Answers to Selected Problems

CHAPTER 2
2.1. (a) Loop equations: Let R ¼ R2 þ R3 and R 0 ¼ R1/R



1 1
eðtÞ ¼ R1 þ LD þ i  LD þ i ð1Þ
CD 1 CD 2



1 1
0 ¼  LD þ i1 þ R þ LD þ i ð2Þ
CD CD 2
(b) Node equations:
Node va:




1 1 1 1 1
þ þ va  ðCDÞvb  vc ¼ e ð3Þ
R1 R2 LD R2 R1
Node vb:


1
ðCDÞva þ þ CD vb ¼ 0 ð4Þ
LD
Node vc:



1 1 1
 va þ þ v ¼0 ð5Þ
R2 R2 R3 c

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 796 Linear Control System Analysis and Design

(c) State equations: Let x1 ¼y1 ¼i/CD, x2 ¼ iL, x2 ¼ DiL, ic ¼ CDy1 ¼Cx1,
i1 i2 ¼ ic ¼ iL
2 3
1
6 0 7
C
A¼6 4 1 0
7
5 ð6Þ
R
  0
L ðR þ 1ÞL

2 3
0
b ¼4
T 1 5 cT ¼ ½ 1 0 ð7Þ
0
ðR þ 1ÞL

(d ) Note: Utilizing Eqs. (1), (2), (8), and (9), obtain

x2 ¼ C x_ 1 ð8Þ

x_ 2 ¼ C x€ 2 ð9Þ

y1 ðtÞ 1
GðDÞ ¼ ¼ ð10Þ
uðtÞ ½ðR þ 1ÞLCD þ ½R 0 CD þ ½R 0 þ 1
0 2

2.2. (a) Loop equations:



1 1
E ¼ R1 þ i  i ð1Þ
C1 D 1 C1 D 2



1 1 1
0¼ i þ R2 þ LD þ þ i ð2Þ
C1 D 1 C1 D C2 D 2

(b) Node 1 between R1 and R2, node 2 between R2 and L, and node 3
between L and C2




1 1 1 1
Node 1: þ C1 D þ v1  v2 ¼ E
R1 R2 R2 R1




1 1 1 1
Node 2:  v1 þ þ v2  v ¼0
R2 R2 LD LD 3



1 1
Node 3:  v þ þ C2 D v3 ¼ 0
LD 2 LD

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 Answers to Selected Problems 797

(c) Let x1 ¼v1 ¼vc1, x2 ¼ v3 ¼ vc2, x3 ¼ iL

2 3 2 3
1 1 1

6 R 1 C1 0 
6 C1 77
6 R1 C1 7
6 7
6 1 7 6 7
A¼6 0 6 0 7 6
b¼6 7
7 0 7
6 C2 7 6 7
4 1 1 R2 5 4 5
  0
L L L
2.3. Circuit 2: (b)
2 3 2 3
R1 þ R2 1 1
6 L

L77 6 L 7
x_ ¼ 64
6 7
5x þ 4 5u
1
0
C 0
2.6. (c)
K2
GðDÞ ¼
D4 þ BD3 þ KD2 þ BKa D þ ðKa Kb  K 2 Þ
where Ka ¼ K1 þK2, Kb ¼ K2 þ K3, K ¼ Ka þ Kb
(d ) Let
x1 ¼ xa x2 ¼ x_ 1 x3 ¼ xb
x4 ¼ x_ 3 u ¼ f ðtÞ yðtÞ ¼ xb

2 3 2 3 2 3
0 1 0 0 0 0
6 K 07 617 607
6 K2 0 7 6 7 6 7
A¼6 7 b¼6 7 c¼6 7
4 0 0 0 15 405 415
K2 0 Kb 1 0 0
xa xb
2.10. (a) ðLD þ RÞi ¼ e ki i ¼ f  ¼
l1 l2
ðM2 D2 þ B2 D þ K2 Þxb ¼ f2

l2
ðM1 D2 þ B1 D þ K1 Þxa þ f ¼ f ¼ ki i
l1 2
Let
l2 M1 B1 K1
¼ a þ aM2 ¼ b; þ aB2 ¼ c and þ aK2 ¼ d
l1 a a a

ðbD2 þ cD þ dÞxb ¼ ki i

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 798 Linear Control System Analysis and Design

(b) There are only three independent states:

x1 ¼ xb  x2 ¼ x_ b  x3 ¼ i and u¼e
x_ 1 ¼ x2
d c K
x_ 2 ¼  x1  x2 þ 1 x3
b b b
R l
x_ 3 ¼ x3 þ u
L L
2.11. Traction force ¼ MD2x þ BDx
2.12. (b) T(t) ¼ (B1D)ya  (B1D)yb
0 ¼ (B1D)ya þ [JD2 þ (B2  B1)D þ K1]yb
(c) Let J ¼J1 þJ2, y1 ¼x1 ¼ ya, y2 ¼ x2 ¼ yb, x3 ¼ x2, and u ¼T
2 3 2 3
0 0 1 1
6 7 6B 7  
60 7 6 17 1 0 0
x_ ¼ 6
6
0 1 7x þ 6 0 7u
7 6 7 y¼ x
4 0 1 0
K B1  B2 5 4 1 5
0
J J J
y1 JD2 þ B2 D þ K
ðdÞ ¼
u B1 D½JD2 þ ðB2  B1 ÞD þ K

y2 1
¼
u JD þ ðB2  B1 ÞD þ K
2

 
C1 ad C b
2.18. ðaÞ þ D y1 ¼ 1 x1
ða þ bÞðc þ dÞ aþb

2.21. KT v1(t) ¼ JLaD3ym þ (JRa þ BLa)D2ym þ (BRa þ KTKb)ym

CHAPTER 3
3.2. yb ðtÞ ¼ 2 þ 2t þ A1 em1 t þ A2 em2 t
where
A1 ¼ 2:01015 A2 ¼ 0:01015

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 Answers to Selected Problems 799

Therefore
yb ðtÞ ¼ 2 þ 2t þ 2:010105e1:071t  0:01015e15:06t
Check at t ¼ 0: yb(0) ¼  2 þ 2.01015  0.01015 ¼ 0
3.5. (b) cðtÞ ¼ 0:36 þ 0:2t þ A1 em1 t þ A2 em2 t þ A3 em3 t
Utilizing the initial conditions yields
pffiffiffi
A1 ¼ 0:5 ff 
A2 ¼ ð 2=10Þ 171:9 : ¼ A3
3.7. (a) Physical variables: x1 ¼vc and x2 ¼ iL.
   4
104 106 10
A¼ b¼ cT ¼ ½ 1 0
0:1 465 0
(b) vc ðtÞ ¼ 48:95 þ A1 em1 t þ A2 em2 t where Dvc ¼ m1 A1 em1 t þ m2 A2 em2 t
Inserting the initial conditions yields
0 ¼ 48:95 þ A1 þ A2 0:5  106 ¼ 475:5A1  9989:5A2 
A1 ¼ 1:15 A2 ¼ 50:1
3.8. (b) x(t) ¼ 3 þ1.5e3t  4.5et
ðcÞ xðtÞ ¼ 0:18 þ 0:2353t þ e0:5t ½0:18 cos ð2tÞ  0:16 sin ð2tÞ
¼ 0:18 þ 0:2353t þ 0:242e0:5t sin ð2t  132 Þ
3.13.
" #
e2t þ 2e4t 2e2t  2e4t
(ðtÞ ¼
e2t þ e4t 2e2t  e4t
2 3
1 2t 9 4t
6 2  3e þ 2e 7
xðtÞ ¼ 6
43
7
2t 9 4t 5
 3e þ e
4 4
1 9
yðtÞ ¼ x1 ¼  3e2t þ e4t
2 2
 
e2t
3 16 ðaÞ xðtÞh ¼ (ðtÞxð0Þ ¼
2e2t
. .

 
1  2et þ 2e2t
ðbÞ xðtÞ ¼
2et

3.17. (1) (a) 1 ¼ 1, 2,3 ¼ 1

j2

(ðtÞ ¼ Z1 et þ Z2 et e jt þ Z3 et ejt

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 800 Linear Control System Analysis and Design

CHAPTER 4
4.1. (a) f (t) ¼ et[t þ 0.333 sin (3t þ 180)]
(b) f (t) ¼ 1.3846  e5t þ1.9612e2t sin (3t þ 191.3)
4.2. (c) x(t) ¼ 1  0.9898et þ 0.01701e2t sin (3t þ 216.9)
4.4. (b) With zero initial conditions, the Laplace transform yields:
12 A B
Xb ðsÞ ¼ ¼ þ
sðs þ 10Þðs þ 1:2874Þðs þ 223:71Þ s s þ 10
C D
þ þ
s þ 1:2874 s þ 223:71
where

A ¼ 4:167  103 B ¼ 0:06445  103

C ¼ 4:81  103 D ¼ 1:128  106

xb ðtÞ ¼ 4:167  103 þ 0:6445  104 e10t  4:81  103 e1:2874t

 1:128  106 e223:7t

1 7 5 0:5
4.5. ðdÞ F ðsÞ ¼  þ 
s 2 6s 4ðs þ 1Þ 6ðs þ 3Þ
1 9 28 30
ðhÞ F ðsÞ ¼ þ þ þ
s s þ 3 s þ 3  j1 s þ 3 þ j1

4.6. ðbÞ iL ðtÞ ¼ 0:4833e3:684t  0:5534 sin ðod t þ 61 Þ

2ðs 2 þ 4:3s þ 6:13Þ

4.7. ðbÞ ðs 2 þ 2:8s þ 4ÞX ðsÞ ¼
s

xðtÞ ¼ 3:0669 þ 1:5e1:4t sin ð1:416t  45:32 Þ

5
ðdÞ ðs 5 þ 4s 4 þ 34s3 þ 110s2 þ 225s þ 250ÞX ðsÞ þ 4s 2  s  56 ¼
s2 þ 25

xðtÞ ¼ 10:837et sin ð2t  85:233 Þ

þ 0:99974 sin ð5t þ 180 Þ þ 14:799e2t

4.8. (a) Prob. 4.1(a): 0, Prob. 4.1(b): 18

13
(b) Prob. 4.2(a): 0, Prob. 4.2(c): 1

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems 801

4 11
. . ð1Þ ðbÞ xðtÞ ¼ 3 þ 3:8348et sin ðt þ 237:53 Þ þ 0:2353e5t
ðcÞ xðtÞ ¼ 0:30t  0:260 þ 0:2712et sin ðt þ 102:53 Þ  0:0047e5t
4.12. System (1)
 1  
sþ5 1 1 sþ2 1
ðaÞ (ðsÞ ¼ ½sIA1 ¼ ¼
2 sþ2
2 sþ5

¼ s2 þ 7s þ 8 ¼ ðs þ 5:62Þðs þ 1:438Þ
  " #
X1 ðsÞ 1 s 2 þ 3s þ 1
XðsÞ ¼ ¼
X2 ðsÞ
s 3 þ 12s 2 þ 35s þ 1
XðsÞ ¼ ½sI  A1 xð0Þ þ ½sI  A1 bUðsÞ

(b) GðsÞ ¼ CðsÞB þ D

  
1 sþ2 1 0
GðsÞ ¼ ½01 þ0

2 sþ5 1
sþ5 sþ5
¼ 2 ¼
s þ 7s þ 8 ðs þ 5:62Þðs þ 1:438Þ

ðcÞ YðsÞ ¼ CXðsÞ ¼ ½ 0 1 XðsÞ ¼ X2 ! yðtÞ ¼ x2 ðtÞ

1:4384t
¼ 0:74836e  0:37336e5:5616t þ 0:6250

As a check: xi ð0Þ ¼ Lim ½sXi ðsÞ ¼ 1 and x2 ð0Þ ¼ Lim ½sX1 ðsÞ
s!1 s!1
¼ 1½sX2 ðsÞ ¼ 1 and yð1Þ ¼ 0:6250:

4.15. (1) s(A) ¼ { 1 þj2, 1 j2, 1}

CHAPTER 5

ð60s þ 3:8Þ
55 . . GðsÞ ¼
ðs þ 10Þðs 2 þ 0:15s þ 8:0054Þ

5.11. (2)  ¼ 2,  ¼ 3,  ¼ 4,  ¼ 5

(a) y ¼ [8 0 4 0]x
(b) y ¼ [4 22 36 18]x

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 802 Linear Control System Analysis and Design
2 3
5 2t 3t
10 6  ð1  3e þ 2e Þ 7
5 12 ðaÞ GðsÞ ¼ ðcÞ xðtÞ ¼ 4 3 10 5
ðs þ 2Þðs þ 3Þ
. .

ð1  e3t Þ
3

CHAPTER 6
6.2. (a) 0 < K < 1280/9; s1,2 ¼
j2.5827; for K ¼ 142.22
(c) 0 < K < 30; s1,2 ¼
j2.2356; for K ¼ 30

6.3. (a) (s þ 2)(s þ 2.2

j2.2) (c) (s þ 1
j1.414)(s 1
j 1.414)

( f ) (s 1)(s þ 2)(s  3)(s þ 5)

6.4. (a) None (c) None ( f ) 2
6.10. (a) For (1): Kp ¼ 1,Kv ¼ 135
,Ka ¼ 0, (b) For r1(t): (1) e(t)ss ¼13
5 (2) e(t)ss ¼ 0
6.12. (a) 20, 0, 0 (d) 1, 6, 0
6.13. (a): (a) 52 (b) 1 (c) 1
(d ): (a) 0 (b) 13 (c) 1
6.19. KGci ¼ ai þ KhKGci > 0 for a stable system and KGc0 ¼ a0 þ KhKGc0 for
e(t)ss ¼ 0
6.25. (b) K ¼ 4: (b) K ¼ 7: and K1 ¼6.666 s1 e(t)ss ¼ 0.3;
6.27. (a) For K ¼ 100: K1 ¼68.97 s1 and e(t)ss ¼ 0.0145; (b) for K ¼ 1000:
K1 ¼689.7 s1 and e(t)ss ¼ 0.00145; (c) unstable for K ¼ 1000; stable
for K ¼ 100 and the corresponding FOM are Mp ¼ 1.345, tp ¼1.06 s,
and ts ¼ 3.286 s.

CHAPTER 7
7.2. (c) For K > 0, real-axis branches: none; four branches; g ¼
45,

135 ; angles of departure:
45,
135 ; imaginary-axis crossing:

j2 with K ¼ 0. Branches are straight lines and coincide with the
asymptotes.
(e) Real-axis branch: 0 to 1; five branches; g ¼
36,
108, 180 ;
s0 ¼  1.6; no breakaway or break-in points; angles of departure:

71.7,
33.8 ; and the imaginary-axis crossing:
j1 with K ¼ 30.
Locus crosses the
36 asymptotes.
7.4. (a) For K > 0, real-axis branches: 0 to  10; three branches; g ¼
90 ;
s0 ¼ 0; break-in point: 3.9113 (K ¼ 3.33095); breakaway point:
2.78698 (K ¼ 3.4388); and imaginary-axis crossing: none.
(b) K ¼ 0:05427

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems 803

(c) eðtÞ ¼ 1:5951e2:2164t sin ð2:1992t þ 207:274 Þ

(d )

o M a, deg o M a, deg

0 1 0 1.4 0.9586 44.7

0.2 0.9995 6.1 1.8 0.9153 58.5
0.4 0.998 12.3 2.0 0.8854 65.5
0.6 0.9951 18.5 2.4 0.8103 79.3
0.8 0.9903 24.9 2.8 0.7202 92.3
1.0 0.9832 31.3 3.2 0.6252 104.1

7.7.Poles: p1 ¼ 1 p2 ¼ 7 p3 4 ¼ 4

j3
(a) For K > 0, real-axis branch: 1 to  7; four branches; g ¼
45,

135 ; angles of departure: 0, 180,
90 ; imaginary-axis cross-
ing
j4 with K ¼ 1105; break-in and breakaway pints coincide at
s ¼  4. For K < 0, real-axis branches: 1 to þ1 and  7 to 1;
g ¼
90, 180 ; angles of departure; 0,
90, 180 ; imaginary-axis
crossing: s ¼ 0 with K ¼ 175.
ðbÞ  175 < K < 1105 ðcÞ K ¼ 81
7.8. (1) (a) For K ¼  50K1: three branches; g ¼
90 for K1 <0; g ¼ 180
for K1 >0; s0 ¼  9.5; breakaway points:  7.72 for K > 0,  3.139 for
K < 0; break-in point: 5.362 for K < 0; imaginary-axis crossings:
at s ¼ 0 for K ¼ 50 and
j3.6993 for K ¼ 66.32.
(b) Stable for 66.32 < K < 50
7.11. (a) Real-axis branches: 3.2 to 1 (Note: The canceled pole and zero
at s ¼ 5 is a root of the characteristic equation and is not utilized
in determining the root locus for locating the remaining roots.)
6-branches: g ¼
36,
108, 180, s0 ¼  22.5; Break-in point:
s ¼ 16.5; Angle of departures (given in order of closeness to the
imaginary axis in the 2nd quadrant): 144.4, 94.4, 4.2 ;
Imaginary-axis crossing:
j17.20 for K ¼ 1.869 107.
(b) KG KH ¼ 1:0735; p1 2 ¼
j17:21 p3 4 ¼ 33:28
j28:05 p5 ¼
4:634 p6 ¼ 44:46 p7 ¼ 5

CðsÞ 1:869  107 ðs þ 3:2Þ

ðcÞ ¼
RðsÞ ðs þ 4:634Þðs þ 5Þðs þ 44:46Þðs
j17:21Þðs þ 33:28
j28:05Þ

7.12. ð1Þ ðaÞ A ¼ 1:44

Copyright © 2003 Marcel Dekker, Inc.

 804 Linear Control System Analysis and Design

CHAPTER 8
 
8.1. (b) (1) Gð j0þÞ ¼ 1ff 90  Gð j1Þ ¼ 0ff  270  ox ¼ oc ¼ 2:236,
Gð jox Þ ¼ 0:2223 of ¼ 0:867
 
(2) Gð j0þÞ ¼ 1ff 90  Gð j1Þ ¼ 0ff 360  ox ¼ oc ¼ 9:75
Gð jox Þ ¼ 0:0952 of ¼ 0:4977

8.4. (1) ðbÞ Gð j0þÞ ¼ 1ff 90  Gð j1Þ ¼ 0ff 270  ox ¼ 35:4


Gð jox Þ ¼ 0:05645
8.6. (a) It must have an initial slope of  40 dB/decade
(b) The phase-angle curve approaches an angle of 180 as o ! 0
8.9. Case II:

2337:5ð1 þ 0:25sÞ
GðsÞ ¼
sð1 þ 5sÞð1 þ 0:125sÞð1 þ 0:05sÞ

8.10. ðaÞ K0 ¼ 31:7 ðbÞ K2 ¼ 2:56 ¼ ðoy Þ2

8.11. (a) Plant 1

0:4
GðsÞ ¼
sðs þ 1
j4Þ

8.13. (a) N ¼  2, ZR ¼ 2, unstable (c) N ¼ 0, ZR ¼ 0, stable

8.14. (a) For stability K > 1.26759
8.15. (a) Stable for K > 2 (e) Stable for 18 < K < 90.12
8.16. (1) ðaÞ K1 ¼ 5:5654 of ¼ 4:845 ðbÞ K1 ¼ 3:345 of ¼ 3:15
ðcÞ maximum K1 ¼ 1:9429  105
(2) ðaÞ K0 ¼ 20:13 of ¼ 8:3 ðbÞ K0 ¼ 8:58 of ¼ 4:61
ðcÞ Stable for 0 < K0 < 1

CHAPTER 9
9.1. ð2Þ K1 ¼ 7:94 Mm ¼ 1:326 om ¼ 7:81 of ¼ 6:94 oc ¼ 15:81
(4) K1 ¼ 0:7075 Mm ¼ 1:318 om ¼ 0:658 of ¼ 0:6054 oc ¼ 1:508
9.3. Mm ¼ 1:30 K1 ¼ 2:975 om ¼ 2:75
9.5. (1) (a) Mm ¼ 1 om ¼ 0 ðbÞ Mm ¼ 1:326 om ¼ 5:4 ðcÞ Mm ¼ 1:016
om ¼ 2:24
9.8. (4) ðaÞ Mm ¼ 5:8904 om ¼ 3:82 ðcÞ K0 ¼ 0:18 for Mm ¼ 1:12
ðdÞ om ¼ 0:39 g ¼ 56:16
9.11. Using a CAD program: (a) Mm ¼ 1.11293, om ¼ 0.435 (b) K ¼ 1.338
(c) a ¼ 6

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems 805

CHAPTER 10

10.3, 10.18.

Dominant Other
System (1) roots roots K1 s1 Tp,s ts,s Mo

Basic 1.25
j 2.166 6.501 1.72 1.67 3.36 0.14
Lag-compensated:
a ¼ 10, T ¼ 2 1.03
j 1.787 5.267 16.16 1.8 5.37 0.41
0.726
Lead-compensated:
a ¼ 0.1, T ¼ 0.25 2.23
j 3.86 3.123 3.13 0.916 1.78 0.10
40.42
Lag-lead-compensated:
a ¼ 10, T1 ¼ 2, T2 ¼ 0.25 2.08
j 3.6 0.598 30.18 0.967 4.15 0.244
2.897
40.40
Tachometer-compensated:
A ¼ 1.61, Kt ¼ 1, z ¼ 0.5 3.40
j 5.89 1.2 1.02 — 3.39 0.0
A ¼ 4.79, Kt ¼ 1, z ¼ 0.3 1.86
j 5.92 4.28 2.97 0.756 1.89 0.13

10.6. (a) a ¼ 4, b ¼ 2.6653 (b) a ¼ 1.126 (c) lag compensator

10.7. (a) For the uncompensated system: from the performance specifica-
tions, for z ¼ 0.5, are Mp ¼ 1.16, tp ¼ 2 s, ts ¼ 4.39 s, K ¼ 2.933,
K1 ¼1.76 s1, and the control ratio poles are  0.9235
j 1.601
and 5.153.
(b) jsj  4=Ts ¼ 2; assuming a ¼ 2, z ¼ 0.5, and jsj ¼ 2 yields
b ¼ 4.726
(c) A ¼ 5.21 and a ¼ 0.4232
(d) A lead compensator; Mp ¼1.59, tp ¼ 0.917 s, ts ¼ 2.02 s, and
K1 ¼3.88 s1
10.18. (a) For z ¼ 0.5 the uncompensated system yields the following data:
K ¼ 25.01, K1 ¼5 s1, Mp ¼1.163, tp ¼ 0.725 s, ts ¼ 1.615 s.
(b) Based upon the desired values of z and s ¼ 7, the desired
dominant poles are P1,2D ¼  7
j12.124. One possible solution
is: let a ¼ 40, b ¼ 0.01, c ¼ 0.1; by applying the angle condition
and the use of a CAD package the following results are obtained:
A ¼ 6.0464, Kh ¼11.18, K1 ¼126.1s1, Mp ¼1.161, tp ¼ 0.27 s,
ts ¼ 0.426 s.

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 806 Linear Control System Analysis and Design

10.20. See Prob.10.3 for basic system performance data. Based on the desired
performance specifications, the desired dominant poles are:
P1 2D ¼ 4
j6:928. Let Kx ¼ 1250 K1 be the gain term of G(s). By
applying method 1, the following results are obtained: K x ¼ 760.71,
Kt ¼ 0.5619, b ¼11.895, Mp ¼1.092, tp ¼ 0.725 s, ts ¼ 0.97 s, K1 ¼
2.369 s1. The other poles are: 6.296
j4.486 and 11. The plot of
c(t) has the desired simple second-order time response characteristics
due to the effect of the real root.

CHAPTER 11
11 1 ðaÞ K ¼ 11935, of ¼ 3:10, g ¼ 51:16, Mp ¼ 1:161, tp ¼ 0:8654 s
. .

ts ¼ 1:807 s K1 ¼ 3:6387 s1 :

(b) 1=T ¼ 0:302 K ¼ 11935 A ¼ 7:7084 Mm ¼ 1:18
Mp ¼ 1:203 tp ¼ 1:104 s ts ¼ 5:455 s K1 ¼ 28:05 s1 ;

of ¼ 2:53 g ¼ 51:1 :
Results for an Mm ¼ 1:16 are not as good as for Mm ¼ 1:18:
(c) T ¼ 0:25, K ¼ 213200, Mm ¼ 1:564, Mp ¼ 1:186, tp ¼ 0:3125 s
ts ¼ 1:273 s, K1 ¼ 6:50 s1 ; for Mm ¼ 1:16: Kx ¼ 175800, Mp ¼
1.076, tp ¼ 0:3372 s ts ¼ 1:105 s K1 ¼ 5:36 s1  of ¼ 7:10,
g ¼ 66:46 :
(d) T1 ¼ 3:311, T2 ¼ 0:25, Kx ¼ 209000, Mm ¼ 1:564, Mp ¼ 1:212,
tp ¼ 0:3180 s, ts ¼ 2:857 s, K1 ¼ 63:72 s1 ; for Mm ¼ 1:16: K ¼
175800, Mp ¼ 1:104, tp ¼ 0:3442 s, ts ¼ 3:526 s K1 ¼ 54:87 s1 
of ¼ 7:35 g ¼ 62:71 :
 
1 1 þ Ts B
11 5 ðaÞ GðsÞ ¼  where T ¼ and
¼ 0:5
8K 1 þ
Ts
. .
K


11 12 ðaÞ At o ¼ 8 : Gð joÞ ¼ Cð joÞ=Eð joÞ  6:3ff 119  thus K1 ¼ 250
. .

of ¼ 8 and g  40 :

ðs þ 1Þð0:5s þ 1Þ
ðbÞ Gc ¼
ð10s þ 1Þð0:05s þ 1Þ
11.17. (a) K2x ¼ 2.02, ofx ¼ 2.15, Mm ¼1.398, Mp ¼1.29, tp ¼1.39 s, ts ¼ 3.03 s
(c) For g ¼ 50: u ¼ of T ¼ 8:6T ¼ 1:19 yields T ¼ 0.1384. From the
graphical construction, with o1  of =20 and o2 ¼ 20 of ¼ 172,
obtain Kt ¼ 24.28 and A ¼ 180, thus
CðsÞ 2907ðs þ 1Þðs þ 7:225Þ
¼
EðsÞ s 2 ðs þ 1:108Þðs þ 406:3Þ

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 Answers to Selected Problems 807

The 0-dB crossing slope is 12 dB/oct at o ¼ 6, but the zero at

7.225 will have a moderating effect on the degree of stability.
(d ) Mm ¼1.47, Mp ¼1.30, tp ¼ 0.34 s, ts ¼1.03 s, K2 ¼ 46.65; since the
values of Mp are essentially the same, a good improvement in
system performance has been achieved. g ¼ 51 and of ¼ 9:12.

CHAPTER 12

2:31ðs þ 20Þ
12 2 Gc ðsÞ
s þ 21
. .

With this cascade compensator Mp ¼1.12, tp ¼1.493 s, ts ¼ 2.941 s,

K1 ¼1.53. The specified MT (s) yields Mp ¼1.123, tp ¼1.493, ts ¼ 2.948,
K1 ¼1.424.
12.4. As a first trial, use
2:994ðs þ 2:1Þ
Gc 
s þ 2:223
With this cascade compensator Mp ¼1.03, tp ¼ 2.37 s, ts ¼ 2.94 s,
Kt ¼ 0.75. The specified MT (s) yields Mp ¼1.06, tp ¼ 2.2 s, ts ¼ 3.04 s,
K1 ¼0.79.
12.8. (a) The pole at the origin of H(s) ensures c(t)ss ¼ 0; make pole b
nondominant: b ¼ 100
ðbÞ KH ¼ 2500
(c) Chxaracteristic equation: s4 þ104s3 þ10,400s2 þ120,000s þ
320,000 ¼ 0. Routh stability criterion reveals that all roots lie
in the left-half s plane. A plot of Lm GxH reveals that its 0-dB
axis crossing slope is 6 dB/oct, indicating a stable system.
The system poles are p1 ¼ 4, p2 ¼  8.06, p3,4 ¼  45.97

j311.7.jy(tp)j ¼ 0.0025, tp ¼ 0.163 s. For jy(tp)j ¼ 0.01, K H ¼ 630,

which produces very little change in the value of tp.

CHAPTER 13
13.3. (1) (a) Not observable, (b) controllable, (c)GðsÞ ¼ 2=ðs  2Þ, (d) one
observable and two controllable states, (e) unstable
(4) (a) Observable, (b) controllable, (c) GðsÞ ¼ ðs  1Þ=ðs þ 1Þ ðs þ 2Þ,
(d) Two observable and two controllable states, and (e) stable
13.5. (a) Add a cascade compensator Gc ðsÞ ¼ 1=ðs þ 1Þ
ðbÞ Heq ðsÞ ¼ k3 s2 þ ð2k3 þ k2 Þs þ k1

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 808 Linear Control System Analysis and Design

(d) A desired control ratio is

Y ðsÞ A
MT ðsÞ ¼ ¼
RðsÞ ðs2 þ 4s þ 13Þðs þ 25Þ
ðeÞ With A ¼ 162:5 kT ¼ ½1 0:16923 0:08
ðgÞ Geq ðsÞ ¼ 325=½sðs 2 þ 29s þ 113Þ K1 ¼ 2:876
ðhÞ Mp ¼ 1:12 tp ¼ 1:09 s ts ¼ 1:66 s
13.8. For system (1) (a)
11700
M ðsÞ ¼
ðs þ 12
j21Þðs þ 20Þ
k1 ¼ 1 k2 ¼ 0:091026 k3 ¼ 0:003077
12t
(b) yðtÞ ¼ 1 þ 1:025e sin ð21t þ 171:1 Þ  1:1584e20t
Mp ¼ 1:057 tp ¼ 0:215 s ts ¼ 0:273 s K1 ¼ 11 s1
13.12. (a)
Y ðsÞ 1:467ðs þ 1:5Þðs þ 2Þ
MT ðsÞ ¼ ¼
RðsÞ ðs2 þ 2s þ 2Þðs þ 1:1Þðs þ 2Þ
s þ 1:5
where Gc ðsÞ  A ¼ 1:467
sþ1
Y ðsÞ=RðsÞ
Aðs þ 1:5Þðs þ 2Þ
¼ 4
s þ ½7 þ Að0:5k4 þ k3 þ k2 Þs 3 þ ½11 þ Að3k4 þ 2:5k3 þ 3:5k2 þ k1 Þs 2
þ ½5 þ Að2:5k4 þ 1:5k3 þ 3k2 þ 3:5k1 Þs þ 3Ak1
where k1 ¼ 1 k2 ¼ 0:8635 k3 ¼ 2:43541 k4 ¼ 0:5521
ðcÞ Mp ¼ 1:015 tp ¼ 3:75 s ts ¼ 2:79 s K1 ¼ 0:524 s1
13.16. (a)
195ðs þ 2Þ
MT ðsÞ ¼
ðs þ 2s þ 2Þðs þ 1:95Þðs þ 100Þ
2

(b) By applying the Guillemin-Truxal method, a reduced-order

compensator is obtained by dividing the denominator of Gc(s) by
its numerator to obtain Gc(s)  1/(s þ 99.9). The figures of merit
for MT(s) are Mp ¼1.042, tp ¼ 3.18 s, and ts ¼ 4.23 s, where for the
system implemented with the reduced-order compensator
Mp ¼1.056, tp ¼ 3.12 s, and ts ¼ 4.44 s.
 
13.19. k ¼ 8 2:5
T

 
5 3t 1 6t 3t 6t 1
x1 ðtÞ ¼ e  e x2 ðtÞ ¼ 5e þ 4e xð0Þ ¼
3 3 1
13.20. (1) (a) Completely controllable, (b) s ( Ap) ¼ {1, 2, 3},

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 Answers to Selected Problems 809
2 3
6 5 1
6 7  
ðcÞ T ¼ 4 3 2 1 5 ðdÞ kT ¼ 42 33 6
0 2 1

CHAPTER 14
14.1. For m ¼1: (a)

s 4 þ 7s 3 þ 25s 2 þ 39s
SkT ðsÞjk¼15 ¼
s 4 þ 7s3 þ 25s 2 þ 54s þ 75
14.6. (a) p ¼ 21, KG ¼ 30.8 (b) No; need a compensator of the form
Aðs þ aÞ
Gc ¼
ðs þ bÞðs þ cÞ

14.10. For system (2), (a) Three equilibrium points are

2 3 2 13 2 13
0 2 2
6 7 6 7 6 7
xa ¼ 4 0 5 xb ¼ 4 0 5 xc ¼ 4 0 5
0 2 2

(b) For xb,

2 3
0 1 0
6 3 0:5x3 7
J xb ¼ 4 2 5
2
3 0 2x1 þ 1 x
o

CHAPTER 15
15.5. ðaÞ z 1 þ 1:8z 2 þ 2:19z 3 þ 2:252z 4 þ
15.7. ðaÞ f ð0Þ ¼ 0; system is stable thus f ð1Þ ¼ 1:95122
15.8. ðaÞ ð1  2z 1 þ 1:41z 2  0:41z 3 ÞCðzÞ ¼ ðz 1  0:2z 2 ÞEðzÞ
By use of Theorem 1:
cðkT Þ ¼ 2c½ðk  1ÞT   1:41c½ðk  2ÞT  þ 0:41c½ðk  3ÞT 
þ e½ðk  1ÞT   0:2e½ðk  2ÞT 

15.11. System 2
C  ðsÞ ¼ G1 G2 ðsÞM  ðsÞ

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 810 Linear Control System Analysis and Design

C  ðsÞ G1 G2 ðsÞ

¼
R ðsÞ 1 þ G1 H  ðsÞ þ G1 G2 ðsÞ

CðzÞ G1 G2 ðzÞ
¼
RðzÞ 1 þ G1 H ðzÞ þ G1 G2 ðzÞ

CHAPTER 16

16.1. (1)

z-domain value

s Plane Eq. (16.8) Z ¼ esT

 1.5 0.94176 0.94176

3 0.8868 0.88692
 20 0.4286 0.44933
2
j3 0.9167
j 0.1106 0.91671
j 0.11054
10
j 25 0.4201
j 0.5917 0.39208
j 0616063

16.2. (2) zTU ¼ 0.2857, z ¼ 0.006738
difference due to warping

(3) zTU ¼ 0.71598
j0.11834, z ¼ 0.20586
j0.69589
difference due
to warping
16.3. (1)
 
CðsÞ Ks þ 8K
¼ ! 8K
RðsÞ T ðs 2 þ 10s þ 174Þðs þ 10Þ
¼ ð10Þð174Þ ! K ¼ 217:5
(b) For T ¼ 0.1!
j(0.6114/T ) ¼
j6.114 and (0.1)/T ¼  1!
thus, the zero and poles of the desired control ratio do not lie in the
good Tustin region of Fig. 16.5. Thus:
0:6114 0:1 0:1
 7 ! T  0:08734 and  10 ! T   0:01;
T T 10
therefore,T  0.01.
16.5.
Kc ðz  0:6703Þ
Dc ðzÞ ¼ where
ðz  0:06703Þ
K ¼ 3:795  102 K1  0:2566 ! Kc ¼ 6:7615

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems 811

Mp ¼ 1:062 tp ¼ 0:4 s ts ¼ 0:6þ s and K1 ¼ 5:1577 s1

CðsÞ 251:2ðs þ 0:005Þ

¼
RðsÞ ðs þ 0:4061
j0:4747Þðs þ 0:0005Þðs þ 3:183Þðs þ 200þ Þ

Mp ¼ 1:078 tp ¼ 6:98 s ts ¼ 10:7 s K1 ¼ 4:187 and A ¼ 10

The remaining solutions are left to the instructor to obtain.
16.10. (a)
4:967  105 Kx ðz þ 0:9934Þ
Gz ðzÞ ¼ ! Kx ¼ 2:34105
ðz  1Þðz  0:9802Þ
CðzÞ 1:163  104 ðz þ 0:9934Þ
¼
RðzÞ ðz  0:9900
j0:01152Þ
(b) The PCT block diagram is similar to that of Fig. 16.14 d with
Dc ðsÞ ¼ 1 and Gpa ðsÞ=T ¼ 200=ðs þ 200Þ ¼ GA ðsÞ:
200Kx
GPC ðsÞ ¼ GA Gx ðsÞ ¼  K ¼ 2:34105
sðs þ 2Þðs þ 200Þ x
CðsÞ GPC ðsÞ 466:21
¼ ¼
RðsÞ 1 þ GPC ðsÞ ðs þ 0:99408
j1:159Þðs þ 200:012Þ
The continuous-time system control ratio, for z ¼ 0.65, is:
CðsÞ Gx ðsÞ 2:368
¼ ¼
RðsÞ 1 þ Gx ðsÞ s þ 1
j1:170
(c) DIG
To reduce ts by about 1/2, select Dc ðsÞ ¼ Aðs þ 2Þ=ðs þ 5Þ;
GðsÞ ¼ Dc ðsÞGp ðsÞ ¼ 1 for z ¼ 0.65: K ¼ 200AK x ¼ 2874.6;
Kx ¼ 2.368, and A ¼ 6.0705.
CðsÞ K
¼ ;
RðsÞ ðs þ 2:463
j2:881Þðs þ 200:1Þ
5:982ðz  0:9802Þ
½Dc ðzÞTU ¼
z  0:9512

CðzÞ ½Dc ðzÞTU Gz ðzÞ 7:0359  104 ðz þ 0:9934Þ

¼ ¼
RðzÞ 1 þ ½Dc ðzÞTU Gz ðzÞ z  0:9752
j0:02810
DIR
For K x ¼ 2.368 and z ¼ 0.65, Dc(z) = A(z  0.9802)/
ðz  0:09802Þ where A ¼ 1865:3.
CðzÞ Dc ðzÞGz ðzÞ 0:2194ðz þ 0:9934Þ
¼ ¼
RðzÞ 1 þ Dc ðzÞGz ðzÞ z  0:4393
j0:3507

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 812 Linear Control System Analysis and Design

(d ) DIG
For K x ¼ 2.368 and z ¼ 0.65, Dc(s) = 0.1A(s + 0.01)/

ðs þ 0:001Þ and A ¼ 9:384893:
CðsÞ Dc ðsÞGPC ðsÞ
¼
RðsÞ 1 þ Dc ðsÞGPC ðsÞ
CðsÞ 468:4ðs þ 0:01Þ
¼
RðsÞ ðs þ 0:98955
j1:1595Þðs þ 0:01008Þðs þ 200:01Þ
0:9385315ðz  0:9999Þ
½Dc ðzÞTU ¼
z  0:99999
CðzÞ ½Dc ðzÞTU Gz ðzÞ
¼
RðzÞ 1 þ ½Dc ðzÞTU Gz ðzÞ
1:1633  104 ðz þ 0:9934Þðz  0:9999Þ
¼
ðz  0:990087
j0:01148126Þðz  0:99989923Þ
DIR
For Kx ¼ 2.368, z ¼ 0.65, and
K ðz  0:9999Þ
½Dc ðzÞTU ¼ zc ! Kzc ¼ 0:986259 obtain:
z  0:99999
CðzÞ Dc ðzÞGz ðzÞ 1:1163104 ðz þ0:9934Þðz 0:9999Þ
¼ ¼
RðzÞ 1þDc ðzÞGz ðzÞ ðz 0:990087
j0:01145146Þðz 0:99989923Þ
(e) The tables summarize the results of the various designs presented
on the following page. The desired improvements using s-domain
compensation design rules (for both s- and z-domain analysis)
are obtained. Since the dominant poles and zeros lie in the
good Tustin region for the lag and lead units, there is a good
correlation between the DIG and DIR results.

Zeros
System Domain of C/R Poles of C/R

Basic (a) Continuous s — 1.000

j 1.170
and (b)
DIG s — 0.9941
j 1.159, 200.012
DIR z 0.9934 0.9900
j 0.01152
(c) Lead DIG s — 2.463
j 2.881, 200.1
z 0.9934 0.9752
j 0.02810
DIR z 0.9934 0.4393
j 0.3507
(d) Lag DIG s 0.01  0.9895
j 1.160, 0.01008, 200.01
z 0.9934
0.990087
j 0.011481, 0.999899
DIR z 0.9999 0.990087
j 0.001145146, 0.999899

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 Answers to Selected Problems 813

System Domain Kx Mp tp s ts s K1 s1

Basic (a) and (b) Continuous s 2.368 1.0682 2.69 3.90 1.184
DIG s 2.341 1.0675 2.72 3.94 1.165
DIR z 2.341 1.068 2.70 3.93 1.171
(c) Lead DIG s 2.368 1.068 1.096 1.59 2.875
z 1.068 1.09 1.58 2.874
DIR z 1.067 0.05 0.07 2.84
(d) Lag DIG s 1.0767 2.71 4.15 11.71
z 1.077 2.71 4.16 11.71
DIR z 1.076 2.72 4.17 11.68

16.13. (a)
2:073  107 ðz þ 3:695Þðz þ 0:2653Þ
Gz ðzÞ ¼ Gzo Gx ðzÞ ¼
ðz  1Þðz  0:9900Þðz  0:9704Þ
CðzÞ 2:073  107 ðz þ 3:695Þðz þ 0:2653Þ
¼
RðzÞ ðz  0:9959
j0:0047756Þðz  0:9687Þ

Mp ¼ 1:067 tp ¼ 6:94 s ts ¼ 9:92 s and K1 ¼ 0:41604 s1

(b)
200Kx
GðsÞ ¼ GA ðsÞGx ðsÞ ¼
sðs þ 1Þðs þ 3Þðs þ 200Þ

CðsÞ 251:2
¼
RðsÞ ðs þ 0:4082
j0:4773Þðs þ 3:184Þðs þ 200þ Þ

Mp ¼ 1:067 tp ¼ 6:94 s ts ¼ 9:90 s and K1 ¼ 0:4187 s1

(c) PCT lead design
Dc ðsÞ ¼ Ksc ðsÞðs þ 1Þ=ðs þ 3Þ
CðsÞ 1454
¼
RðsÞ ðs þ 0:8439
j0:9866Þðs þ 4:312Þðs þ 200þ Þ
Mp ¼ 1:064 tp ¼ 3:47 s ts ¼ 4:88 s K1 ¼ 0:808 s1  and
A = 5.7882
(d ) PCT lag design
Dc ðsÞ ¼ ðA=10Þ½ðs þ 0:005Þ=ðs þ 0:0005Þ

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