .
However,themaximumovershootoftheunitstepresponseis2.7%,and M r isslightlygreaterthan
one.Inpart(b),theoptimalvalueof K P fromthestandpointofminimumvalueofthemaximum
overshootisbetween15and17.Thus,thephasemargincriterionisnotagoodindicatorinthepresent
case.
9131
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
954(a)ForwardpathTransferFunction
G p ( s ) =
K m (s)
Tm ( s )
(
=
+ 2100 s + 10, 000 ) s ( s + 4.937 ) ( s
100 K s + 10 s + 100
s s + 20 s
3
+ 15.06 s + 2025.6
Theunitstepresponseisplottedasshownbelow.Theattributesoftheresponseare:
Maximumovershoot=57%
tr=0.01345sec ts=0.4949sec
(b)DesignoftheSecondorderNotchController
Thecomplexzerosofthenotchcontrolleraretocancelthecomplexpolesoftheprocesstransfer
function.Thus
Gc ( s ) =
s + 15.06 s + 2025.6
2
s + 90 p s + 2025.6
(
and G ( s ) = G ( s )G ( s ) =
s ( s + 4.937 ) ( s
+ 90 p s + 2025.6
Thefollowingresultsareobtainedfortheunitstepresponsewhenvariousvaluesof p areused.
plottedbelow,alongwiththatoftheuncompensatedsystem.
p
2 n
MaxOvershoot
(%)
2.444
200
7.3
2.333
210
6.9
2.222
200
6.5
9132
AutomaticControlSystems,9thEdition
Chapter9Solutions
1.667
150
4.9
1.333
120
4.3
1.222
110
4.1
1.111
100
5.8
1.000
90
9.8
Golnaraghi,Kuo
UnitstepResponse
(c)FrequencydomainDesignoftheNotchController
Theforwardpathtransferfunctionoftheuncompensatedsystemis
9133
AutomaticControlSystems,9thEdition
Chapter9Solutions
(
G ( s) =
s ( s + 4.937 ) ( s
10000 s + 10 s + 100
2
Golnaraghi,Kuo
TheBodeplotofG ( j ) isconstructedinthefollowing.Weseethatthepeakvalueof G ( j ) is
approximately22dB.Thus,thenotchcontrollershouldprovideanattentuationof22dBor0.0794
attheresonantfrequencyof45rad/sec.UsingEq.(10155),wehave
+ 15.06 s + 2025.6
Gc ( j 45) =
0.167
NotchControllerTransferFunction
= 0.0794 Thus
p = 2.1024
ForwardpathTransferFunction
Gc ( s ) =
s + 15.06 s + 2025.6
2
s + 189.216 s + 2025.6
(
G ( s ) =
s ( s + 4.937 ) ( s
BodePlots
9134
+ 189.22 s + 2025.6
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Attributesofthefrequencyresponse:PM=80.37degGM=infinite M r = 1097
.
BW=66.4rad/sec
Attributesofthefrequencyresponseofthesystemdesignedinpart(b):
.
BW=126.5rad/sec
PM=59.64deg GM=infinite M r = 1048
9135
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
955(a)ProcessTransferFunction
Gp ( s) =
500 ( s + 10 )
s s + 10 s + 1000
2
TheBodeplotisconstructedbelow.Thefrequencydomainattributesoftheuncompensated
systemare:
PM=30deg
GM=infinite
Theunitstepresponseisoscillatory.
M r = 186
. andBW=3.95rad/sec
(b)DesignoftheNotchController
Fortheuncompensatedprocess,thecomplexpoleshavethefollowingconstants:
n = 1000 = 316
. rad / sec
Thetransferfunctionofthenotchcontrolleris
2 n = 10
Thus
= 0.158
Gc ( s ) =
s + 2 z n s + n
FromtheBodeplot,weseethattobringdownthepeakresonanceof G ( j n ) inorder
tosmoothoutthemagnitudecurve,thenotchcontrollershouldprovideapproximately
s + 2 p s + n
9136
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
26dBofattenuation.Thus,usingEq.(10155),
26
= 10
20
= 0.05
Thus
p =
Thetransferfunctionofthenotchcontrolleris
0.158
0.05
= 31525
.
500 ( s + 10 )
Gc ( s ) =
s + 10 s + 1000
2
s + 199.08 s + 1000
G ( s ) = Gc ( s )G p ( s ) =
s s + 199.08s + 1000
2
Theattributesofthecompensatedsystemare:
PM=72.38deg GM=infinite M r = 1
Maximumovershoot=3.4%
BW=5.44rad/sec
BodePlots
9137
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
StepResponses
9138
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(c)TimedomaindesignoftheNotchController
. ,theforwardpathtransferfunctionofthecompensatedsystemis
With z = 0.158 and n = 316
G ( s ) = Gc ( s )G p ( s ) =
500 ( s + 10 )
s s + 63.2 p s + 1000
2
Thefollowingattributesoftheunitstepresponseareobtainedbyvaryingthevalueof p .
2 n
MaxOvershoot
tr
ts
(%)
(sec)
(sec)
1.582
100
0.4292
0.5859
1.741
110
0.4172
0.5657
1.899
120
0.4074
0.5455
2.057
130
0.3998
0.5253
2.215
140
0.2
0.3941
0.5152
2.500
158.25
0.9
0.3879
0.4840
3.318
209.7
4.1
0.3884
0.4848
timeis0.4840sec.Theseperformanceattributesarewithintherequiredspecifications.
9139
AutomaticControlSystems,9thEdition
Chapter9Solutions
956Letthetransferfunctionofthecontrollerbe
Golnaraghi,Kuo
20, 000 s + 10 s + 50
Gc ( s ) =
( s + 1000 )
Then,theforwardpathtransferfunctionbecomes
G ( s ) = Gc ( s )G p ( s ) =
20, 000 K s + 10 s + 50
s s + 10 s + 100
2
) ( s + 1000 )
For Gcf ( s ) = 1,
K v = lim sG ( s ) =
10 K
s 0
10
= 50
welet
ClosedloopTransferFunction:
Gcf ( s ) =
50 ( s + 1)
s + 10 s + 50
2
wherethe(s+1)termisaddedtoreducetherisetime.
Y (s)
CharacteristicEquation:
R(s)
10 K ( s + 1)
6
s s + 10 s + 100
2
+ 10 s + 50
7 2
K=4000:
Roots:
Maxovershoot 6.7%
Risetime<0.04sec
9140
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
8 2
K=5000:
s + 2010 s + 1,020100 s + 11
. 10 s + 11
. 10 s + 5 10 = 0
Roots:
Maxovershoot 4%
K=6000
s + 2010 s + 1,020,100 s + 13
. 10 s + 13
. 10 s + 6 10 = 0
Roots:
Maxovershoot 2.5%
Risetime<0.04sec
8 2
Risetime<0.04sec
ThusalltherequiredspecificationsstaywithintherequiredtoleranceswhenthevalueofKvariesby
plusandminus20%.
UnitstepResponses
9141
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
957Letthetransferfunctionofthecontrollerbe
Gc ( s ) =
200 s + 10 s + 50
2
( s + 100 )
Theforwardpathtransferfunctionbecomes
G ( s ) = Gc ( s )G p ( s ) =
200, 000 K s + 10 s + 50
2
s ( s + a )( s + 100 )
Fora=10,
7
K v = lim sG ( s ) =
s 0
10 K
10
= 100 K = 100
Thus
K = 1
CharacteristicEquations:(K=1)
5 2
a=10:
Roots:
a=8:
5 2
a=12:
9142
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
UnitstepResponses:Allthreeresponsesfora=8,a=10,and12aresimilar.
958ForwardpathTransferFunction:
G (s) =
Y ( s)
E (s)
K v = lim sG ( s ) =
s ( s + 1)( s + 10 ) + KK t s
s 0
K
=1
10 + KK t
Forrootloci,
Geq ( s ) =
K ( s + 1)
s
( s + 11)
9143
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
RootLocusPlot(Kvaries)
Therootlocishowthatarelativedampingratioof0.707canberealizedbytwovaluesofK.K=22
and59.3.Asstipulatedbytheproblem,weselectK=59.3.
9144
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
959ForwardpathTransferFunction:
G(s) =
10 K
K v = lim sG ( s ) =
s ( s + 1)( s + 10 ) + 10 K t s
s 0
10 K
10 + 10 Kt
K
1 + Kt
Thus Kt = K 1
= 1
Therootsare:10.046,
0.47723 + j 0.47976,
0.47723 j 0.47976
960ForwardpathTransferFunction:
G(s) =
K (1 + aTs )
s ( (1 + Ts ) s + 10 s + KK t
2
K v = lim sG ( s ) =
s 0
1
Kt
= 100
Thus
Kt = 0.01
LetT=0.01anda=100.Thecharacteristicequationofthesystemiswritten:
ToconstructtherootcontoursasKvaries,weformthefollowingequivalentforwardpathtransfer
function:
Geq ( s ) =
( s + 10 )( s + 100 )
9145
( s + 10 )( s + 100 )
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Fromtherootcontourdiagramweseethattwosetsofsolutionsexistforadampingratioof0.707.
Theseare:
K=20:
TheunitstepresponsesofthesystemforK=20and44.6areshownbelow.
Complexroots: 1158
.
+ j1155
. ,
UnitstepResponses:
9146
1158
.
j1155
.
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
961ForwardpathTransferFunction:
G(s) =
K s KK1 K i N
s J t La s + ( Ra J t + La Bt + K1 K 2 J t ) s + Ra Bt + K1 K 2 Bt + K b K i + KK1 K i K t
2
1.5 10 K
7
G ( s) =
K v = lim sG ( s ) =
15 K
RampErrorConstant:
Thus
Theforwardpathtransferfunctionbecomes
s 0
9147
= 100
AutomaticControlSystems,9thEdition
Chapter9Solutions
1.5 10 K
Golnaraghi,Kuo
G(s) =
WhenK=38.667therootsofthecharacteristicequationareat
0.1065,
Theforwardpathtransferfunctionbecomes
UnitstepResponse
1651
+ j165
.
. ,
( 0.707 forthecomplexroots)
1651
.
j165
.
G(s) =
5.8 10
s s + 3408.33s + 5.8 10
2
9148
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Unitstepresponseattributes:Maximumovershoot=0Risetime=0.0208secSettlingtime=0.0283sec
962 (a)DisturburncetoOutputTransferFunction
Y (s)
TL ( s )
==
r =0
2 (1 + 0.1s )
s (1 + 0.01s )(1 + 0.1s ) + 20 K
Gc ( s ) = 1
For TL ( s ) = 1 / s
lim y ( t ) = lim sY ( s ) =
s 0
1
10 K
0.01
Thus
(b)PerformanceofUncompensatedSystem.K=10,Gc ( s ) = 1
9149
K 10
AutomaticControlSystems,9thEdition
G(s) =
Chapter9Solutions
200
s (1 + 0.01s )(1 + 0.1s )
Golnaraghi,Kuo
TheBodediagramof G ( j ) isshownbelow.Thesystemisunstable.Theattributesofthe
frequencyresponseare:PM=9.65degGM=5.19dB.
(c)SinglestagePhaseleadControllerDesign
Torealizeaphasemarginof30degrees,a=14andT=0.00348.
Gc ( s ) =
1 + aTs
1 + Ts
1 + 0.0487 s
1 + 0.00348 s
TheBodediagramofthephaseleadcompensatedsystemisshownbelow.Theperformance
(d)TwostagePhaseleadControllerDesign
Startingwiththeforwardpathtransferfunction G ( s ) =
200 (1 + 0.0487 s )
s (1 + 0.1s )(1 + 0.01s )(1 + 0.00348 s )
Theproblembecomesthatofdesigningasinglestagephaseleadcontroller.Foraphasemargin
or55degrees,a=7.385andT=0.00263.Thetransferfunctionofthesecondstagecontrolleris
Gc1 ( s ) =
1 + aTs
1 + Ts
1 + 0.01845 s
1 + 0.00263 s
9150
AutomaticControlSystems,9thEdition
Thus
G(s) =
Chapter9Solutions
200 (1 + 0.0487 s )(1 + 0.01845 s )
Golnaraghi,Kuo
TheBodediagramisshownonthefollowingpage.Thefollowingfrequencyresponseattributes
areobtained:
PM=55deg
GM=12.94dB M r = 111
.
BodePlot[parts(b),(c),and(d)]
9151
BW=256.57rad/sec
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9152
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
963(a)TwostagePhaseleadControllerDesign.
Theuncompensatedsystemisunstable.PM=43.25degandGM=18.66dB.
Withasinglestagephaseleadcontroller,themaximumphasemarginthatcanberealizedaffectively
is12degrees.SettingthedesiredPMat11deg,wehavetheparametersofthesinglestagephase
is
Startingwiththesinglestagecontrollercompensatedsystem,thesecondstageofthephaselead
controllerisdesignedtorealizeaphasemarginof60degrees.Theparametersofthesecondstage
Gc ( s ) = Gc1 ( s )Gc 2 ( s ) =
Gc1 ( s ) =
Gc 2 ( s ) =
1 + aT1 s
1 + T1 s
1 + bT2 s
1 + T2 s
1 + 0.6057 s
1 + 0.00472 s
1 + 0.106 s
1 + 0.0066 s
1 + 0.6057 s 1 + 0.106 s
1 + 0.00472 s 1 + 0.0066 s
ForwardpathTransferFunction:
Attributesofthefrequencyresponseofthecompensatedsystemare:
G ( s ) = Gc1 ( s )Gc 2 ( s )G p ( s ) =
GM=19.1dB
PM=60deg
M r = 1.08
BW=65.11rad/sec
Theunitstepresponseisplottedbelow.Thetimeresponseattributesare:
Maximumovershoot=10.2%
9153
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
(b)SinglestagePhaselagControllerDesign.
Withasinglestagephaselagcontroller,foraphasemarginof60degrees,a=0.0108andT=1483.8.
Thecontrollertransferfunctionis
Theforwardpathtransferfunctionis
FromtheBodeplot,thefollowingfrequencyresponseattributesareobtained:
Gc ( s ) =
1 + 16.08 s
1 + 1483.8 s
G ( s ) = Gc ( s )G p ( s ) =
s
s + 2
s + 5s + 0.000674
6.5 s + 0.0662
PM=60deg
GM=20.27dB M r = 1.09
Theunitstepresponsehasalongrisetimeandsettlingtime.Theattributesare:
BW=1.07rad/sec
Maximumovershoot=12.5%
t s = 12.6 sec
t r = 2.126 sec
(c)LeadlagControllerDesign.
Fortheleadlagcontroller,wefirstdesignthephaselagportionfora40degreephasemargin.
Thephaseleadportionisdesignedtoyieldatotalphasemarginof60degrees.Theresultis
b=4.8and T2 = 0.2245.Thetransferfunctionofthephaseleadcontrolleris
Gc1 ( s ) =
Gc 2 ( s ) =
1 + 8.333 s
1 + 350 s
1 + 1076
.
s
1 + 0.2245s
9154
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
Theforwardpathtransferfunctionoftheleadlagcompensatedsystemis
.
sec
Unitstepresponseattributes:Maximumovershoot=5.9% t s = 1512
G(s) =
t r = 0.7882 sec
UnitstepResponses.
964(a)Theuncompensatedsystemhasthefollowingfrequencydomainattributes:
PM=3.87deg
GM=1dB
M r = 7.73BW=4.35rad/sec
TheBodeplotof G p ( j ) showsthatthephasecurvedropsoffsharply,sothatthephaselead
controllerwouldnotbeveryeffective.Considerasinglestagephaselagcontroller.Thephase
9155
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
marginof60degreesisrealizedifthegaincrossoverismovedfrom2.8rad/secto0.8rad/sec.
Theattenuationofthephaselagcontrollerathighfrequenciesisapproximately15dB.
Choosinganattenuationof17.5dB,wecalculatethevalueofafrom
Theuppercornerfrequencyofthephaselagcontrollerischosentobeat1/aT=0.064rad/sec.
Thus,1/T=0.00854orT=117.13.Thetransferfunctionofthephaselagcontrolleris
Theforwardpathtransferfunctionis
FromtheBodeplotof G ( j ) ,thefollowingfrequencydomainattributesareobtained:
Gc ( s ) =
G ( s ) = Gc ( s ) G p ( s ) =
1 + 15.63 s
1 + 117.13
a=0.1334
PM=60deg
GM=18.2dB
M r = 1.08 BW=1.13rad/sec
Theunitstepresponseattributesare:
BodePlots
9156
t r = 2.186 sec
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9157
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
964(b)Usingtheexactexpressionofthetimedelay,thesamedesignholds.Thetimeandfrequencydomain
attributesarenotmuchaffected.
965(a)UncompensatedSystem.
G(s) =
10
ForwardpathTransferFunction:
TheBodeplotof G ( j ) isshownbelow.
Theperformanceattributesare:PM=10.64degGM=2.26dB
Theuncompensatedsystemisunstable.
(b)PIControllerDesign.
G (s) =
10 ( K p s + K I )
ForwardpathTransferFunction:
s 0
G ( s) =
K I = 0.01
Thus
0.1 (1 + 100 K P s )
Thefollowingfrequencydomainattributesareobtainedforvariousvaluesof K P .
KP
PM
GM
(deg)
(dB)
0.01
24.5
5.92
2.54
0.13
0.02
28.24
7.43
2.15
0.13
0.05
38.84
11.76
1.52
0.14
9158
Mr
BW
(rad/sec)
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
0.10
50.63
12.80
1.17
0.17
0.12
52.87
12.23
1.13
0.18
0.15
53.28
11.22
1.14
0.21
0.16
52.83
10.88
1.16
0.22
0.17
51.75
10.38
1.18
0.23
0.20
49.08
9.58
1.29
0.25
Thephasemarginismaximumat53.28degreeswhen K P = 0.15.
Theforwardpathtransferfunctionofthecompensatedsystemis
G ( s) =
0.1 (1 + 15 s )
s (1 + s )(1 + 10 s )(1 + 5 s )(1 + 2 s )
Theattributesofthefrequencyresponseare:
BW=0.21rad/sec
Theattributesoftheunitstepresponseare:
Maximumovershoot=14.1%
t r = 10.68 sec
BodePlots
9159
t s = 48 sec
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
9160
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
965(c)TimedomainDesignofPIController.
overshootoftheunitstepresponseisalso0.15.Thus,theunitstepresponseobtainedinpart(b)
isstillapplicableforthiscase.
966ClosedloopSystemTransferFunction.
Y (s)
R(s)
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3
Forzerosteadystateerrortoastepinput, k1 = 1.Forthecomplexrootstobelocatedat1+jand1j,
2
wedividethecharacteristicpolynomialby s + 2 s + 2 andsolveforzeroremainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2
s +
3
2s
+ 2s
(2 + k ) s
(2 + k ) s
3
+ (1 + k 2 + k 3 ) s + 1
+ ( 4 + 2 k3 ) s
( -3+k
+ 4 + 2 k3
k3 ) s 3 2k3
3 2 k3 = 0
Thus
k3 = 15
.
3 + k 2 k3 = 0
Thus
k 2 = 15
.
Forzeroremainder,
Thethirdrootisat0.5.Notalltherootscanbearbitrarilyassigned,duetotherequirementonthe
steadystateerror.
9161
AutomaticControlSystems,9thEdition
Chapter9Solutions
Golnaraghi,Kuo
967(a)OpenloopTransferFunction.
G ( s) =
X 1 (s)
E (s)
k3
s s + ( 4 + k 2 ) s + 3 + k1 + k 2
2
Sincethesystemistype1,thesteadystateerrorduetoastepinputiszeroforallvaluesof k1 , k 2 , and k3
thatcorrespondtoastablesystem.Thecharacteristicequationoftheclosedloopsystemis
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k 3 = 0
3
Fortherootstobeat1+j,1j,and10,theequationshouldbe:
s + 12 s + 22 s + 20 = 0
Equatinglikecoefficientsofthelasttwoequations,wehave
4 + k 2 = 12
Thus
3 + k1 + k 2 = 22
k3 = 20
k2 = 8
k1 = 11
Thus
Thusk3=20
(b)OpenloopTransferFunction.
Y (s)
E ( s)
Gc ( s )
( s + 1)( s + 3 )
20
s s + 12 s + 22
2
Thus Gc ( s ) =
9162
20 ( s + 1)( s + 3 )
s s + 12 s + 22
2
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
Chapter 10_________________________________________________________________________
x1 = y, x 2 =
10-1)(a)Statevariables:
dy
dt
Stateequations:
Outputequation:
dx1
dt 0 1 x1 0
=
x + 5 r
dx
2
2
dt
(b)Statevariables: x1 = y, x 2 =
dy
dt
d y
dt
dx1
dt
1
0 x1 0
0
dx
2
= 0
0
1 x2 + 0 r
dt
1
2.5
1.5
x3 0.5
dx
3
dt
Stateequations:
y ( ) d ,
x2 =
dx1
Stateequations:
1
x&1 0
x& 0
0
2
=
0
x&3 0
&
x4 1 2.5
dy
dt
x1
x
2
y = [1 0 0 0 ] = x1
x3
x4
d y
dt
, x4 =
d y
dt
Outputequation:
0 x1
101
x4 =
dt
, x3 =
d y
Outputequation:
0
x
1
0
2+ r
0
1 x3 0
0 1.5 x4 1
0
x1
y = [1 0 0 ] x2 = x1
x3
x3 =
x&1 0 1 0 0 x1 0
x& 0 0 1 0 x 0
2
2 + r
=
x&3 0 0 0 1 x3 0
&
x4 1 1 3 5 x4 1
dt
Outputequation:
dt
Stateequations:
dy
(d)Statevariables: x1 = y, x 2 =
0]
, x3 =
(c)Statevariables: x1 =
x1
= x1
x2
y = [1
x1
x
2
y = [1 0 0 0 ] = x1
x3
x4
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
10-2) a)
Let
Then
2
and
If
, then
3
2
or
3
2
1
0
1
1
3
b)
6
11
Let X s
11
, therefore
and Let
, then
6
11
6
or
6
11
6
If
, then
6 1
11 0
6 0
102
0
1
0
0
0 u
6
. As a result:
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1 0 0
c)
12
Let
12
, then
7
12
Let
and
. As a result:
, then
7
12
1
0
1
2
d)
4
39
108
11
Let X s
, then
39
, therefore
Now, let
sX s
sX s
Let X s
U s
250
. If
4
39
108
11
35
36
250
103
250
35
, or
, then
U s
11
, then
Let X s
Let
39Y s
X s
11
35
108Y s
U s
s
s
, then:
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
or
4
39
108
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
Thestatevariablesaredefinedas
x1 ( t ) = y ( t )
x2 ( t ) =
dy ( t )
dt
Thenthestateequationsarerepresentedbythevectormatrixequation
dx ( t )
dt
= Ax ( t ) + Bu ( t )
wherex(t)isthe21statevector,u(t)thescalarinput,and
0 1
A=
2 3
C = [1 0]
3
B=
1 (Alsoseesection233or106)
D=0
G ( s ) = C ( sI A ) B + D
1
104
0
1
0
11
35
250
AutomaticControlSystems,9thEdition
Chapter10Solutions
MATLAB
>> clear all
>> syms s
>> A=[0,1;-2,-3]
A=
0
-2
-3
>> B=[0;1]
B=
0
1
>> C=[3,1]
C=
3
>> s*eye(2)-A
ans =
[ s, -1]
[ 2, s+3]
>> inv(ans)
ans =
[ (s+3)/(s^2+3*s+2),
[
-2/(s^2+3*s+2),
1/(s^2+3*s+2)]
s/(s^2+3*s+2)]
>> C*ans*B
ans =
3/(s^2+3*s+2)+s/(s^2+3*s+2)
105
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Activate MATLAB
Go to the folder containing ACSYS
Type in Acsys
Click the Transfer Function Symbolic pushbutton
Enter the transfer function
Use the State Space option as shown below:
You get the next window. Enter the A,B,C, and D values.
106
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
B=|0|
|1|
D=|0|
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
y = |3 1|x + |0|u
Determinant of (s*I-A):
2
s +3s+2
Characteristic Equation of the Transfer Function:
2
s +3s+2
The eigen values of A and poles of the Transfer Function are:
-1
-2
Inverse of (s*I-A) is:
[
s+3
[ -----------[ 2
------------]
2
[s +3s+2
]
s + 3 s + 2]
[
[
]
2
[- -----------[ 2
------------]
2
[ s +3s+2
]
s + 3 s + 2]
exp(-t) - exp(-2 t) ]
]
-exp(-t) + 2 exp(-2 t)]
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
s+3
-----------2
s +3s+2
No Initial Conditions Specified
States (X) in Laplace Domain:
[
[---------------]
[(s + 2) (s + 1)]
[
[
]
s
[---------------]
[(s + 2) (s + 1)]
Inverse Laplace x(t):
[ exp(-t) - exp(-2 t) ]
[
109
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
10-4) a) x
0.5
0.5
As a result:
0
0
1
0
0
0
0
1
1
0
0
0
b)
2
0.5
0
1
1
0
0
0
As a result:
2
2
1
0
3
1
0
0
6
1
1
0
1 0 1
5
c)
4
1010
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
As a result:
5
1
0
0
0
2
1
0
0
0
1
4
2
0
0
0
0
1
1 u
0
0
10-5)Weshallfirstshowthat
( s ) = ( sI A ) =
1
I
s
A
s
1 A
2! s
+L
Wemultiplybothsidesoftheequationby ( sI A ) ,andwegetI=I.TakingtheinverseLaplacetransform
onbothsidesoftheequationgivesthedesiredrelationshipfor ( t ) .
10-6)
(a) USEMATLAB
Amat=[0 1;-2 -1]
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial: ')
chareq=poly(Amat);
[mchareq,nchareq]=size(chareq);
syms s;
poly2sym(chareq,s)
[evecss,eigss]=eig(Amat);
disp(' Eigenvalues of A = Diagonal Canonical Form of A is:');
Abar=eigss,
disp('Eigen Vectors are ')
T=evecss
% state transition matrix
ilaplace(inv([s 0;0 s]-Amat))
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
21
CharacteristicPolynomial:
ans=
s^2+s+2
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
0.5000+1.3229i0
00.50001.3229i
EigenVectorsare
T=
0.20410.5401i0.2041+0.5401i
0.81650.8165
phi=ilaplace(inv([s0;0s]Amat))
phi=
[1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)+7^(1/2)*sin(1/2*7^(1/2)*t)),2/7*7^(1/2)*exp(
1/2*t)*sin(1/2*7^(1/2)*t)]
[4/7*7^(1/2)*exp(1/2*t)*sin(1/2*7^(1/2)*t),1/7*exp(1/2*t)*(7*cos(1/2*7^(1/2)*t)
7^(1/2)*sin(1/2*7^(1/2)*t))]
%usevpatoconverttodigitalformat.Usedigit(#)toadjustlevelofprecisionifnecessary.
vpa(phi)
ans=
[.1428571*exp(.5000000*t)*(7.*cos(1.322876*t)+2.645751*sin(1.322876*t)),
.7559289*exp(.5000000*t)*sin(1.322876*t)]
[1.511858*exp(.5000000*t)*sin(1.322876*t),
1012
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
.1428571*exp(.5000000*t)*(7.*cos(1.322876*t)2.645751*sin(1.322876*t))]
ANALYTICALSOLUTION:
2
Characteristicequation: ( s ) = sI A = s + s + 2 = 0
Statetransitionmatrix:
(t ) =
0.5 t
e
1.069 sin (1.323t 69.3 )
0.756 sin 1.323t
Alternatively
USE ACSYS as illustrated in section 10-19-1
1)
2)
3)
4)
5)
Activate MATLAB
Go to the folder containing ACSYS
Type in Acsys
Click the State Space pushbutton
Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the Calculate/Display menu and find the eigenvalues.
1013
AutomaticControlSystems,9thEdition
Chapter10Solutions
FromMATLABCommandWindow:
TheAmatrixis:
Amat=
01
21
1014
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
CharacteristicPolynomial:
ans=
s^2+s+2
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
0.5000+1.3229i0
00.50001.3229i
EigenVectorsare
T=
0.20410.5401i0.2041+0.5401i
0.81650.8165
THERESTARESAMEASPARTA.
2
(b)Characteristicequation: ( s ) = sI A = s + 5s + 4 = 0 Eigenvalues: s = 4, 1
Statetransitionmatrix:
1.333e t 0.333e 4 t
(t ) =
1.333e 1.333e
4 t
(c)Characteristicequation: ( s ) = ( s + 3 ) = 0
2
0.333e + 1.333e
t
0.333e 0.333e
t
4 t
Eigenvalues: s = 3, 3
Statetransitionmatrix:
e 3t
(t ) =
0
0
3 t
(d)Characteristicequation: ( s ) = s 9 = 0
Statetransitionmatrix:
e3t
(t ) =
3 t
Eigenvalues: s = 3, 3
1015
4 t
AutomaticControlSystems,9thEdition
Chapter10Solutions
Eigenvalues: s = j 2, j 2
(e)Characteristicequation: ( s ) = s + 4 = 0
Statetransitionmatrix:
cos 2t sin 2t
sin 2t cos 2t
(t ) =
Eigenvalues: s = 1, 2, 2
(f)Characteristicequation: ( s ) = s + 5 s + 8 s + 4 = 0
Golnaraghi,Kuo
Statetransitionmatrix:
e t
(t ) = 0
te
2 t
e
0
e
2 t
2 t
e 5 t
(t ) = 0
te
e
5 t
5 t
te
5 t
e
0
5 t
(t ) foreachpartisgiveninProblem53.
1
10-7)In MATLAB USE ilaplace to find L1 ( sI A ) BR ( s ) see previous problem for codes.
(a)
(t )Br ( )d = L ( sI A )
t
s+2
s ( s2 + s + 2)
1 + 0.378 sin 1.323t cos1.323t
1
=
=L
1016
1 s + 1 1 0 1 1 1
( s ) 2 s 1 0 1 s
BR ( s ) = L
t0
AutomaticControlSystems,9thEdition
(b)
Chapter10Solutions
Golnaraghi,Kuo
(t )Br ( )d = L ( sI A )
t
1 s + 5 1 1 1 1
( s ) 4 s 1 1 s
BR ( s ) = L
1
s+6
t
s4
t0
(c)
t
1
1
1 s + 3
0 (t )Br ( )d = L ( sI A ) BR( s) = L
0
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
0 1
1 1 s
s + 3
0
t0
(d)
t
1
1
1 s 3
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
0
0
=
=L
1
0.333 (1 e 3t )
s ( s + 3 )
1
0 1
1 1 s
s + 3
0
t0
(e)
1
2
1
1
1 s + 4
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
2
s 2 + 4
2
s 2
1
=
=L
1 0.5 sin 2t
( s 2 + 4 )
t 0
(f)
1017
0 1
s 1 s
2
s + 4
2
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
s + 1
t
1
1
1
0 (t )Br ( )d = L ( sI A ) BR( s ) = L 0
0
0
1
1
2 t
= 0.5 (1 e )
=L
s ( s + 2)
0
0
1
s+2
0
0
1
1 1
2
( s + 2) s
0
1
s+2
0
t 0
(g)
1
s + 5
t
1
1
1
0 (t )Br ( ) d = L ( sI A ) BR ( s ) = L 0
( s + 5)
1
s+5
0
0
1
1
0
2
( s + 5) s
1
s+5
0
0
1
1 0.04 0.04
0.2
1
5 t
5 t
=L
=L
2
s s + 5 ( s + 5 )2 = 0.04 0.04e 0.2te u s (t )
5 t
s ( s + 5)
0.2 0.2e
0.2 0.2
s
s+5
s ( s + 5 )
(a)
1018
AutomaticControlSystems,9thEdition
Chapter10Solutions
(t )Br ( )d = L ( sI A )
t
(b)
Golnaraghi,Kuo
1 s + 1 1 0 1 1 1
( s ) 2 s 1 0 1 s
BR ( s ) = L
1
s+2
2
s ( s + s + 2)
1 + 0.378 sin 1.323t cos1.323t
1
=
=L
t0
1 s + 5 1 1 1 1
( s ) 4 s 1 1 s
1
1
(t )Br ( ) d = L ( sI A ) BR ( s ) = L
1
s+6
t
s4
(c)
t
1
1
1 s + 3
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
0 1
1 1 s
s + 3
0
t0
(d)
t
1
1
1 s 3
0 (t )Br ( )d = L ( sI A ) BR( s ) = L
0
0
0
=
=L
1
3 t
0.333 (1 e )
s ( s + 3 )
1
(e)
1019
0 1
1 1 s
s + 3
t0
t0
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1
2
t
1
1
1 s + 4
L
I
A
B
L
t
r
d
=
s
R
s
=
(
)
(
)
(
)
(
)
2
s 2 + 4
2
s 2
1
=
=L
1 0.5 sin 2t
2
( s + 4 )
0 1
s 1 s
2
s + 4
2
t 0
(f)
s + 1
t
1
1
1
0 (t )Br ( )d = L ( sI A ) BR( s ) = L 0
0
0
1
1
2 t
=L
= 0.5 (1 e )
s ( s + 2)
0
0
1
s+2
0
0
1
1 1
2
( s + 2) s
0
s+2
0
t 0
(g)
1
s + 5
t
1
1
1
0 (t )Br ( ) d = L ( sI A ) BR ( s ) = L 0
( s + 5)
1
s+5
0
0
1
1
0
2
( s + 5) s
1
s+5
0
0
1
1 0.04 0.04
0.2
1
5 t
5 t
=L
=L
2
s s + 5 ( s + 5 )2 = 0.04 0.04e 0.2te u s (t )
s
s
+
5
(
)
5 t
0.2 0.2e
0.2 0.2
s
s+5
s ( s + 5 )
1020
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
10-9)(a)Notastatetransitionmatrix,since ( 0) I (identitymatrix).
(b)Notastatetransitionmatrix,since ( 0) I (identitymatrix).
(c) ( t ) isastatetransitionmatrix,since ( 0 ) = I and
1
[ (t ) ] = t
1 e
1
=
t
t
e
1 e
0
0
e
= ( t )
e2t
[ (t ) ]1 = 0
0
10-10) a)
te
e
t e / 2
2t
2t
te
2t
2t
2t
= ( t )
1
and
3
3
2
Therefore:
2
2
If
0.5
0, then
0.5
b)
1
.
.
0.5
2
If x 0
0.5
1
.
0.5
0.5
0.5
5
0.5
0, then
0
2
5
.
.
0.5
and
y t
1 0.5
2
0.5
x
0 x
0.5
.
1
x
sin 0.5t
0.5
0.5
0.5
AutomaticControlSystems,9thEdition
Chapter10Solutions
(2)Transferfunctionrelation:
s 1 0
1
1
X( s ) = ( sI A ) BU ( s ) =
0 s
1
( s)
1 2 s + 3
(3)Outputtransferfunction:
Golnaraghi,Kuo
1 0
s+3
s 2 + 3s + 2
0
1
1
0 U ( s ) = 1 1
s ( s + 3) s 0 U (s) =
s U (s)
(s)
(s) 2
2
s
2 s 1 s 1
1
s
( s ) = s + 3 s + 2 s + 1
Y ( s)
U (s)
= C( s ) ( sI A ) B = [1
1
1
1
1
0]
s = 3
2
( s ) 2 s + 3s + 2 s + 1
s
1022
AutomaticControlSystems,9thEdition
Chapter10Solutions
TheAmatrixis:
Amat=
010
001
123
1023
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
CharacteristicPolynomial:
ans=
s^3+3*s^2+2*s+1
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
2.324700
00.3376+0.5623i0
000.33760.5623i
EigenVectorsare
T=
0.16760.78680.7868
0.38960.2657+0.4424i0.26570.4424i
0.90560.15910.2988i0.1591+0.2988i
StateSpaceModelis:
a=
x1x2x3
x1010
x2001
x3123
b=
u1
x10
x20
x31
1024
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
c=
x1x2x3
y1100
d=
u1
y10
Continuoustimemodel.
CharacteristicPolynomial:
ans=
s^3+3*s^2+2*s+1
EquivalentTransferFunctionModelis:
Transferfunction:
1.776e015s^2+6.661e016s+1
s^3+3s^2+2s+1
Pole,ZeroForm:
Zero/pole/gain:
1.7764e015(s^2+0.375s+5.629e014)
(s+2.325)(s^2+0.6753s+0.4302)
Thenumeratorisbasicallyequalto1
1025
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
Usethesameprocedureforotherparts.
(b)(1)EigenvaluesofA: 1, 1.
(2)Transferfunctionrelation:
1
( s + 1)2
1 0
1 s + 1
1
U (s)
X ( s ) = ( sI A ) BU ( s ) =
(
)
=
U
s
s + 1 1
( s ) 0
1
( s + 1)
(3)Outputtransferfunction:
( s) = s + 2s + 1
2
1
( s + 1)2
1
1
Y ( s)
s+2
1
=
= C( s ) ( sI A ) B = [1 1]
+
=
2
2
U (s)
1 ( s + 1) s + 1 ( s + 1)
s + 1
(c)(1)EigenvaluesofA: 0, 1, 1.
(2)Transferfunctionrelation:
s+2
1 0
s 2 + 2s = 1
1
1
1
X ( s ) = ( s I A ) BU ( s ) =
0
s ( s + 2) ) s 0 U ( s ) =
s U (s)
( s)
( s) 2
2
0
s
s 1
s
1
(3)Outputtransferfunction:
1
s +1
1
= C( s ) ( sI A ) B = [1 1 0 ] s =
=
2
2 s ( s + 1) s ( s + 1)
U (s)
s
Y (s)
10-12) Wewrite
dy
dt
dx1
dt
dx 2
dt
= x 2 + x3
d y
dt
dx 2
dt
1026
dx3
dt
= x1 2 x 2 2 x3 + u
2
(s ) = s s + 2s + 1
AutomaticControlSystems,9thEdition
Chapter10Solutions
dx1
dt
0 1 0 x1 0
d x dy
1
1 x2 + 0 u
=
= 0
dt
dt
2 1 2 2 x3 1
d y
dt 2
x1 1 0 0
x = y = 1 1 0 x
y& 0 1 1
SubstituteEq.(2)intoEq.(1),wehave
Golnaraghi,Kuo
(1)
1 0 0
x = 1 1 0 x
1 1 1
(2)
1 1 0
0
= A 1 x + B 1u = 0 0 1 x = 0 u
dt
1
1 0 2
dx
10-13)ForMATLABCodessee1015
(a)
2
sI A = 1 s 2
1
0
3
0 = s 3 s + 2 = s + a2 s + a1 s + a0
a0 = 2, a1 = 0, a2 = 3
s 1
a1
M = a2
a2
1
0
0 3 1
0 = 3 1 0
0 1
0 0
0 2 4
S = B AB A B = 1 2 6
1 1 1
2
2 2 0
P = SM = 0 1 1
4 2 1
1027
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
(b)
2
sI A = 1 s 1
a1
M = a2
0 = s 3s + 2 = s + a2 s + a1 s + a0
0
a0 = 2,
a1 = 0,
a2 = 3
s 1
1
0 3 1
0 = 3 1 0
0 1
0 0
a2
1
0
1 2 6
S = B AB A B = 1 3 8
0 0 1
2
0 1 1
P = SM = 1 0 1
1 0 0
(c)
s+2
sI A = 0
s+2
s+3
a1
M = a2
16 7 1
0 = 7 1 0
0 1 0 0
a2
1
0
= s + 7 s + 16 s + 12 = s + a2 s + a1 s + a0
a0 = 12, a1 = 16, a2 = 7
1 1 0
S = B AB A B = 1 2 4
1 6 23
2
9 6 1
P = SM = 6 5 1
3 1 1
(d)
s +1
sI A = 0
0
1
s =1
0
0
3
s +1
1028
1 = s + 3 s + 3s + 1 = s + a2 s + a1 s + a0
a0 = 1, a1 = 3, a2 = 3
AutomaticControlSystems,9thEdition
a1
M = a2
a2
1
0
Chapter10Solutions
3 3 1
0 = 3 1 0
0 1 0 0
Golnaraghi,Kuo
0 1 1
2
S = B AB A B = 1 0 1
1 1 1
2 1 0
P = SM = 2 3 1
1 2 1
(e)
sI A =
s 1
s+3
a1
M=
1
= s + 2 s 1 = s + a1 s + a0
2 1
=
0 1 0
0
AB ] =
1
S = [B
1
P = SM =
1
a0 = 1, a1 = 2
10-14)ForMATLABcodessee1015
(a)FromProblem1013(a),
Then,
0 3 1
M = 3 1 0
1 0 0
C 1 0 1
V = CA = 1 2 1
2
CA 1 2 1
0.5 1 3
Q = ( MV ) = 0.5 1.5 4
0.5 1 2
1
(b)FromProblem1013(b),
16 7 1
M = 7 1 0
1 0 0
1029
AutomaticControlSystems,9thEdition
Chapter10Solutions
C 1 0 1
V = CA = 1 3 1
2
CA 2 5 1
Golnaraghi,Kuo
(c)FromProblem1013(c),
C 1 0 0
V = CA = 2 1 0
2
CA 4 4 0
SinceVissingular,theOCFtransformationcannotbeconducted.
(d)FromProblem1013(d),
Then,
3 3 1
M = 3 1 0
1 0 0
C 1 0 1
V = CA = 1 1 1
2
CA 1 2 2
1 1 0
Q = ( MV ) = 0
1 2
1 1 1
1
(e)FromProblem1013(e),
2
M=
1
10-15)(a)EigenvaluesofA:
C 1
Then, V =
=
2
CA 1
1,2.7321,0.7321
T = [ p1
p2
0 0.5591 0.8255
p 3 ] = 0 0.7637 0.3022
1 0.3228 0.4766
1030
0
1
Q = ( MV ) =
1
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
(b)EigenvaluesofA:
1,2.7321,0.7321
T = [ p1
p2
0 0.5861 0.7546
p 3 ] = 0 0.8007 0.2762
1 0.1239 0.5952
(c)EigenvaluesofA:
3,2,2.AnonsingularDFtransformationmatrixTcannotbefound.
(d)EigenvaluesofA:
1,1,1
ThematrixAisalreadyinJordancanonicalform.Thus,theDFtransformationmatrixTistheidentity
matrixI.
(e)EigenvaluesofA:
0.4142,2.4142
T = [p 2
0.8629
p2 ] =
0.5054
0.2811
0.9597
Activate MATLAB
Go to the folder containing ACSYS
Type in Acsys
Click the State Space pushbutton
Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the Calculate/Display menu and find the eigenvalues.
7) Next use the Calculate/Display menu and conduct State space calculations.
8) Next use the Calculate/Display menu and conduct Controlability calculations.
NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.
1031
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Amat =
-1
Characteristic Polynomial:
ans =
s^3-3*s^2+2
Abar =
1.0000
0
0
2.7321
0 -0.7321
1033
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
T=
0.5591
0.8255
0.7637 -0.3022
1.0000 -0.3228
0.4766
a=
x1 x2 x3
x1 0 2 0
x2 1 2 0
x3 -1 0 1
b=
u1
x1 0
x2 1
x3 1
c=
x1 x2 x3
y1 0 1 1
1034
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
d=
u1
y1 0
Continuous-time model.
Characteristic Polynomial:
ans =
s^3-3*s^2+2
Transfer function:
2 s^2 - 3 s - 4
-----------------------------s^3 - 3 s^2 + 8.882e-016 s + 2
Zero/pole/gain:
2 (s-2.351) (s+0.8508)
-------------------------1035
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Smat =
-1
rankS =
Mmat =
-3
-3
1036
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Ptran =
-2
-1
-4 -2
1.0000
0.0000
0 -0.0000
1.0000
-2.0000
0.0000
3.0000
Bbar =
0
0
1
Cbar =
-4 -3
Dbar =
0
1037
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
10-16) a)
Consider:
2
Therefore:
0
0
0
0
1
0
0
0
1
, therefore sY s
As
Let X s
Y s
0
1
0
2
0
Y s
. If y
0
0
1
0
1
0
0
1
x , then sY s
sX s
result:
2
Now consider X
, and
, then
2
Therefore:
0 1
2 0
0 0
0 0
b)
Consider:
2
1038
0
1
0
0
0
0
1
0
0
1 u
0
1
X , or x
x . As a
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
Therefore:
0
4
1
4
1
As
0
1
, therefore
2
4
21
10-17)ForMATLABcodessee1015
(a)
S = [B
1
AB ] =
0
S is singular.
(b)
1 1 1
2
S = B AB A B = 2 2 2
3 3 3
(c)
S = [B
2 + 2 2
2+
AB ] =
S is singular.
S is singular.
(d)
1 2 4
S = B AB A B = 0 0
0
1 4 14
2
S is singular.
. As a result:
2
4
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1040
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
For part b, the system is not Controllable because [B AB] is singular (rank is less than 2):
The A matrix is:
Amat =
-1
-2
Characteristic Polynomial:
ans =
s^2+3*s+2
Eigenvalues of A = Diagonal Canonical Form of A is:
Abar =
-2
-1
Characteristic Polynomial:
ans =
s^2+3*s+2
Equivalent Transfer Function Model is:
Transfer function:
2
----s+1
Pole, Zero Form:
1041
AutomaticControlSystems,9thEdition
Chapter10Solutions
Zero/pole/gain:
2
----(s+1)
The Controllability Matrix [B AB A^2B ...] is =
Smat =
2
-2
1042
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
For part b, the system is not observable. Note: you must choose a B matrix arbitrarily.
The A matrix is:
Amat =
-1
-2
Characteristic Polynomial:
ans =
s^2+3*s+2
Eigenvalues of A = Diagonal Canonical Form of A is:
1043
AutomaticControlSystems,9thEdition
Chapter10Solutions
Abar =
-2
-1
Characteristic Polynomial:
ans =
s^2+3*s+2
Equivalent Transfer Function Model is:
Transfer function:
0
Pole, Zero Form:
Zero/pole/gain:
0
The Observability Matrix (transpose:[C CA CA^2 ...]) is =
Vmat =
0
-2
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
Mmat =
3
10-20)(a)Rewritethedifferentialequationsas:
d m
2
dt
B d m
2
J dt
m +
Stateequations:
dx1
dt 0
dx
K
2 =
dt J
dx K K
3 a s
dt La
dia
ia
dt
x1 = m , x 2 =
Statevariables:
Ki
B
J
Kb
La
d m
dt
K b d m
La dt
Ra
La
ia +
Ka Ks
La
s+
B
J
Kb
La
Outputequation:
y= 1
Ki
R
s+ a
La
0
Ki K a
0 =
K o (s)
a
La
Closedlooptransferfunction:
1045
m )
(b)Forwardpathtransferfunction:
, x3 = ia
0
x1
Ki
x2 + 0 r
J
x K K
Ra 3 a s
La
La
m (s)
K
G ( s ) =
= [1 0 0 ]
J
E (s)
0 x = x1
AutomaticControlSystems,9thEdition
Chapter10Solutions
m (s)
K
M (s) =
= [1 0 0 ]
J
r (s)
Ka Ks
La
1
s+
B
J
Kb
La
Ki
R
s+ a
La
Golnaraghi,Kuo
K sG(s)
0 =
K K 1 + K s (s)
a s
La
Ki K a K s
10-21)(a)
0
A=
1
1
2
A =
0
(1)Infiniteseriesexpansion:
0
3
A =
1
1
0
(2)InverseLaplacetransform:
1
3
5
t
t
t2 t4
L
t
+
L
1 2 2
cos t sin t
2! 4!
3! 5!
(t ) = I + At + A t + L =
=
3
5
2
4
2!
t
t
t
t
sin t cos t
t + 3! 5! + L 1 2! + 4! L
1
4
A =
0
1 s 1
s 1
( s ) = ( sI A ) =
= 2
s + 1 1 s
1 s
cos t
sin t
(t ) =
sin t
cos t
(b)
1
A=
0
1
2
A =
0
(1)Infiniteseriesexpansion:
0
4
1
3
A =
0
1 0
4
A =
0 16
2
3
4
t
t
t
+
+L
0
t
e t
1 2 2
2! 3! 4!
(t ) = I + At + A t + L =
=
2
3
2!
4t
8t
+L
0
1 2t +
2! 3!
1046
0
2 t
AutomaticControlSystems,9thEdition
Chapter10Solutions
(2)InverseLaplacetransform:
1
s +1
s + 1 0
1
( s ) = ( sI A ) =
=
0 s + 2
0
0
A=
1
(1)Infiniteseriesexpansion:
1
s + 2
0
Golnaraghi,Kuo
et
e
0
(t ) =
2 t
(c)
1
1
2
A =
0
(2)InverseLaplacetransform:
( s ) = ( sI A ) =
1
10-22)(a)
e = K s ( r y )
ia =
eu eb
ea = e e s
eb = K b
Ra + Rs
e t + et
(t ) = 0.5 t
t
e + e
1
4
A =
0
ia =
e + e
t
d y
e + e
t
e +e
t
e s = R s ia
d y
Tm = K i ia = ( J m + J L )
dt
, wehave
dt
KK s ( r y ) K b
Rs + Rs + KRs
eu = Kea
d y
dt
d y
2
dt
e +e
s + 1 s 1
0.5
0.5
+
s + 1 s 1
0.5
1047
0.5 0.5
s +1 s 1
1
=
=
2
s
s 1 1 s 0.5 0.5
+
s + 1 s 1
0
3
A =
1
3
5
t
t
t2 t4
1
+
+
+
L
+
+
L
t
e t + et
1 2 2
2! 4!
3! 5!
(t ) = I + At + A t + L =
= t
t
3
5
2
4
2!
t
t
t
t
e + e
t + + L 1+ + + L
3! 5!
2! 4!
0.5
AutomaticControlSystems,9thEdition
Differentialequation:
d y
2
dt
K i ia
Jm + JL
Chapter10Solutions
d y
KK s y + KK s y
Kb
dt
( J m + J L )( Ra + Rs + KRs )
Ki
x1 = y , x 2 =
Statevariables:
Stateequations:
dx1
0
dt
KK s K i
=
dx2 ( J + J )( R + R + KR )
a
s
s
m L
d y
dt
0
=
322.58
Golnaraghi,Kuo
dt
x1
+
Kb Ki
KK s K i
x2
r
( J m + J L )( Ra + Rs + KRs )
( J m + J L )( Ra + Rs + KRs )
1
x1 0
+
r
80.65 x2 322.58
1
(b)
1
1
1
s
s + 80.65 1
= 2
( sI A ) =
0.06 1.059
s + 76.42 s + 4.22
=
4.468 4.468
s + 76.42 s + 4.22
s + 76.42 s + 4.22
1.0622
0.0587
s + 76.42 s + 4.22
0.014
Foraunitstepfunctioninput, u s ( t ) = 1 / s.
0.014
322.2
1 0.0584
1.058
+
s
(
s
76.42)(
s
4.22)
+
+
1
= s s + 76.42 s + 4.22
( sI A )1 B =
322.2
s
4.479 + 4.479
s ( s + 76.42)( s + 4.22) s + 76.42 s + 4.22
x (t ) =
76.42 t
4.468e
4.22 t
0.014e
1.0622e
76.42 t
76.42 t
4.22 t
0.0587 e
76.42 t
4.22 t
+ 4.479e
4.479e
1048
+ 0.01e
4.22 t
t 0
x(0)
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
toincreasetheeffectivevalueof Ra by (1 + K ) Rs . Thisimprovesthetimeconstantofthesystem.
10-23)(a)Stateequations:
dx1
0
dt
KK s K i
=
dx2 J ( R + R + KR )
s
s
x1
+
Kb Ki
KK s K i
x2
r
J ( R + Rs + KRs )
J ( R + Rs + KRs )
1
dt
x1 0
+
r
90.91 x2 818.18
0
=
818.18
(b)
1
1
s
s + 90.91 1
=
( sI A ) =
x (t ) =
11.58e
11.58e
+
10.128 t
80.78 t
+ 0.1433e
1 1.1434e
10.128 t
+ 0.1433e
10.128 t
80.78 t
0.01415e
10.128 t
0.1433e
80.78 t
x1 (0)
x (0)
2
t 0
Eigenvalues:
+ 1.143e
80.78 t
80.78 t
10.128 t
0.0141e
10.128,80.782
(d)Sameremarkasinpart(d)ofProblem514.
10-24) If
is
, therefore
0 , therefore
0
or
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
From
m equation (1
1) and (2):
1
10-25)
Consider
and
. If
The solution
s
for x is
, then
or
0 , theerefore:
0
(1))
From
m equation (1
1) and (2):
1
1026(a)
Fo
orwardpathtrransferfunctio
on:
G ( s ) =
Y (s)
E (s)
5 ( K1 + K 2 s )
s [ s ( s + 4)( s + 5)) + 10 ]
M (s) =
Y (s)
R(s)
C
Closedlooptr
ransferfunctio
on:
=
G (s)
1 + G(s)
5 ( K1 + K 2 s )
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4
(b)Stattediagrambydirectdecomp
position:
Stateequations:
x&1 0
x& 0
2 =
x&3 0
& K
x4 5
0 x1
0
0
1
0
x
2+ r
0
0
1 x3 0
(10
1 + 5 K 2 ) 220 9 x4 1
1
1050
Outpu
utequation:
y = 5 K1
5K2
0 x
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1
(c)Finalvalue: r ( t ) = u s ( t ), R( s ) = .
s
s0
s 0
5 ( K1 + K 2 s )
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4
=1
1027InCCFform,
0
0
A= M
0
a0
a1
a2
a3
0
0
B = M
0
1
an 1
s
0
sI A = M
0
a0
a1
a2
a3
1
0
L s + an
sI A = s + an1 s
n 1
+ an 2 s
n 2
+ L + a1 s + a0
SinceBhasonlyonenonzeroelementwhichisinthelastrow,onlythelastcolumnof adj ( sI A ) is
dy
1028(a)Statevariables:
x1 = y, x 2 =
x& ( t ) = Ax ( t ) + Br ( t )
Stateequations:
dt
, x3 =
d y
dt
1051
n 1
'
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
0 1 0
A=0
0
1
1 3 3
0
B = 0
1
(b)Statetransitionmatrix:
s 2 + 3s + 3 s + 3 1
s 1 0
1
1
2
( s ) = ( sI A ) = 0 s
1 =
1
s + 3s s
(s)
2
s
3s 1 s
1 3 s + 3
1
1
1
+
+
2
3
s + 1 ( s + 1) ( s + 1)
1
=
( s + 1)3
( s + 1)3
( s + 1)
1
s +1
( s + 1)
( s + 1)
( s + 1)
( s + 1)
s
( s + 1)3
2
s
( s + 1)3
1
( s + 1)
( s + 1)
( s ) = s + 3s + 3s + 1 = ( s + 1)
3
(1 + t + t 2 / 2 ) e t
2 t
(t ) =
t e / 2
( t + t 2 / 2 ) e t
(t + t ) e
(1 + t t ) e
t
t e
( t t / 2 ) e
(1 2t + t 2 / 2 ) e t
t
t e /2
(c)UseACSYSorMATLABandfollowtheprocedureshowninsolutionto103.
1052
AutomaticControlSystems,9thEdition
Chapter10Solutions
StateSpaceAnalysis
Inputs:
A=|010|B=|0|
|001||0|
|133||1|
C=|100|D=|0|
StateSpaceRepresentation:
|010||0|
Dx=|001|x+|0|u
|133||1|
y=|100|x+|0|u
Determinantof(s*IA):
32
s+3s+3s+1
CharacteristicEquationoftheTransferFunction:
32
1053
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
s+3s+3s+1
TheeigenvaluesofAandpolesoftheTransferFunctionare:
1
1
1
Inverseof(s*IA)is:
[2]
[s+3s+3s+31]
[]
[%1%1%1]
[]
[1s(s+3)s]
[]
[%1%1%1]
[]
[2]
[s3s+1s]
[]
[%1%1%1]
32
%1:=s+3s+3s+1
Statetransitionmatrix(phi)ofA:
[222]
[1/2exp(t)(2+2t+t),(t+t)exp(t),1/2texp(t)]
[222
[1/2texp(t),(t1+t)exp(t),1/2exp(t)(2t+t)
]
]
[22
[1/2exp(t)(2t+t),exp(t)(3t+t),
2]
1/2exp(t)(24t+t)]
Transferfunctionbetweenu(t)andy(t)is:
32
s+3s+3s+1
NoInitialConditionsSpecified
States(X)inLaplaceDomain:
1054
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
[1]
[]
[3]
[(s+1)]
[]
[s]
[]
[3]
[(s+1)]
[]
[2]
[s]
[]
[3]
[(s+1)]
InverseLaplacex(t):
[2]
[1/2texp(t)]
[]
[2]
[1/2exp(t)(2t+t)]
[]
[2]
[1/2exp(t)(24t+t)]
OutputY(s):
3
(s+1)
InverseLaplacey(t):
2
1/2texp(t)
StateSpaceAnalysis
Inputs:
A=|010|B=|0|
|001||0|
|133||1|
C=|100|D=|0|
StateSpaceRepresentation:
1055
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
|010||0|
Dx=|001|x+|0|u
|133||1|
y=|100|x+|0|u
Determinantof(s*IA):
32
s+3s+3s+1
CharacteristicEquationoftheTransferFunction:
32
s+3s+3s+1
TheeigenvaluesofAandpolesoftheTransferFunctionare:
1
1
1
Inverseof(s*IA)is:
[2]
[s+3s+3s+31]
[]
[%1%1%1]
[]
[1s(s+3)s]
[]
[%1%1%1]
[]
[2]
[s3s+1s]
[]
[%1%1%1]
32
%1:=s+3s+3s+1
Statetransitionmatrix(phi)ofA:
[222]
[1/2exp(t)(2+2t+t),(t+t)exp(t),1/2texp(t)]
[222
[1/2texp(t),(t1+t)exp(t),1/2exp(t)(2t+t)
]
]
1056
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
[22
[1/2exp(t)(2t+t),exp(t)(3t+t),
2]
1/2exp(t)(24t+t)]
Transferfunctionbetweenu(t)andy(t)is:
32
s+3s+3s+1
InitialConditions:
x(0)=1
0
0
States(X)inLaplaceDomain:
[2]
[s+3s+4]
[]
[3]
[(s+1)]
[]
[s1]
[]
[3]
[(s+1)]
[]
[s(s1)]
[]
[3]
[(s+1)]
InverseLaplacex(t):
[2]
[(t+1+t)exp(t)]
[]
[2]
[(t+t)exp(t)]
[]
[2]
[(3t+1+t)exp(t)]
OutputY(s)(withinitialconditions):
2
s+3s+4
1057
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
3
(s+1)
InverseLaplacey(t):
2
(t+1+t)exp(t)
Chapter10Solutions
Golnaraghi,Kuo
(d)Characteristicequation: ( s ) = s + 3 s + 3 s + 1 = 0
Eigenvalues:
1,1,1
1029(a)Statevariables: x1 = y, x 2 =
dy
dt
Stateequations:
dx1 (t )
dt 0 1 x1 (t ) 0
=
+ r (t )
dx2 (t ) 1 2 x2 (t ) 1
dt
Statetransitionmatrix:
s+2
( s + 1)2
s 1
1
( s ) = ( sI A ) =
= 1
1
2
s
+
s +1 2
)
(
Characteristicequation:
2
( s + 1)
1
( s + 1)
( s ) = ( s + 1) = 0
(b)Statevariables: x1 = y, x 2 = y +
Stateequations:
dx1
dy
dt
dt
= x 2 y = x 2 x1
dy
dt
dx 2
dt
d y
dt
dy
= y
dt
dx1
dt 1 2 x1 0
=
+ r
dx2 0 1 x2 1
dt
Statetransitionmatrix:
1058
(1 + t )e t
(t ) =
t
te
dy
dt
+ r = x2 + r
(1 t ) e
te
AutomaticControlSystems,9thEdition
Chapter10Solutions
2
1
2
s + 1 ( s + 1)
s + 1 2
(s) =
=
0 s + 1
1
s +1
1
Golnaraghi,Kuo
e t
(t ) =
0
te
(c)Characteristicequation: ( s ) = ( s + 1) = 0 whichisthesameasinpart(a).
2
1030(a)Statetransitionmatrix:
s
sI A =
( sI A )
1 s
( s )
cos t
1
1
(t ) = L ( sI A ) =
sin t
( s ) = s 2 + +
2
sin t
t
e
cos t
+ j , j
(b)EigenvaluesofA:
1031(a)
Y1 ( s )
U1 ( s )
Y2 ( s )
U 2 ( s)
s
1+ s
+ 2s
s
1+ s
+ 3s
1
3
s + s + 2s + 3
+ 2s
+ 3s
1
s + s + 2s + 3
Y1 ( s )
3 2 1
0
B1 = 0
1
C1 = [1
Stateequations[Fig.521(b)]: x& = A 2 x + B 2 u2
0 0 3
A 2 = 1 0 2
0 1 1
Thus,
1
B 2 = 0
0
y1 = C1x
0]
Outputequation:
C2 = [ 0
'
A 2 = A1
1059
U1 ( s )
1]
y2 = C2x
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1032(a)
Statediagram:
(b) Statediagram:
1
1033(a)
Y ( s)
10 s
X ( s)
G( s) =
X ( s ) = U ( s ) 8.5 s X ( s ) 20.5 s X ( s ) 15 s X ( s )
U ( s)
1 + 8.5 s
1
+ 20.5s
+ 15s
Y ( s ) = 100 X ( s )
X ( s)
3
Statediagraam:
1060
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
Statteequation: x& ( t ) = Ax ( t ) + Bu ( t )
1
0
0
A= 0
0
1
15 20.5 8.55
0
B = 0
1
AandBarein
A
CCF
(b)
Y ( s)
10 s
+ 20 s
G ( s ) =
Y ( s ) = 10 s X ( s ) + 20 s X ( s )
Staatediagram:
U ( s)
1 + 4.5 s
+ 3.5 s
X ( s)
2
X ( s)
X ( s ) = 4.5 s X ( s ) 3.5 s X ( s ) + U ( s )
A ( t ) + Bu ( t )
x& ( t ) = Ax
Staateequations:
0
0
A=
0
0
1
0
0
0
1
0 3.5 4.55
0
0
B=
0
1
AandBarein
nCCF
(c)
Y ( s)
5( s + 1)
G( s) =
Y ( s) = 5s X ( s ) + 5s X ( s )
U ( s)
s( s + 2 )( s + 10)
5s
1 + 12 s
+ 5s
+ 20 s
X ( s)
2
X ( s)
1061
X ( s ) = U ( s ) 12 s X ( s ) 20 s X ( s )
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
x& ( t ) = Ax ( t ) + Bu ( t )
Staateequations:
0
0 1
A= 0
0
1
0 20 12
0
B = 0
1
AandBareinCCF
(d)
Y (s)
G (s) =
Y ( s) = s X ( s)
U (s)
4
s ( s + 5) s + 2s + 2
2
s
1
X (s)
2
1 + 7 s + 12 s + 10 s
1
X (s)
X ( s ) = U ( s ) 7 s X ( s ) 12 s X ( s ) 10 s
Statediagraam:
Stateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
1062
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
0
0
0 1
0 0
1
0
A=
0
1
0 0
0 10 12 7
0
0
B=
0
1
Golnarraghi,Kuo
AandBarreinCCF
1
1034(a)
G( s) =
Y ( s)
Stateequations:
U ( s)
10
3
s + 8.5 s + 20.5s + 15
5.71
s + 15
6.67
s+2
0.952
s+5
A ( t ) + Bu ( t )
x& ( t ) = Ax
1.5 0 0
A= 0
2 0
0 5
0
5.71
B = 6.67
0.952
wtheinputandtheoutputbranchesareallo
ocated.
ThematrixBisnotunique.Itdependsonhow
(b)
G( s) =
Y ( s)
Stattediagram:
U ( s)
10( s + 2)
2
s ( s = 1)(( s + 3.5)
4.55
s
0.49
s + 3.5
1063
4
s +1
5.71
s
AutomaticControlSystems,9thEdition
A
Stateequation:
Chaptter10Solutio
ons
Golnarraghi,Kuo
A ( t ) + Bu ( t )
x& ( t ) = Ax
0
0
A=
0
0 0
0
0
0 1
0 0 3.5
0
1
B=
1
1
(b)
Y ( s)
G( s) =
Sttateequationss:
U ( s)
5( s + 1)
s( s + 2)( s + 10)
2.5
0.313
s+2
0.563
s + 10
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
0 0
A = 0 2
0
0 0 10
1
B = 1
(d)
G ( s) =
Y (s)
U ( s)
s ( s + 5) s + 2s + 2
2
0.1
s
0.0118
s+5
1064
0.0882 s + 0.235
s + 2s + 2
2
AutomaticControlSystems,9thEdition
A
Sttateequationss:
Chaptter10Solutio
ons
Golnarraghi,Kuo
A ( t ) + Bu ( t )
x& ( t ) = Ax
0 0 0 0
0 5 0 0
A=
0 0 0 1
0 0 2 2
1
1
B=
0
1
1
1035(a)
G( s) =
Y ( s)
U ( s)
1
10
( s + 15)(
. s + 2 )( s + 5)
Stattediagram:
Staateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
5 1
A = 0 2
1
0 0 1.5
0
B=0
10
(b)
1065
AutomaticControlSystems,9thEdition
A
G(s) =
Y (s)
Staatediagram:
U (s)
Chaptter10Solutio
ons
Golnarraghi,Kuo
100 s + 2 1
2
s ( s + 1)( s + 3.5) s s + 1 s + 3.5
10( s + 2)
x& ( t ) = Ax
A ( t ) + Bu ( t )
Stateequations:
0
0
A=
0
0 1
1
0 1
1
0 0 3.5
G ( s) =
Y (s)
0
0
B=
0
10
(c)
Staatediagram:
U (s)
5 s +1 1
s ( s + 2)( s + 10) s s + 2 s + 10
59 s + 1)
Staateequations:
x& ( t ) = Ax
A ( t ) + Bu ( t )
0
0 1
A = 0 10 1
0 0 2
0
B = 0
5
(d)
1066
AutomaticControlSystems,9thEdition
A
G(s) =
Y (s)
U (s)
Chaptter10Solutio
ons
1
s ( s + 5) s + 2s + 2
2
Golnarraghi,Kuo
S
Statediagram:
A ( t ) + Bu ( t )
x& ( t ) = Ax
Staateequations:
0 1 0 0
0 0 1 0
A=
0 2 2 1
0 0 0 5
0
0
B=
0
1
1
1036(a)
G( s) =
Y ( s)
E ( s)
10
s( s + 4 )( s + 5)
100 s
1+ 9s
+ 20 s
X ( s)
2
X ( s)
( Dynamicequations:
(b)
1
0 x1 0
x&1 0
x& = 0
0
1 x2 + 0 r
2
1
20 9 x3 1
x&3 10
y = [10
1
1067
0] x
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
(c)Statetransitionequation:
s 1 (1 + 9 s 1 + 20 s 2 ) s 2 (1 + 9 s 1 ) s 3 x1 (0)
s 3
X 1 (s)
1 2 1
3
1
1
2
X (s) = 1
10 s
s (1 + 9 s ) s x2 (0) +
s
(s)
( s ) 1 s
2
2
1
s
10 s
20 s
s x3 (0)
X 3 ( s )
1
s
+ 9 s + 20
s+9
1 x1 (0)
1
10
s ( s + 9)
s x2 (0) +
1
c (s)
2
s
10 s
10 ( 2 s + 1) s x3 (0)
=
c (s)
( s) = 1+ 9s
0.708 t
x (t ) = 1.14 0.669 0.081 e
+ 20 s
+ 10 s
c ( s ) = s + 9 s + 20 s + 10
+ 1.692
2.678
4.056 e
5.895 t
0.708 t
2.397 t
5.895 t
0.114e
0.169e
+ 0.055e
+
t 0
(d)Output:
y (t ) = 10 x1 (t ) = 10 1.612e
0.708 t
+ 10 1.141e
0.706e
0.708 t
2.397 t
0.169e
+ 0.0935e
2.397 t
5.897 t
+ 0.0550e
Y ( s)
R( s )
10
3
s + 9 s + 20 s + 10
(b)Statediagram:
1068
5.895 t
5.895 t
1037(a)Closedlooptransferfunction:
2.397 t
t0
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
(c)Stateequation
S
s:
1
0 x1 0
x&1 0
x& 2 = 0
0
1 x2 + 0 r
x&3 10 20 9 x3 1
(d)Stateetransitioneqquations:
[
[Sameanswers
sasProblem5
526(d)]
(e)Outpput:[SameansswerasProbleem526(e)]
1
1038(a)
Stattediagram:
(b)Statteequations:
x&1 2 20 1 0 x1 0 1
x& 0 10 1
0 u
0 x2 0
2
+
=
x&3 0.1 0 20 1 x3 0 0 TD
&
0
0
5 x4 30 0
x4 0
nsferfunctionrrelations:
(c)Tran
From
mthesystemb
blockdiagram,
Y ( s ) =
( s) s + 2
s) = 1+
(
1 1
TD ( s ) +
0.1e
0.3
( s + 2)( s + 20)
0. 2 s
( s + 2 )( s + 20)
TD ( s ) +
1069
0.2 s
U (s)
0. 2 s
90U ( s )
AutomaticControlSystems,9thEdition
A
Y ( s ) =
( s ) =
Chaptter10Solutio
ons
( s + 19.7 )
( s + 2)( s + 20) + 0.1e
0. 2 s
TD ( s ) +
0. 2 s
TD ( s ) +
( s + 200)
( s + 2 )( s + 20) + 0.1e
30e
0. 2 s
Golnarraghi,Kuo
+ 90( s + 2 )U ( s )
0. 2 s
0. 2 s
U ( s)
( s + 5) ( s + 2 )( s + 20) + 0.1e
0. 2 s
11
1
1039(a)
Th
hereshouldno
otbeanyincom
mingbranchestoastatevariaablenodeotheerthanthe s branch.Thus,we
sho
ouldcreateanewnodeasshowninthefolllowingstatediiagram.
(b)State
eequations:N
Noticethattherreisaloopwitthgain1afterallthe s brranchesaredeleted,so =2
2.
dx1
17
dt
x1 +
1
2
dx 2
x2
15
dt
x1
1
x 2 + r Outputequ
uation: y = 6..5 x1 + 0.5 x 2
2
2
1
1
1040(a)
Trransferfunctio
on:
Y (s)
Ks + 5 s + 1
( s + 1) ( s
(b)Charracteristicequation:
+ 11s + 2
Y ( s)
R( s )
s + 5s + 1
3
s + 12 s + 133s + 2
Statediaggram:
1070
( s + 1) ( s
+ 111s + 2 = 0
1,0.185,10..82.TheseareenotfunctionsofK.
Roo
otsofcharacte
eristicequation:
enK=1:
(c)Whe
R(s)
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
(d)WheenK=4:
Y (s)
R( s)
4 s + 5s + 1
2
( s + 1) ( s
+ 11s + 2
( s + 1)(4 s + 1)
) ( s + 1) ( s
+ 11s + 2
4s + 1
s + 11s + 2
2
Statediagram:
(e)
Y (s)
R(s)
Ks + 5 s + 1
2
( s + 1) ( s
+ 11s + 2
( s + 1) ( s
M
MATLAB
ssolve(s^2+11*ss+2)
aans=11/2+1
1/2*113^(1/2)
11/21/2*113
3^(1/2)
>>>vpa(ans)
aans=
.20
10.8
Y (s)
Ks 2 + 5s + 1
=
R ( s ) ( s + 1)(
1 s + 0.2)( s + 10.82)
K = 4, 2.1914, 0.4536
P
Polezerocan
ncelationocccursforthegivenvaluesofK.
1071
+ 111s + 2 = 0
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1041(a)
Gp (s) =
Y (s)
U (s)
100
s + 12
1 s + 70 s + 1000
3
Stattediagrambyddirectdecompposition:
Stateequations:
1
0 x1 0
x&1 0
x& = 0
0
1 x2 + 0 u
2
x&3 100 70 12 x3 1
(b)Charracteristicequuationofcloseddloopsystem
m:
s + 12 s + 70 s + 200 = 0
R
Rootsofchara
acteristicequation:
1
1042(a)
Gp (s) =
Y ( s)
1 0.066 s
Stattediagrambydirectdecompposition:
U ( s)
1
20( s 15)
s + 22 s + 190 s + 300
3
1072
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
Stateequations:
1
0 x1 0
x&1 0
0
1 x2 + 0
x& 2 = 0
1
22 x3 1
x&3 300 190
Chaaracteristicequuationofcloseedloopsystem
m:
s + 22 s + 170 s + 600 = 0
R
Rootsofchara
acteristicequation:
12,5+j5,5j5
x1 = m and x 2 = D
1
1043(a)
Statevariables:
Stateequations:
d m
Kb Ki + Kb Ra
dt
KD
JRa
D +
KK
Ki
JRa
d D
dt
KD
JR
KD
JR
(b)Stattediagram:
(c)Openlooptransfe
erfunction:
m (s)
E (s)
KK
Ki ( J R s + K D )
JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa ) s + K D K b K i
2
Clossedlooptransferfunction:
1073
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
m (s)
r (s)
K s KK i ( J R s + K D )
JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D
2
(d)Characteristicequationofclosedloopsystem:
( s ) = JJ R Ra s + ( K D J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D = 0
( s ) = s + 1037 s + 20131.2 = 0
x& ( t ) = Ax ( t ) + Br ( t )
1044(a)Stateequations:
b
A=
c
2
=
a 2
0
B=
1
SinceSisnonsingular,thesystemiscontrollable.
S = [B
0
AB ] =
1
(b)
S = [B
0
AB ] =
1
a
d
Thesystemiscontrollablefor d 0.
1045(a)
1 1 1
2
S = B AB A B = 1 1 1
1 1 1
Sissingular.Thesystemisuncontrollable.
1 1 1
2
S = B AB A B = 1 2 4
1 3 9
Sisnonsingular.Thesystemiscontrollable.
(b)
1046(a)Stateequations:
x& ( t ) = Ax ( t ) + Bu ( t )
1074
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
2
A =
1
1
B=
1
1 1
AB ] =
Sissingular.Thesystemisuncontrollable.
1 1
S = [B
Outputequation:
y= 1
0 x = Cx
C= 1
V = C
'
1
'
'
A C =
0
Visnonsingular.Thesystemisobservable.
(b)Transferfunction:
Y ( s)
U ( s)
s+3
2
s + 2s 3
1
s 1
Sincethereispolezerocancellationintheinputoutputtransferfunction,thesystemiseither
uncontrollableorunobservableorboth.Inthiscase,thestatevariablesarealreadydefined,andthe
systemisuncontrollableasfoundoutinpart(a).
1047(a) = 1, 2, or 4 .Thesevaluesofwillcausepolezerocancellationinthetransferfunction.
(b)Thetransferfunctionisexpandedbypartialfractionexpansion,
Y ( s)
R( s )
1
3( s + 1)
2
2( s + 2 )
4
6( s + 4 )
1 0 0
A = 0 2 0
0 0 4
1
B = 2
Thesystemisuncontrollablefor=1,or=2,or=4.
(c)Definethestatevariablessothat
1075
D=
1
3
1
2
1
6
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
1 0 0
A = 0 2 0
0 0 4
1
3
1
B=
2
1
6
TThesystemisu
unobservablefo
or=1,or==2,or=4.
Golnarraghi,Kuo
D = [ 1 2
4]
1
1048
1
AB
A ]=
b
S = [B
S = ab 1 b 0
0
Theboundaryoftheregionofcoontrollabilityissdescribedby ab 1 b 2 = 0.
Regionsofcontro
ollability:
ab 1
1
1049
b1
A ]=
AB
b2
S = [B
b1 + b2
Theesystemiscom
mpletelycontro
ollablewhen b2 0.
mpletelyobservvablewhen d 2 0.
Theesystemiscom
V = C
'
d1
'
'
A C =
d2
b2
d1 + d 2
d2
V = 0 when d1 0.
1076
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1050(a)
Stateequations:
dh
dt
1
A
(q
K I nN
qo ) =
Ko
d m
dt
Stattevariable: x1 = h, x 2 = m , x3 =
d m
dt
= m
d m
d
dt
Ki Kb
JRa
m +
Ki K a
JRa
ei J = J m + n J L
= m
x& = Ax + Bei
Statteequations:
Ko
A
A= 0
1 0.016
0
1 = 0
0
1
K i K b 0
0
11..767
JRa
K I nN
A
0
0
0 0
B= 0 = 0
K K 8333.33
i
a
JRa
Sttatediagram:
(b)Characteristicequ
uationofA:
s+
sI A =
Ko
K I nN
n
0
1
s+
Ki Kb
= ss +
JRa
Eige
envaluesofA:
0,1,11.767.
(c)Conttrollability:
1077
s + Ki Kb
A
JRa
Ko
= s ( s + 1)( s + 11.767)
AutomaticControlSystems,9thEdition
Chapter10Solutions
0
133.33
0
2
S = B AB A B = 0
8333.33 98058
Golnaraghi,Kuo
S 0. Thesystemiscontrollable.
(d)Observability:
(1) C = 1
V = C
(2) C = 0
(3) C = 0
'
V = C
'
V = C
'
0 :
'
AC
'
AC
'
1
1 1
' 2
'
( A ) C = 0 0.016 0.016 Visnonsingular.Thesystemisobservable.
0
0.016
0
'
0
0 0
' 2
'
( A ) C = 1 0
0 Vissingular.Thesystemisunobservable.
0 1 11.767
'
AC
'
0
0
0
' 2
'
( A ) C = 0
0
0 Vissingular.Thesystemisunobservable.
1 11.767 138.46
( s ) = sI A = s 25.92 s = 0
1051(a)Characteristicequation:
5.0912,5.0912,0,0
Rootsofcharacteristicequation:
(b)Controllability:
0.0732
0
1.8973
0
0.0732
1.8973
0
0
3
A B =
0.0976
0
0.1728
0
0
0.1728
0
0.0976
S = B
Sisnonsingular.Thus, A , B iscontrollable.
AB
A B
(c)Observability:
1078
AutomaticControlSystems,9thEdition
(1)
C = 1 0
V = C
'
Chapter10Solutions
Golnaraghi,Kuo
'
A C
'
'
(A ) C
'
1
0
' 3
'
( A ) C =
0
25.92
25.92
0
0
Sissingular.Thesystemisunobservable.
(2) C = 0
1 0
0
671.85
0 25.92
1
0
25.92
0
' 3
'
( A ) C =
0
0
0
0
0
0
0
0
V = C
Sissingular.Thesystemisunobservable.
'
'
A C
'
'
(A ) C
'
(3) C = 0 0 1 0
V = C
'
'
A C
'
'
(A ) C
'
0
0
' 3
'
( A ) C =
1
2.36
2.36
0
0
Sisnonsingular.Thesystemisobservable.
(4) C = 0
0
61.17
0 2.36
0
2.36
0
0
' 3
'
( A ) C =
0
0
0
0
0
0
0
1
V = C
Sissingular.Thesystemisunobservable.
'
'
A C
'
'
(A ) C
'
1079
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
1
1052
Thecontrollabilitymatrixis
0
384
3
0 1 0 16
1 0 16 0 384
0
0
512
0
166
0 0
S=
0
16
0
0
512
0
0 1
0
0
0
0
1 0
0
0
0
0
R
RankofSis6.
Thesystemisccontrollable.
1
1053(a)
Trransferfunctio
on:
v ( s)
R(s)
Jvs
(J
KI H
s + KPs + KI + KN
2
position:
Stattediagrambydirectdecomp
Statteequations:
0
0
A = 0
A ( t ) + Br ( t )
x& ( t ) = Ax
KP
J G
0
( KI + KN )
JG
uation: J v s
(b)Characteristicequ
(J
s + KP s + KI + KN = 0
2
0
0
B=
0
1
1080
AutomaticControlSystems,9thEdition
A
Chaptter10Solutio
ons
Golnarraghi,Kuo
x& (t ) = Ax
A (t ) + Bu1 (t )
1
1054(a)
Stateequations:
0
1
3
A=
0
Sisnonsinggular. A, B iscontrollablee.
Outputequ
uation:
B=
V = C
'
S = [B
y 2 = Cx
A C =
'
'
AB
B] =
0 1
1 2
C = 1 1
1 3
1 3
Vissingu
ular.Thesystem
misunobservaable.
3 2 k
A = 1+ g
1+ k
2
1
1
0
S=
1+ k
1 2
0
B=
1
Sisnonsingularfo
orallfinitevalu
uesofk.Thesyystemiscontro
ollable.
Stattediagram:
Outtputequation:
1
1 + k
y2 = Cxx
C=
V = D'
1
1 + K
'
'
A D =
1
1 + k
1 + k
(1 + k )
3 + 2k
2
(1 + k )
3 + 2k
nobservable.
Vissingularforanyk.Theesystemwithfeedbackisun
1081
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1055(a)
S = [B
V = C
1
AB ] =
2
1
'
'
A C =
1
'
Sisnonsingular.Systemiscontrollable.
7
1
Visnonsingular.Systemisobservable.
(b) u = k1 k 2 x
0
A c = A BK =
1
S = [B
Forcontrollabillity, k 2
V = C
1
AcB] =
2
'
k1
2k1
k2
k1
=
2k 2 1 2 k1
k1 2 k 2 + 2
11
1 3k1
2 3k 2
Forobservability, V = 1 + 3k1 3k 2 0
1056
Sameas1021(a)
1057
0
=
322.58
x1 0
+
r
80.65 x2 322.58
1082
3 2k 2
S = 11 2 k 2 0
7 2 k1 4 k 2
1
'
'
A c C =
1
1 k2
AutomaticControlSystems,9thEdition
Chapter10Solutions
1 x1 0
x& 0
From1022 1 =
+
r
x&2 322.58 80.65 x2 322.58
Golnaraghi,Kuo
1
0
A=
322.58 80.65
0
B=
322.58
C = [1 0]
D=0
UsethestatespacetoolofACSYS
1083
AutomaticControlSystems,9thEdition
Chapter10Solutions
TheAmatrixis:
Amat=
01.0000
322.580080.6500
CharacteristicPolynomial:
ans=
s^2+1613/20*s+16129/50
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
4.22060
076.4294
EigenVectorsare
T=
0.23050.0131
0.97310.9999
1084
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
StateSpaceModelis:
a=
x1x2
x101
x2322.680.65
b=
u1
x10
x2322.6
c=
x1x2
y110
d=
u1
y10
Continuoustimemodel.
CharacteristicPolynomial:
ans=
s^2+1613/20*s+16129/50
EquivalentTransferFunctionModelis:
Transferfunction:
322.6
s^2+80.65s+322.6
Pole,ZeroForm:
Zero/pole/gain:
322.58
(s+76.43)(s+4.221)
1085
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
1058
ClosedloopSystemTransferFunction.
Y (s)
R(s)
1
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3
Forzerosteadystateerrortoastepinput, k1 = 1.Forthecomplexrootstobelocatedat1+jand1j,
2
wedividethecharacteristicpolynomialby s + 2 s + 2 andsolveforzeroremainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2
s +
3
2s
(2 + k ) s
3
+ 2s
+ (1 + k 2 + k 3 ) s + 1
1086
AutomaticControlSystems,9thEdition
(2 + k ) s
3
Chapter10Solutions
+ ( 4 + 2 k3 ) s
( -3+k
+ 4 + 2 k3
k3 ) s 3 2k3
Golnaraghi,Kuo
3 2 k3 = 0
Thus
k3 = 15
.
3 + k 2 k3 = 0
Thus
k 2 = 15
.
Forzeroremainder,
Thethirdrootisat0.5.Notalltherootscanbearbitrarilyassigned,duetotherequirementonthe
steadystateerror.
1059(a)OpenloopTransferFunction.
G ( s) =
X 1 (s)
E (s)
k3
s s + ( 4 + k 2 ) s + 3 + k1 + k 2
2
Sincethesystemistype1,thesteadystateerrorduetoastepinputiszeroforallvaluesof k1 , k 2 , and k3
thatcorrespondtoastablesystem.Thecharacteristicequationoftheclosedloopsystemis
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k3 = 0
3
Fortherootstobeat1+j,1j,and10,theequationshouldbe:
s + 12 s + 22 s + 20 = 0
Equatinglikecoefficientsofthelasttwoequations,wehave
4 + k 2 = 12
3 + k1 + k 2 = 22
k3 = 20
Thus
k1 = 11
Thus
Thusk3=20
(b)OpenloopTransferFunction.
1087
k2 = 8
AutomaticControlSystems,9thEdition
Y (s)
E ( s)
Gc ( s )
( s + 1)( s + 3 )
Chapter10Solutions
20
s s + 12 s + 22
2
Thus Gc ( s ) =
Golnaraghi,Kuo
20 ( s + 1)( s + 3 )
1060(a)
0
25.92
A =
0
2.36
0
0.0732
B =
0
0.0976
2.4071E+03
0.0000E+00
1.5028E+023.1938E+016.2112E+007.4534E+00
0.0000E+00
0.0000E+00
0.0000E+00
1.0000E+00
2/3258E+02
4.2584E+01
8.2816E+00
9.9379E+00
0.0000E+00
7.3200E02
Thefeedbackgains,from k1 to k 4 :
4.3631E+02
8.4852E+01
1.0182E+02
The A B K matrixoftheclosedloopsystem
1.0000E+00
0.0000E+00
TheBvector
0.0000E+00
1088
0.0000E+00
s s + 12 s + 22
2
AutomaticControlSystems,9thEdition
9.7600E02
TimeResponses:
Chapter10Solutions
Golnaraghi,Kuo
1060(b)
Thefeedbackgains,from k1 to k2 :
9.9238E+03
0.0000E+00
7.0051E+021.2350E+029.9379E+015.9627E+01
0.0000E+00
0.0000E+00
0.0000E+00
1.0000E+00
9.6621E+02
1.6467E+02
1.3251E+02
7.9503E+01
1.6872E+03
1.3576E+03
8.1458E+02
The A B K matrixoftheclosedloopsystem
1.0000E+00
0.0000E+00
1089
0.0000E+00
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
TheBvector
0.0000E+00
7.3200E02
0.0000E+00
9.7600E02
TimeResponses:
1061ThesolutionsusingMATLAB
1090
AutomaticControlSystems,9thEdition
(a)
6.4840E+01
0.0000E+00
Chapter10Solutions
Thefeedbackgains,from k1 to k2 :
5.6067E+00
2.0341E+01
2.2708E+00
The A B K matrixoftheclosedloopsystem
0.0000E+00
0.0000E+00
3.0950E+023.6774E+01
1.1463E+02
1.4874E+01
0.0000E+00
1.0000E+00
4.6190E+023.6724E+01
1.7043E+02
1.477eE+01
0.0000E+00
1.0000E+00
0.0000E+00
TheBvector
0.0000E+00
6.5500E+00
6.5500E+00
0.0000E+00
'
(b)TimeResponses: x(0) = 01
. 0 0 0
1091
Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
'
Withtheinitialstates x(0) = 01
. 0 0 0 , theinitialpositionof x1 or y1ispreturbeddownward
fromitsstableequilibriumposition.Thesteelballisinitiallypulledtowardthemagnet,so x3 = y 2 is
negativeatfirst.Finally,thefeedbackcontrolpullsbothbodiesbacktotheequilibriumposition.
. 0 , theinitialpositionof x3 or y 2 ispreturbed
Withtheinitialstates x(0) = 0 0 01
downwardfromitsstableequilibrium.Fort>0,theballisgoingtobeattractedupbythemagnet
towardtheequilibriumposition.Themagnetwillinitiallybeattractedtowardthefixedironplate,and
thensettlestothestableequilibriumposition.Sincethesteelballhasasmallmass,itwillmovemore
'
1092
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
actively.
1062(a)BlockDiagramofSystem.
u = k1 x1 + k 2 ( x1 + w1 ) dt
StateEquationsofClosedloopSystem:
dx1
dt 2 k1
=
dx2 k 2
dt
CharacteristicEquation:
1 x1
0
+
0 x2 k 2
1 w1
0 w2
1093
AutomaticControlSystems,9thEdition
sI A =
Chapter10Solutions
s + 2 + k1
k2
Golnaraghi,Kuo
= s + ( 2 + k1 ) s + k 2 = 0
2
Fors=10,10, sI A = s 2 + 20 s + 200 = 0
Thus
k1 = 18 and k 2 = 200
X ( s) = X 1 ( s) =
X ( s ) =
200W1 ( s ) s 2 + s 1W2 ( s )
1 + 2s
+ 18 s
+ 200 s
200W1 ( s) + sW2 ( s)
s 2 + 20 s + 200
W1 ( s ) =
1
s
W2 ( s) =
W2
W2 = constant
200 + W2 s
s s + 20 s + 200
2
lim x (t ) = lim sX ( s ) = 1
s 0
1062(b)WithPIController:
BlockDiagramofSystem:
X (s) =
(K
s + K I ) W1 ( s ) + sW2 ( s )
s + 20 s + 200
2
1094
( 2 s + 200 ) W ( s ) + sW ( s )
1
s + 20 s + 200
2
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
TimeResponses:
1095
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
10-63)
10
1
10
2
11
Consider:
10
11
Therefore:
0
0
6
1
0
11
0
1
6
0
0
10
1 0 0
As a result:
0
0
6
1
0
11
0
1
6
0
0
10
1 0 0
0.8
10-64)
( M + m) &&
x ml&& cos + ml& 2 sin = f
ml ( g sin &&
x cos + l&&) = 0
These equations are nonlinear, but they can be linearized. Hence
0
cos 1
sin
( M + m) &&
x + ml&& = f
ml ( g &&
x + l&&) = 0
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Or
Chapter10Solutions
x f
( M + m) ml &&
=
ml
2 &&
ml mlg
Premultiplybyinverseofthecoefficientmatrix
inv([(M+m),m*l;m*l,m*l^2])
ans=
[1/(M+2*m),1/l/(M+2*m)]
[1/l/(M+2*m),(M+m)/m/l^2/(M+2*m)]
ForvaluesofM=2,m=0.5,l=1,g=9.8
ans=
0.33330.3333
0.33331.6667
Hence
x 1/ 3 1/ 3 f
&&
&& = 1/ 3 5 / 3 49 /10
x 1/3*f-49/30
&&
&& = 1/3*f+49/6
Thestatespacemodelis:
x&4 1/3*f-49/30x1
x& = 1/3*f+49/6x
1
2
Or:
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AutomaticControlSystems,9thEdition
x&2 1/3*f+49/6x1
x& = 1/3*f-49/30x
1
4
1 0
x&1 0
x& 49/6 0 0
2 =
x&3 0
0 0
x&4 -49/30 0 0
0
49/6
A=
0
-49/30
0
1/ 3
B=
0
1/ 3
Chapter10Solutions
0 x1 0
0 x2 1/ 3
+
f
1 x3 0
0 x4 1/ 3
1 0 0
0 0 0
0 0 1
0 0 0
C = [1 0 1 0]
D=0
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AutomaticControlSystems,9thEdition
Chapter10Solutions
Use ACSYS State tool and follow the design process stated in Example 10-17-1:
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AutomaticControlSystems,9thEdition
Chapter10Solutions
TheAmatrixis:
Amat=
01.000000
8.1667000
0001.0000
1.6333000
CharacteristicPolynomial:
ans=
s^449/6*s^2
EigenvaluesofA=DiagonalCanonicalFormofAis:
Abar=
0000
0000
002.85770
0002.8577
EigenVectorsare
T=
000.32390.3239
000.92560.9256
1.00001.00000.06480.0648
00.00000.18510.1851
StateSpaceModelis:
a=
x1x2x3x4
x10100
x28.167000
x30001
x41.633000
b=
u1
x10
x20.3333
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Golnaraghi,Kuo
AutomaticControlSystems,9thEdition
Chapter10Solutions
x30
x40.3333
c=
x1x2x3x4
y11010
d=
u1
y10
Continuoustimemodel.
CharacteristicPolynomial:
ans=
s^449/6*s^2
EquivalentTransferFunctionModelis:
Transferfunction:
4.441e016s^3+0.6667s^22.22e016s3.267
s^48.167s^2
Pole,ZeroForm:
Zero/pole/gain:
4.4409e016(s+1.501e015)(s+2.214)(s2.214)
s^2(s2.858)(s+2.858)
TheControllabilityMatrix[BABA^2B...]is=
Smat=
00.333302.7222
0.333302.72220
00.333300.5444
0.333300.54440
ThesystemisthereforeNotControllable,rankofSMatrixis=
rankS=
4
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AutomaticControlSystems,9thEdition
Chapter10Solutions
Mmat=
08.166701.0000
8.166701.00000
01.000000
1.0000000
TheControllabilityCanonicalForm(CCF)Transformationmatrixis:
Ptran=
000.33330
0000.3333
3.266700.33330
03.266700.3333
ThetransformedmatricesusingCCFare:
Abar=
01.000000
001.00000
0001.0000
008.16670
Bbar=
0
0
0
1
Cbar=
3.266700.66670
Dbar=
10102
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AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
01.000000
001.00000
0001.0000
k1k28.1667k3k4
SystemCharacteristicequationis:
k4*s^4+(8.1667k3)*s^3k2*sk1=0
10-65) If
system is:
3 and
0.707, then
5
6
2
2
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which means
4 and
Chapter10Solutions
Golnaraghi,Kuo
10-66) Using ACSYS we can convert the system into transfer function form.
USE ACSYS as illustrated in section 10-19-1
1)
2)
3)
4)
5)
6)
7)
8)
9)
Activate MATLAB
Go to the folder containing ACSYS
Type in Acsys
Click the State Space pushbutton
Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
Use the Calculate/Display menu and find the eigenvalues.
Next use the Calculate/Display menu and conduct State space calculations.
Next verify Controlability and find the A matrix
Follow the design procedures in section 10-17 (pole placement)
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Chapter10Solutions
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AutomaticControlSystems,9thEdition
Chapter10Solutions
-2
-2
-1
-1
Characteristic Polynomial:
ans =
s^3+3*s^2+5*s+5
Eigenvalues of A = Diagonal Canonical Form of A is:
Abar =
-0.6145 + 1.5639i
0
-0.6145 - 1.5639i
-1.7709
-0.8074
-0.4259
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AutomaticControlSystems,9thEdition
Chapter10Solutions
b=
u1
x1 2
x2 0
x3 1
c=
x1 x2 x3
y1 1 1 1
d=
u1
y1 0
Continuous-time model.
Characteristic Polynomial:
ans =
s^3+3*s^2+5*s+5
Equivalent Transfer Function Model is:
Transfer function:
3 s^2 + 7 s + 4
--------------------s^3 + 3 s^2 + 5 s + 5
Pole, Zero Form:
Zero/pole/gain:
3 (s+1.333) (s+1)
--------------------------------(s+1.771) (s^2 + 1.229s + 2.823)
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AutomaticControlSystems,9thEdition
Chapter10Solutions
-4
-5
1.0000
0
1.0000
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AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
Bbar =
0
0
1
Cbar =
4
Dbar =
0
Using Equation (10-324) we get:
sI ( A BK ) = s 3 + (3 + k3 ) s 2 + (5 + k2 ) s + (5 + k1 ) = 0
0.707.
s 2 + 2n s + n 2 = s 2 + 2 s + 2 = 0
Use ACSYS control tool to find the time response. First convert the transfer function to a unity feedback
system to make compatible to the format used in the Control toolbox.
G=
3( s + 1)
s2 s 1
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Chapter10Solutions
Golnaraghi,Kuo
Overshoot is about 2%. You can adjust K values to obtain alternative results by repeating this process.
If
, then
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Chapter10Solutions
Golnaraghi,Kuo
or
1
1
Therefore:
0
0
0
According to the state-space of the system, C is calculated as:
1
1
As
0, because
0
According to the state-space of the system, C is calculated as:
Since det H
0, because R
0 or L
AutomaticControlSystems,9thEdition
Chapter10Solutions
Golnaraghi,Kuo
0
1
1
1
1
,and then
If
1
1
If
, then
10112