Automatic Control CH2

T W O
Modeling in the
Frequency Domain
SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Transfer Functions

Finding each transfer function:
Vi (s) 10
Pot: = ;
θ i (s) π
Vp (s)
Pre-Amp: = K;
Vi (s)
E a (s) 150
Power Amp: =
Vp (s) s  150
50 2
Motor: Jm = 0.05 + 5 ( 250 ) = 0.25
50 2
Dm =0.01 + 3 ( 250 ) = 0.13
Kt 1
=
Ra 5
KtKb 1
=
Ra 5
Kt
θ (s) Ra Jm 0.8
Therefore: m = =
E a (s) 1 K K
s(s  (Dm  t b )) s(s  1.32)
Jm Ra
θ O (s) 1 θ (s) 0.16
And: = m =
E a (s) 5 E a (s) s(s  1.32)
Transfer Function of a Nonlinear Electrical Network
d(i0   i)
Writing the differential equation,  2(i0   i)2  5  v(t) . Linearizing i2 about i0,
dt
(i0  δi)2  i 02  2i | δi  2i 0 δi. Thus, (i 0  δi)2  i 02  2i 0 δi.

i  i0
2-2 Chapter 2: Modeling in the Frequency Domain
d δi
Substituting into the differential equation yields, + 2i02 + 4i0i - 5 = v(t). But, the
dt
resistor voltage equals the battery voltage at equilibrium when the supply voltage is zero since
the voltage across the inductor is zero at dc. Hence, 2i02 = 5, or i0 = 1.58. Substituting into the linearized
d δi δi(s) 1
differential equation, + 6.32i = v(t). Converting to a transfer function, = . Using
dt V(s) s  6.32
the linearized i about i0, and the fact that vr(t) is 5 volts at equilibrium, the linearized vr(t) is vr(t) = 2i2 =
2(i0+i)2 = 2(i02+2i0i) = 5+6.32i. For excursions away from equilibrium, vr(t) - 5 = 6.32i = vr(t).
Vr (s) 6.32
Therefore, multiplying the transfer function by 6.32, yields, = as the transfer function
V(s) s  6.32
about v(t) = 0.
ANSWERS TO REVIEW QUESTIONS

1. Transfer function
2. Linear time-invariant
3. Laplace
4. G(s) = C(s)/R(s), where c(t) is the output and r(t) is the input.
5. Initial conditions are zero
6. Equations of motion
7. Free body diagram
8. There are direct analogies between the electrical variables and components and the mechanical variables
and components.
9. Mechanical advantage for rotating systems
10. Armature inertia, armature damping, load inertia, load damping
11. Multiply the transfer function by the gear ratio relating armature position to load position.
12. (1) Recognize the nonlinear component, (2) Write the nonlinear differential equation, (3) Select the
equilibrium solution, (4) Linearize the nonlinear differential equation, (5) Take the Laplace transform of
the linearized differential equation, (6) Find the transfer function.
SOLUTIONS TO PROBLEMS
1.
 
1 st 1
a. F (s )   e dt   e
 st

0
s 0 s
 
e st  (st  1)
b. F (s )   te dt  2 (st  1) 0 
 st
0
s s 2e st 0
Solutions to Problems 2-3
Using L'Hopital's Rule
s 1
F (s ) t    0. Therefore, F (s )  .
s 3e st t  s2
 
e st 
c. F (s )   sin t e dt  2 (s sin t   cos t )  2
 st
0
s  2
0
s  2
 
e st s
d. F (s )   cos t e dt  2 (s cos t   sin t )  2
 st
0
s  2
0
s  2
2.
ω
a. Using the frequency shift theorem and the Laplace transform of sin t, F(s) = .
(s+a)2 +ω2
(s+a)
b. Using the frequency shift theorem and the Laplace transform of cos t, F(s) = .
(s+a)2 +ω2
t2
c. Using the integration theorem, and successively integrating u(t) three times,  dt = t;  tdt = 2
;
t3 6
 t2
2
dt =
6
, the Laplace transform of t3u(t), F(s) = 4 .
s
3.
a. Taking the sum of the voltages around the loop and assuming zero initial conditions yields:
t
di (t ) 1
Ri (t )  L   i ( )d  v (t )
dt C0
b. Applying Laplace transform and solving for I(s)/V(s) gives:
I (s ) 1 1
 
V (s ) Ls  R  1 L (s  R  1 )
Cs L LCs
Substituting the values of R, L, and LC, we have:
I (s ) 2 2s
  2
V (s ) (s  2  ) s  2s  16
16
s
Solving for I(s) and noting that V(s) = 1/s, we get:
2
I (s ) 
s  2s  16
2
Observing that the denominator has complex roots, we re-write the above equation as:
2
I (s ) 
(s  1)  ( 15)2
2
Applying the frequency shift theorem to the Laplace transform of sin t u(t), we find that the

transform for f (t )  e
at
sin(t ) is F (s )  .
(s  a)2   2
Comparing F(s) to I(s), we conclude that in the latter: a = 1 and  15 . Thus, the current, i(t),
may be given by:
2
i (t )  15 e t sin( 15 t )
15
c.
4.
a. The Laplace transform of the differential equation, assuming zero initial conditions,
5s
is, (s+7)X(s) = . Solving for X(s) and expanding by partial fractions,
s2  2 2
5s 35 1 5 7s  4
 
(s  7)(s  4)
2
53 s  7 53 s 2  4
Or,
5s 35 1 5 7s  2 4
 
(s  7)(s  4)
2
53 s  7 53 s2  4
35 -7t 35 10
Taking the inverse Laplace transform, x(t) = - e +( cos 2t + sin 2t).
53 53 53
b. The Laplace transform of the differential equation, assuming zero initial conditions, is,
15
(s2+6s+8)X(s) = .
s2  9
Solving for X(s)

15
X(s) 
(s  9)(s2  6s  8)
2
and expanding by partial fractions,
1
6s  9
3 9 3 1 15 1
X(s)    
65 s 9
2
10 s  4 26 s  2
Taking the inverse Laplace transform,
18 1 3 15
x(t)   cos(3t)  sin(3t)  e 4t  e 2t
65 65 10 26
c. The Laplace transform of the differential equation is, assuming zero initial conditions,
10
(s2+8s+25)x(s) = . Solving for X(s)
s
10
X(s) 
s(s  8 s  25)
2
and expanding by partial fractions,

4
1(s  4)  9
21 2 9
X(s)  -
5s 5 s  42  9
Taking the inverse Laplace transform,
2 4t  8 2 
x (t )   e  sin(3t )  cos(3t ) 
5  15 5 
5.
2
a. Taking the Laplace transform with initial conditions, s2X(s)-4s+4+2sX(s)-8+2X(s) = .
s  22
2
Solving for X(s),

4s 3  4s 2  16s  18
X(s) = .
(s 2  4)(s 2  2s  2)
Expanding by partial fractions
1
s 2
1  1  21(s  1)  2
X(s)     2 2 2   
 5  s  2  5  (s  1)  1
2
1  t 2 t 1 
Therefore, x (t )  21e cos t  e sin t  sin 2t  cos 2t 
5 21 2 
5 1
b. Taking the Laplace transform with initial conditions, s2X(s)-4s-1+2sX(s)-8+X(s) = + 2 .
s2 s
Solving for X(s),
4s 4  17s 3  23s 2  s  2
X (s ) 
s 2 (s  1)2 (s  2)
1 2 11 1 5
X (s)     
s 2
s (s  1) (s  1) (s  2)
2
t
Therefore x (t )  t  2  11te  e t  5e 2t .
2
c. Taking the Laplace transform with initial conditions, s2X(s)-s-2+4X(s) = . Solving for X(s),
s3
2s 4  3s3  2
X (s) 
s 3 (s 2  4)
17 3
s  *2
8 2 1/ 2 1/ 8
X (s)   3 
s2  4 s s
17 3 1 1
Therefore x(t )  cos 2t  sin 2t  t 2  .
8 2 4 8
6.
Program:
syms t
'a'
theta=45*pi/180
f=8*t^2*cos(3*t+theta);
pretty(f)
F=laplace(f);
F=simple(F);
pretty(F)
'b'
theta=60*pi/180
f=3*t*exp(-2*t)*sin(4*t+theta);
pretty(f)
F=laplace(f);
F=simple(F);
pretty(F)
Computer response:
ans =
theta =
0.7854
2 / PI \
8 t cos| -- + 3 t |
\ 4 /
1/2 2
8 2 (s + 3) (s - 12 s + 9)
------------------------------
2 3
(s + 9)
ans =
theta =
1.0472
/ PI \
3 t sin| -- + 4 t | exp(-2 t)
\ 3 /
1/2 2
1/2 1/2 3 3 s
12 s + 6 3 s - 18 3 + --------- + 24
2
------------------------------------------
2 2
(s + 4 s + 20)
7.
Program:
syms s
'a'
G=(s^2+3*s+10)*(s+5)/[(s+3)*(s+4)*(s^2+2*s+100)];
pretty(G)
g=ilaplace(G);
pretty(g)
'b'
G=(s^3+4*s^2+2*s+6)/[(s+8)*(s^2+8*s+3)*(s^2+5*s+7)];
pretty(G)
g=ilaplace(G);
pretty(g)
Computer response:
ans =
2
(s + 5) (s + 3 s + 10)
--------------------------------
2
(s + 3) (s + 4) (s + 2 s + 100)
/ 1/2 1/2 \
| 1/2 11 sin(3 11 t) |
5203 exp(-t) | cos(3 11 t) - -------------------- |
20 exp(-3 t) 7 exp(-4 t) \ 57233 /
------------ - ----------- + ------------------------------------------------------
103 54 5562
ans =
3 2
s + 4 s + 2 s + 6
-------------------------------------
2 2
(s + 8) (s + 8 s + 3) (s + 5 s + 7)
/ 1/2 1/2 \
| 1/2 4262 13 sinh(13 t) |
1199 exp(-4 t) | cosh(13 t) - ------------------------ |
\ 15587 /
----------------------------------------------------------- -
417
/ / 1/2 \ \
| 1/2 | 3 t | |
| / 1/2 \ 131 3 sin| ------ | |

/ 5 t \ | | 3 t | \ 2 / |
65 exp| - --- | | cos| ------ | + ---------------------- |
\ 2 / \ \ 2 / 15 / 266 exp(-8 t)
---------------------------------------------------------- - -------------
4309 93
8.
The Laplace transform of the differential equation, assuming zero initial conditions, is,
(s3+3s2+5s+1)Y(s) = (s3+4s2+6s+8)X(s).
Y (s ) s 3  4s 2  6s  8
Solving for the transfer function, = .
X (s ) s 3  3s 2  5s  1
9.
a. Cross multiplying, (s2+5s+10)X(s) = 7F(s).
d 2x dx
Taking the inverse Laplace transform, 2
+5 + 10x = 7f.
dt dt
b. Cross multiplying after expanding the denominator, (s2+21s+110)X(s) = 15F(s).
d 2x dx
+ 21 + 110x =15f.
dt dt
c. Cross multiplying, (s3+11s2+12s+18)X(s) = (s+3)F(s).
d 3x d 2x dx df
+ 11 2 + 12 + 18x = +3f.
dt dt dt dt
10.
C (s) s 5  2s 4  4s 3  s 2  4
The transfer function is = 6 .
R(s ) s  7s 5  3s 4  2s3  s 2  5
Cross multiplying, (s6+7s5+3s4+2s3+s2+5)C(s) = (s5+2s4+4s3+s2+4)R(s).
Taking the inverse Laplace transform assuming zero initial conditions,
d6c d 5c d 4c d 3c d 2 c d 5r d 4r d 3r d 2 r
6
+ 7 5 + 3 4 + 2 3 + 2 + 5c = 5
+ 2 4 + 4 3 + 2 + 4 r.
dt dt dt dt dt dt dt dt dt
11.
C (s) s 4  2s3  5s 2  s  1
The transfer function is = 5 .
R( s ) s  3s 4  2s3  4s 2  5s  2
Cross multiplying, (s5+3s4+2s3+4s2+5s+2)C(s) = (s4+2s3+5s2+s+1)R(s).
Taking the inverse Laplace transform assuming zero initial conditions,
d 5c d 4c d 3c d 2c dc d 4r d 3r d 2 r dr
+ 3 + 2 + 4 + 5 + 2 c = + 2 + 5 + + r.
dc 5 dt 4 dt 3 dt 2 dt dt 4 dt 3 dt 2 dt
3 d 5c d 4c d 3c d 2c dc
Substituting r(t) = t , 5
+3 4 +2 3 +4 2 +5 + 2c
dc dt dt dt dt
= 18(t) + (36 + 90t + 9t2 + 3t3) u(t).
12.
Taking Laplace transform of the differential equation:
s 2 X (s )  s  1  4sX (s)  4  5X (s)  R (s)
Collecting terms: (s  4s  5)X (s )  R (s )  s  3

2
R (s ) s 3
Solving for X(s), X (s )   2
s  4s  5 s  4s  5
2
The block diagram is shown below, where R(s) = 1/s.
13.
Program:
'Factored'
Gzpk=zpk([-15 -26 -72],[0 -55 roots([1 5 30])' roots([1 27 52])'],5)
'Polynomial'
Gp=tf(Gzpk)
Computer response:
ans =
Factored
Zero/pole/gain:
5 (s+15) (s+26) (s+72)
--------------------------------------------
s (s+55) (s+24.91) (s+2.087) (s^2 + 5s + 30)
ans =
Polynomial
Transfer function:
5 s^3 + 565 s^2 + 16710 s + 140400
--------------------------------------------------------------------
s^6 + 87 s^5 + 1977 s^4 + 1.301e004 s^3 + 6.041e004 s^2 + 8.58e004 s
14.
Program:
'Polynomial'
Gtf=tf([1 25 20 15 42],[1 13 9 37 35 50])
'Factored'
Gzpk=zpk(Gtf)
Computer response:
ans =
Polynomial
Transfer function:
s^4 + 25 s^3 + 20 s^2 + 15 s + 42
-----------------------------------------
s^5 + 13 s^4 + 9 s^3 + 37 s^2 + 35 s + 50
ans =
Factored
Zero/pole/gain:
(s+24.2) (s+1.35) (s^2 - 0.5462s + 1.286)
------------------------------------------------------
(s+12.5) (s^2 + 1.463s + 1.493) (s^2 - 0.964s + 2.679)
15.
Program:
numg=[-5 -70];
deng=[0 -45 -55 (roots([1 7 110]))' (roots([1 6 95]))'];
[numg,deng]=zp2tf(numg',deng',1e4);
Gtf=tf(numg,deng)
G=zpk(Gtf)
[r,p,k]=residue(numg,deng)
Computer response:
Transfer function:
10000 s^2 + 750000 s + 3.5e006
-------------------------------------------------------------------------------
s^7 + 113 s^6 + 4022 s^5 + 58200 s^4 + 754275 s^3 + 4.324e006 s^2 + 2.586e007 s
Zero/pole/gain:
10000 (s+70) (s+5)
------------------------------------------------
s (s+55) (s+45) (s^2 + 6s + 95) (s^2 + 7s + 110)
r =
-0.0018
0.0066
0.9513 + 0.0896i
0.9513 - 0.0896i
-1.0213 - 0.1349i
-1.0213 + 0.1349i
0.1353
p =
-55.0000
-45.0000
-3.5000 + 9.8869i
-3.5000 - 9.8869i
-3.0000 + 9.2736i
-3.0000 - 9.2736i
0
k =
[]
16.
Program:
syms s
'(a)'
Ga=45*[(s^2+37*s+74)*(s^3+28*s^2+32*s+16)]...
/[(s+39)*(s+47)*(s^2+2*s+100)*(s^3+27*s^2+18*s+15)];
'Ga symbolic'
pretty(Ga)
[numga,denga]=numden(Ga);
numga=sym2poly(numga);
denga=sym2poly(denga);
'Ga polynimial'
Ga=tf(numga,denga)
'Ga factored'
Ga=zpk(Ga)
'(b)'
Ga=56*[(s+14)*(s^3+49*s^2+62*s+53)]...
/[(s^2+88*s+33)*(s^2+56*s+77)*(s^3+81*s^2+76*s+65)];
'Ga symbolic'
pretty(Ga)
[numga,denga]=numden(Ga);
numga=sym2poly(numga);
denga=sym2poly(denga);
'Ga polynimial'
Ga=tf(numga,denga)
'Ga factored'
Ga=zpk(Ga)
Computer response:
ans =
(a)
ans =
Ga symbolic
2 3 2
(s + 37 s + 74) (s + 28 s + 32 s + 16)
45 -----------------------------------------------------------
2 3 2
(s + 39) (s + 47) (s + 2 s + 100) (s + 27 s + 18 s + 15)
ans =
Ga polynimial
Transfer function:
45 s^5 + 2925 s^4 + 51390 s^3 + 147240 s^2 + 133200 s + 53280

--------------------------------------------------------------------------------
s^7 + 115 s^6 + 4499 s^5 + 70700 s^4 + 553692 s^3 + 5.201e006 s^2 + 3.483e006 s
+ 2.75e006
ans =
Ga factored
Zero/pole/gain:
45 (s+34.88) (s+26.83) (s+2.122) (s^2 + 1.17s + 0.5964)
-----------------------------------------------------------------
(s+47) (s+39) (s+26.34) (s^2 + 0.6618s + 0.5695) (s^2 + 2s + 100)
ans =
(b)
ans =
Ga symbolic
3 2
(s + 14) (s + 49 s + 62 s + 53)
56 ----------------------------------------------------------
2 2 3 2
(s + 88 s + 33) (s + 56 s + 77) (s + 81 s + 76 s + 65)
ans =
Ga polynimial
Transfer function:
56 s^4 + 3528 s^3 + 41888 s^2 + 51576 s + 41552

--------------------------------------------------------------------------------
s^7 + 225 s^6 + 16778 s^5 + 427711 s^4 + 1.093e006 s^3 + 1.189e006 s^2
+ 753676 s + 165165
ans =
Ga factored
Zero/pole/gain:
56 (s+47.72) (s+14) (s^2 + 1.276s + 1.111)
---------------------------------------------------------------------------
(s+87.62) (s+80.06) (s+54.59) (s+1.411) (s+0.3766) (s^2 + 0.9391s + 0.8119)
17.
Vo  Vi Vo V 1
a. Writing the node equations,   Vo  0 . Solve for o  .
s s Vi s  2
b. Thevenizing,
1
Vi (s) s V (s ) 1
Using voltage division, Vo (s)  . Thus, o  2
2 1 1 Vi (s) 2s  s  2
s
2 s
18.
a.
Writing mesh equations
(2s  2)I1 (s)  2 I2 (s)  Vi (s)
-2I1 (s)  (2s  4)I 2 (s)  0
But from the second equation, I1 (s)  (s  2)I2 (s) . Substituting this in the first equation yields,
(2s  2)(s  2)I2 (s)  2 I 2 (s)  Vi (s)
or
I2 (s) / Vi (s)  1/(2s2  4s  2)
But, VL (s)  sI2 (s). Therefore, VL (s) / Vi (s)  s /(2s2  4s  2).
b.
4 2
(4  )I 1 (s )  (2  )I 2 (s )  V (s )
s s
2 2
(2  )I 1 (s )  (4   2s )I 2 (s )  0
s s
Solving for I2(s):
4s  4
V (s)
s
(2 s  2)
0
s sV (s )
I 2 (s)   2
4s  4 (2 s  2) 4s  6s  2
s s
(2 s  2) (2 s 2  4 s  2)
s s
VL (s) 2sI 2 (s) 2s 2 s2
Therefore,   2  2
V (s) V (s) 4s  6s  2 2s  3s  1
19.
a.
Writing mesh equations,
(2s + 1)I1(s) – I2(s) = Vi(s)
-I1(s) + (3s + 1 + 2/s)I2(s) = 0

Solving for I2(s),
2 s  1 Vi (s )
1 0
I 2 (s) 
2s  1 1
3s 2  s  2
1
s
Solving for I2(s)/Vi(s),
I 2 (s ) s

Vi (s) 6s 3  5s 2  4s  2
But Vo(s) = I2(s)3s. Therefore, G(s) = 3s2/(6s3 + 5s2 +4s + 2).
b. Transforming the network yields,

Writing the loop equations,
s s
(s  )I 1 (s )  2 I 2 (s )  sI 3 (s )  V i (s )
s 1
2
s 1
s s 1
 2 I 1 (s )  ( 2  1  )I 2 (s )  I 3 (s )  0
s 1 s 1 s
sI 1 (s)  I 2 (s)  (2s  1)I 3 (s)  0
Solving for I2(s),
s(s 2  2s  2)
I 2 (s)  Vi (s)
s 4  2s3  3s 2  3s  2
I 2 (s) (s 2  2s  2)
But, Vo(s) = = 4 Vi (s) . Therefore,
s s  2s3  3s 2  3s  2
Vo (s) s 2  2s  2
 4
Vi (s) s  2s3  3s 2  3s  2
20.
a. Writing the nodal equations yields,
V R (s )  V i (s ) V R (s ) V R (s )  VC (s )
  0
2s 1 3s
1 1 1
 V R (s )   s  VC (s )  0
3s 2 3s 
Rewriting and simplifying,
6s  5 1 1
V R (s )  VC (s )  V i (s )
6s 3s 2s
1  3s  2 
2
 V R (s )   VC (s )  0
3s  6s 
Solving for VR(s) and VC(s),
1
V (s ) 
1 6s  5 1
V (s )
2s i 3s 6s 2s i
3s  2
2
1
0  0
V R (s )  6s ; V (s )  3s
6s  5 1 C
6s  5 1
 
6s 3s 6s 3s
1 3s  2
2
1 3s  2
2
 
3s 6s 3s 6s
Solving for Vo(s)/Vi(s)
Vo (s) VR (s)  VC (s) 3s 2

  3
Vi (s) Vi (s) 6s  5s 2  4s  2
b. Writing the nodal equations yields,
(V1 (s)  Vi (s)) (s 2  1)

 V1 (s)  (V1 (s)  Vo (s))  0
s s
(V (s)  Vi (s))
(Vo (s)  V1 (s))  sVo (s)  o 0
s
Rewriting and simplifying,
2 1
(s   1)V1 (s )  V o (s )  V i (s )
s s
1 1
V1 (s )  (s   1)V o (s )  V i (s )
s s
Solving for Vo(s)
(s 2  2s  2)
Vo(s) = V i (s ) .
s 4  2s 3  3s 2  3s  2
Hence,
Vo (s) (s 2  2s  2)
 4
Vi (s) s  2s3  3s 2  3s  2
21.
a.
Mesh:
(4+4s)I1(s) - (2+4s)I2(s) - 2I3(s) = V(s)
- (2+4s)I1(s) + (14+10s)I2(s) - (4+6s)I3(s) = 0
9
-2I1(s) - (4+6s)I2(s) + (6+6s+ s )I3(s) = 0
Nodal:
(V1 (s)  V (s)) V1 (s) (V1 (s)  Vo (s))

  0
2 2  4s 4  6s
(Vo (s)  V1 (s)) Vo (s) (Vo (s)  V (s))
  0
4  6s 8 9/s
or
 6s2 + 12s + 5   1  1
 2  V1 (s)    Vo (s)  V (s)
12s  14s  4   6s  4  2
 1   24s2 + 43s + 54  s
  V1 (s)    Vo (s)  V (s)
 6 s  4   216 s  144  9
b.
Program:
syms s V %Construct symbolic object for frequency
%variable 's' and V.

'Mesh Equations'
A2=[(4+4*s) V -2
-(2+4*s) 0 -(4+6*s)
-2 0 (6+6*s+(9/s))] %Form Ak = A2.
A=[(4+4*s) -(2+4*s) -2
-(2+4*s) (14+10*s) -(4+6*s)
-2 -(4+6*s) (6+6*s+(9/s))] %Form A.
I2=det(A2)/det(A); %Use Cramer's Rule to solve for I2.
Gi=I2/V; %Form transfer function, Gi(s) = I2(s)/V(s).
G=8*Gi; %Form transfer function, G(s) = 8*I2(s)/V(s).
G=collect(G); %Simplify G(s).
'G(s) via Mesh Equations' %Display label.
pretty(G) %Pretty print G(s)
'Nodal Equations'
A2=[(6*s^2+12*s+5)/(12*s^2+14*s+4) V/2
-1/(6*s+4) s*(V/9)] %Form Ak = A2.
A=[(6*s^2+12*s+5)/(12*s^2+14*s+4) -1/(6*s+4)
-1/(6*s+4) (24*s^2+43*s+54)/(216*s+144)]
%Form A.
Vo=simple(det(A2))/simple(det(A));
%Use Cramer's Rule to solve for Vo.
G1=Vo/V; %Form transfer function, G1(s) = Vo(s)/V(s).
G1=collect(G1); %Simplify G1(s).
'G(s) via Nodal Equations' %Display label.
pretty(G1) %Pretty print G1(s)
Computer response:
ans =
Mesh Equations
A2 =
[ 4*s + 4, V, -2]
[ - 4*s - 2, 0, - 6*s - 4]
[ -2, 0, 6*s + 9/s + 6]
A =
[ 4*s + 4, - 4*s - 2, -2]

[ - 4*s - 2, 10*s + 14, - 6*s - 4]
[ -2, - 6*s - 4, 6*s + 9/s + 6]
ans =
G(s) via Mesh Equations
3 2
48 s + 96 s + 112 s + 36
----------------------------
3 2
48 s + 150 s + 220 s + 117
ans =
Nodal Equations
A2 =
[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), V/2]

[ -1/(6*s + 4), (V*s)/9]
A =
[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), -1/(6*s + 4)]

[ -1/(6*s + 4), (24*s^2 + 43*s + 54)/(216*s + 144)]
ans =
G(s) via Nodal Equations
3 2
48 s + 96 s + 112 s + 36
----------------------------
3 2
48 s + 150 s + 220 s + 117
22.
a.
1
Z 1 (s )  5x 10 5 
2x 106 s
1
Z 2 (s )  10 5 
2x 106 s
Therefore,
Z 2 (s ) 1  s  5
 
Z 1 (s ) 5  s  1
b.
5  (s  5)
Z 1 (s )  105   1  105
s  s
 5  (s  10)
Z 2 (s )  105  1    105
 s 5  s  5
Therefore,
Z 2 (s ) s  s  10 
 
 s  5
2
Z 1 (s )
23.
a.
1
Z 1 (s )  4x 10 5 
4x 10 6 s
1
Z 2 (s )  1.1x 10 5 
4x 10 6 s
Therefore,
Z 1 (s )  Z 2 (s ) (s  0.98)
G (s )   1.275
Z 1 (s ) (s  0.625)
b.
1011
Z1 (s )  4 x10 5  s
0.25 x106
4 x10 
5
s
109
27.5
Z 2 (s )  6 x10 5  s
0.25 x106
110 x103 
s
Therefore,
Z 1 (s )  Z 2 (s ) 2640s 2  8420s  4275


Z 1 (s ) 1056s 2  3500s  2500
24.
Writing the equations of motion, where x2(t) is the displacement of the right member of spring,
(5s2+4s+5)X1(s) -5X2(s) = 0
-5X1(s) +5X2(s) = F(s)
Adding the equations,
(5s2+4s)X1(s) = F(s)
X1 (s) 1 1/ 5
From which,   .
F(s) s(5s  4) s(s  4 / 5)
25.
Writing the equations of motion,
(s 2  s  1)X 1 (s )  (s  1)X 2 (s )  F (s )
(s  1)X 1 (s )  (s 2  s  1)X 2 (s )  0
Solving for X2(s),

(s 2  s  1) F (s ) 
 
(s  1) (s  1)F (s )
X 2 (s )  2
0 
 2 2
(s  s  1) (s  1)  s (s  2s  2)
 
 (s  1) (s  s  1) 
2
From which,
X 2 (s ) (s  1)
 2 2 .
F (s ) s (s  2s  2)
26.
Let X1(s) be the displacement of the left member of the spring and X3(s) be the displacement of the
mass. Writing the equations of motion, gives:

2X 1 (s )  2X 2 (s )  F (s )
2X 1 (s )  (4s  2)X 2 (s )  4sX 3 (s )  0
4sX 2 (s )  (8s 2  6s )X 3 (s )  0
The third equation may be rewritten as: 2X 2 (s)  (4s  3)X 3 (s)  0
2
From which we get: X 3 (s )  X 2 (s )
(4s  3)
Substituting for X3(s) into the second equation and simplifying, gives the following
set of two equations:
2X 1 (s )  2X 2 (s )  F (s )
(4s  3)X 1 (s )  (8s 2  6s  3)X 2 (s )  0
Solving for X2(s),

2 F (x )
(4s  3) 0 (4s  3)F (s )
X 2 (s )  
2 2 2(8s  6s  3)  2(4s  3)
2
(4s  3) (8s  6s  3)
2
Thus,
27.
(s 2  6s  9)X 1 (s )  (3s  5)X 2 (s )  0
(3s  5)X 1 (s )  (2s 2  5s  5)X 2 (s )  F (s )
 0 (3s  5) 
 F (s ) (2s 2  5s  5) 
  (3s  5)F (s)
Solving for X1(s); X1 (s )   4
(s  6s  9) (3s  5)  2 s  17s  44 s  45s  20
2 3 2
 
 (3s  5) (2 s 2  5s  5) 
(3s  5)
Thus G(s) = X1(s)/F(s) =
2s  17s  44s 2  45s  20
4 3
28.
(4s 2  2s  6)X 1 (s )  2sX 2 (s )  0

2sX 1 (s )  (4s 2  4s  6)X 2 (s )  6 X 3 (s )  F (s )
6X 2 (s )  (4s 2  2s  6)X 3 (s )  0
Solving for X3(s),
(4s 2  2s  6) 2s 0
2s (4s 2  4s  6) F (s )
0 6 0 3F (s )
X 3 (s )  
(4s  2s  6)
2
2s 0 s (8s  12s 2  26s  18)
3
2s (4s 2  4s  6) 6
0 6 (4s  2s  6)
2
X 3 (s ) 3
From which,  .
F (s ) s(8s  12s  26s  18)
3 2
29.
a.
(4s2  8s  5)X1 (s)  8sX 2 (s)  5X 3 (s)  F(s)

8sX1 (s)  (4s2  16s)X 2 (s)  4sX 3 (s)  0
5X1 (s)  4sX 2 (s)  (4s  5)X 3 (s)  0
Solving for X3(s),
(4s2  8s  5) -8s F(s)

8s (4s  16s) 0
2
8s (4s2  16s)
F(s)
5 -4s 0 5 4s
X3 (s)  
 
or,
X3 (s) 13s  20

F(s) 4s(4s  25s2  43s  15)
3
b.
(8s2  4 s 16) X1 (s)  (4 s 1) X 2 (s)  15 X 3 (s)  0

(4 s 1) X1 (s)  (3s2  20 s 1) X 2 (s)  16 sX 3 (s)  F(s)
15 X1 (s)  16 sX 2 (s)  (16 s 15) X 3 (s)  0
Solving for X3(s),
(8s2  4s  16) -(4s+1) 0

(4s+1) (3s  20s+1) F(s)
2
(8s2  4s  16) -(4s+1)
-F(s)
15 -16s 0 15 16 s
X3 (s)  
 
or
X 3 (s) 128s 3  64s 2  316s  15

=
F(s) 384s 5  1064s 4  3476s 3  165s 2
30.
(4s 2  4s  8) X1 (s)  4 X 2 (s)  2sX3 (s)  0

4 X1 (s)  (5s 2  3s  4) X 2 (s)  3sX3 (s)  F (s)
2sX1 (s)  3sX 2 (s)  (5s 2  5s  5)  0
31.
Using the impedance method the two equations are:
x1 :  ms 2

 k x1  xm k  F1
xm :  x1k   Bs  k  xm  Fiso
Solving both equations simultaneously, one gets
F1 k
Fiso Bs  k F1  Bs  k   Fiso k F1 Bs  k  F1  Fiso 
x1   
ms  k
2
k  ms 2

 k  Bs  k   k 2

s mBs 3  kms  kB 
k Bs  k
32.
a.
(5s 2  9s  9)1 (s )  (s  9)2 (s )  0

(s  9)1 (s )  (3s 2  s  12)2 (s )  T (s )
b.
Defining
1 (s ) = rotation of J1
 2 (s ) = rotation between K 1 and D1
3 (s ) = rotation of J3
 4 (s ) = rotation of right-hand side of K 2
the equations of motion are
( J1s 2  K1 )1 (s )  K1 2 (s )  T (s )

 K11 (s)  ( D1s  K1 ) 2 (s )  D1s3 (s )  0
 D1s 2 (s )  ( J 2 s 2  D1s  K 2 )3 (s)  K 2 4 (s)  0
 K 23 (s)  ( D2 s  ( K 2  K 3 )) 4 (s)  0
33.
(s 2  2s  1)1 (s )  (s  1)2 (s )  T (s )
(s  1)1 (s )  (2s  1)2 (s )  0
Solving for 2 (s )
(s 2  2s  1) T (s )
(s  1) 0 T (s )
 2 (s )  
(s  2s  1) (s  1)
2
2s(s  1)
(s  1) (2s  1)
Hence,
2 (s ) 1

T (s ) 2s(s  1)
34.
The corresponding impedance equations are:
1 : s 2

 s  1 1   s  12  T
2 : 
  s  11  s 2  s  2 2  0 
Solving for 1 one gets:

T   s  1
1 
0 s2  s  2


T s2  s  2 
s  s  1   s  1  s  1)  s  s  2    s  1
2 2 2 2
(s
  s  1 s 2  s  2
Simplifying:
1 s2  s  2

T s 4  2s 3  3s 2  1
35.
Reflecting impedances to 3,

N4 N2
(Jeqs2+Deqs)3(s) = T(s) ( )
N 3 N1
Thus,
N4 N2
3 (s) N 3 N1
=
T (s ) J eq s 2  Deq s
where
2  N4
 N4 N2  2
Jeq = J4+J5+(J2+J3)   + J1   , and
  N3
 N 3 N1 
N NN
Deq  (D4  D5 )  (D2  D3 )( 4 )2  D1 ( 4 2 )2
N3 N3 N1
36.
Reflecting all impedances to 2(s),
2 2 2 2 2
{[J2+J1( NN ) +J3 ( NN ) ]s2 + [f2+f1( NN ) +f3( NN ) ]s + [K( NN ) ]}2(s) = T(s) N
2 3 2 3 3 2
1 4 1 N 4 4 1
Substituting values,
2 2 2
{[1+2(3)2+16( 1 ) ]s2 + [2+1(3)2+32( 1 ) ]s + 64( 1 ) }2(s) = T(s)(3)
4 4 4
Thus,
θ 2 (s) 3
=
T(s) 20s  13s  4
2
37.
Reflecting impedances across gears from the right hand side to the left hand side one gets:
2 2
 5  5 
J eq  3  100    150    9
 
25  20 
2 2
 5   5 
Deq  500    300    23
 
25  50 
2
 5 
K eq  3  300    6
 50 
 N2
So  9s2  23s  6   s   T  s  . Since   10 ,  9s 2  23s  6 1
0 2  s   T  s 
2 N1
2  s  1 0.011 0.011
  2 
T s 90s  230s  60 s  2.55s  0.67  s  0.29  s  2.26 
2
38.
Reflecting impedances and applied torque to respective sides of the spring yields the following
equivalent circuit:
2(s) -2 3(s) = 4.231T(s)

-22(s) + (0.955s+2)3(s) = 0
Solving for 3(s),

2 4.231T (s)
2 0 8.462T (s) 4.43T (s)
3 (s)   
2 2 1.91s s
2  0.955s  2 
3 (s ) 4.43  (s) 0.851

Hence,  . But, 4 (s)  0.1923 (s) . Thus, 4  .
T (s ) s T (s ) s
39.
Reflecting the 0.02 Nm/rad damper towards the left we get
The corresponding impedance equations are:
1 : s 2

 2s 1  2s2  T1
2 : 2s1   2.32s  2 2  0
Solving:
s 2  2s T1
2s 0 2sT1
2  
s  2s
2
2s (s  2s)(2.32s  2)  4 s 2
2
2s 2.32s  2
2sT1 2T1
 
2.32s 3  2s 2  4.64s 2  4s  4s 2 2.32s 2  2.64s  4
So
2 2

T1 2.32s  2.64s  4
2
L
T 5 1 2 10 1 L 1 L
Using the gear ratios we get   and   . It follows that  4 
T1 20 4  L 40 4 T1 4T 16 T
. Finally
L 32 13.8
  2
T 2.32s  2.64s  4 s  1.14s  1.72
2
40.
Reflect all impedances on the right to the viscous damper and reflect all impedances and torques on the
left to the spring and obtain the following equivalent circuit:
(J1eqs2+K)2(s) -K3(s) = Teq(s)
-K2(s)+(Ds+K)3(s) -Ds4(s) = 0
-Ds3(s) +[J2eqs2 +(D+Deq)s]4(s) = 0
2 2 2
where: J1eq = J2+(Ja+J1) ( NN )2
; J2eq = J3+(JL+J4) ( NN )
3
( NN )
; Deq = DL 3
; 2(s) = 1(s)
1 4 4
N1
.
N2
41.
Reflect impedances to the left of J5 to J5 and obtain the following equivalent circuit:
[Jeqs2+(Deq+D)s+(K2+Keq)]5(s) -[Ds+K2]6(s) = 0
-[K2+Ds]5(s) + [J6s2+2Ds+K2]6(s) = T(s)
θ6 (s) J eq s2  (Deq  D)s  (K 2  K eq ) θ (s) NN

From the first equation, = . But, 5 = 1 3 .
θ 5 (s) Ds  K 2 θ1 (s) N2 N4
Therefore,
N N  J eq s  (Deq  D)s  (K 2  K eq ) 
2
θ 6 (s)
= 1 3 ,
θ1 (s) N2 N 4  Ds  K 2 
2 N4 2 2
[ (N N )
where Jeq = J1 4 2
+ (J2+J3) ( ) + (J4+J5)], Keq = K1( N 4 ) , and
N 3 N1 N3 N3
2 2
Deq = D [( N N )
4 2
+ (N )
4
]
+1 .
N 3 N1 N3
42.
Draw the freebody diagrams,
Write the equations of motion from the translational and rotational freebody diagrams,
(Ms2+2fv s+K2)X(s) -fvrs(s) = F(s)
-fvrsX(s) +(Js2+fvr2s)(s) = 0
Solve for (s),

Ms2  2fvs  K 2 F(s)
-fv rs 0 fv rF(s)
θ(s)  
Ms  2fvs  K 2
2
-fv rs JMs  (2Jfv  Mfv r )s2  (JK 2  fv2 r 2 )s  K 2 fv r 2
3 2
-fv rs Js  fv r 2s
2
θ(s) fv r
From which, = .
F(s) JMs  (2Jfv  Mfv r )s  (JK 2  fv 2 r 2 )s  K 2fv r 2
3 2 2
43.
Draw a freebody diagram of the translational system and the rotating member connected to the
translational system.
From the freebody diagram of the mass, F(s) = (2s2+2s+3)X(s). Summing torques on the rotating
member,
(Jeqs2 +Deqs)(s) + F(s)2 = Teq(s). Substituting F(s) above, (Jeqs2 +Deqs)(s) + (4s2+4s+6)X(s) =
X(s)
Teq(s). However, (s) = . Substituting and simplifying,
2
J eq D eq
Teq = [( 2 ) (
+4 s + ) ]
+4 s+6 X(s)
2 2
But, Jeq = 3+3(4)2 = 51, Deq = 1(2)2 +1 = 5, and Teq(s) = 4T(s). Therefore,
[ 59 s2 + 13 s+6]X(s) = 4T(s). Finally, X(s)

=
8
.
2 2 T(s) 59s  13s  12
2
44.
(J1s2+K1)1(s) - K12(s) = T(s)

-K11(s) + (J2s +D3s+K1)2(s) +F(s)r -D3s3(s) = 0
2
-D3s2(s) + (J2s2+D3s)3(s) = 0
where F(s) is the opposing force on J 2 due to the translational member and r is the radius of J 2. But,
for the translational member,
F(s) = (Ms2+fvs+K2)X(s) = (Ms2+fvs+K2)r(s)
Substituting F(s) back into the second equation of motion,
(J1s2+K1)1(s) - K12(s) = T(s)
-K11(s) + [(J2 + Mr2)s2+(D3 + fvr2)s+(K1 + K2r2)]2(s) -D3s3(s) = 0
-D3s2(s) + (J2s2+D3s)3(s) = 0
Notice that the translational components were reflected as equivalent rotational components by the
K 1 (J3s 2  D3s )T (s )
square of the radius. Solving for 2(s),  2 (s )  where is the

determinant formed from the coefficients of the three equations of motion. Hence,
2 (s) K1 (J 3 s 2  D3 s)
 
T (s) 
Since
X (s) rK1 ( J3 s 2  D3 s)
X (s)  r2 (s), 
T (s ) 
45.
Reflecting through gears the inertia and damping from the load side to motor shaft one gets,
2 2
 50   50 
J m  4  36    8 and Dm  50  36    54
 150   150 
K T 150 ea 50 1
Note from the motor load curve that t  stall   3 and K b    .
Ra ea 50 no load 100 2
Substituting all of the above, one gets
Kt
m Ra J m 0.375
 
Ea  1  KK  s  s  7.1875 
s  s   Dm  t b  
 Jm  Ra 
m N 2
Noting that  3
L N 1
L 0.125

Ea s  s  7.1875
46.
The parameters are:
K t Ts 5 E 5 1
   1 ; Kb  a   ;
Ra Ea 5  600 2 1 4
 60
2 2 2
1 1 1
J m  18    4    1  3.125 ; Dm  36    2.25
4 2 4
Thus,
1
m (s ) 3.125 0.32
 
Ea (s ) s(s 
1 1
(2.25  (1)( ))) s(s  0.8)
3.125 4
1
Since: 2 (s )  m (s ) ; then:
4
2 (s ) 0.08

Ea (s ) s(s  0.8)
47.
The following torque-speed curve can be drawn from the data given:
K t Tstall 100 Ea 12 1 2
Therefore, = = ; Kb = = . Also, Jm = 7+105( ) = 9.92; Dm =
Ra Ea 12 no  load 1333.33 6
3. Thus,
 100  1
 m (s )  12  9.92  (s )
=
  =
0.84 1
. Since L(s) = m(s), L =
0.14
.
Ea (s ) s (s  1 (3.075)) s (s  0.31) 6 Ea (s ) s (s  0.31)
9.92
48.
From Eqs. (2.45) and (2.46),
RaIa(s) + Kbs(s) = Ea(s) (1)
Also,
Tm(s) = KtIa(s) = (Jms2+Dms)(s). Solving for (s) and substituting into Eq. (1), and simplifying
yields
Dm
(s  )
I a (s ) 1 Jm
= (2)
Ea (s ) Ra R D  KbKt
s a m
Ra J m
Using Tm(s) = KtIa(s) in Eq. (2),

Dm
(s 
)
Tm (s ) K t Jm
=
E a (s ) Ra R D  K bK t
s a m
Ra J m
49.
For the rotating load, assuming all inertia and damping has been reflected to the load,
(JeqLs2+DeqLs)L(s) + F(s)r = Teq(s), where F(s) is the force from the translational system, r=2 is
the radius of the rotational member, JeqL is the equivalent inertia at the load of the rotational load and
the armature, and DeqL is the equivalent damping at the load of the rotational load and the armature.
Since JeqL = 1(2)2 +1 = 5, and DeqL = 1(2)2 +1 = 5, the equation of motion becomes, (5s2+5s)L(s) +
F(s)r = Teq(s). For the translational system, (s2+s)X(s) = F(s). Since X(s) = 2L(s), F(s) =
(s2+s)2L(s). Substituting F(s) into the rotational equation, (9s2+9s)L(s) = Teq(s). Thus, the
equivalent inertia at the load is 9, and the equivalent damping at the load is 9. Reflecting these back to
9 9 K
the armature, yields an equivalent inertia of and an equivalent damping of . Finally, t = 1;
4 4 Ra
4 4
θ (s) 9 9 1 θ (s)
Kb = 1. Hence, m = = . Since L(s) = m(s), L =
4 9
E a (s) s(s  (  1)) s(s  ) 13 2 E a (s)
9 4 9
2 4
9 X(s) 9
. But X(s) = rL(s) = 2L(s). therefore, = .
13 E (s) 13
s(s  ) a s(s  )
9 9
50.
The equations of motion in terms of velocity are:
K1 K 2 K
[ M 1s  (f v 1  f v 3 )   ]V1 (s )  2 V 2 (s )  f v 3V 3 (s )  0
s s s
K K
 2 V1 (s )  [ M 2s  (f v 2  f v 4 )  2 ]V 2 (s )  f v 4V 3 (s )  F (s )
s s
f v 3V1 (s )  f v 4V 2 (s )  [ M 3s  f V 3  f v 4 ]V 3 (S )  0
For the series analogy, treating the equations of motion as mesh equations yields
In the circuit, resistors are in ohms, capacitors are in farads, and inductors are in henries.
For the parallel analogy, treating the equations of motion as nodal equations yields
51.
Writing the equations of motion in terms of angular velocity, (s) yields
K1 K
(J1s  D1  )1 (s )  (D1  1 ) 2 (s )  T (s )
s s
K1 (K  K 2 )
(D1  )1 (s )  (J 2s  D1  1 ) 2 (s )  0
s s
K K
 2 2 (s )  D2 3 (s )  (D2  2 ) 4 (s )  0
s s
K
(J3s  D2  3 )3 (s )  D2  4 (s )  0
s
For the series analogy, treating the equations of motion as mesh equations yields
For the parallel analogy, treating the equations of motion as nodal equations yields
52.
An input r1 yields c1 = 5r1+7. An input r2 yields c2 = 5r2 +7. An input r1 +r2 yields, 5(r1+r2)+7 =
5r1+7+5r2 = c1+c2-7. Therefore, not additive. What about homogeneity? An input of Kr 1 yields c =
5Kr1+7 ≠ Kc1. Therefore, not homogeneous. The system is not linear.
53.
a. Let x = x+0. Therefore,
 
δx  3 δx  2 δx  sin (0  δx)
d sin x
But, sin (0  δx)  sin 0  | δx  0  cos x | δx  δx .
dx x 0 x 0
   
Therefore, δx  3 δx  2δx  δx. Collecting terms, δx  3 δx  δx  0
b. Let x = x+ Therefore,

 
δx  3 δx  2 δx  sin ( π  δx)
d sin x
But, sin ( π  δx)  sin π  | δx  0  cos x | δx  δx .
dx x  π xπ
   
Therefore, δx  3 δx  2δx  -δx. Collecting terms, δx  3 δx  3δx  0.
54.
The truncated Taylor series expansion of f  x   3e5 x  f  0   f   0  x  3  15x
Letting x   x and substituting for f  x  one gets
d 3 x d 2 x d x
3
 10 2
 20  15 x  3  15 x
dt dt dt
Simplifying
d 3 x d 2 x d x
3
 10 2
 20  30 x  3
dt dt dt
55.
The given curve can be described as follows:
f(x) = -6 ; -∞<x<-3;
f(x) = 2x; -3<x<3;
f(x) = 6; 3<x<+∞
Thus,
a. x  17 x  50 x  6
b. x  17 x  50 x  2 x or x  17 x  48 x  0
c. x  17 x  50 x  6
56.
The relationship between the nonlinear spring’s displacement, xs(t) and its force, fs(t) is
xs (t )  1  e fs ( t )
Solving for the force, fs (t )   ln(1  xs (t )) (1)
Writing the differential equation for the system by summing forces,
d 2 x(t ) dx(t )
2 2
2  ln(1  x(t ))  f (t ) (2)
dt dt
Letting x(t) = x0 + x and f(t) = 1 + f, linearize ln(1 – x(t)).

d ln(1  x )
ln(1  x )  ln(1  x0 )  x
dx x  x0
Solving for ln(1 – x),
1 1
ln(1  x )  ln(1  x 0 )   x  ln(1  x 0 )  x (3)
1 x x x 0 1 x0
When f = 1, x = 0. Thus from Eq. (1), 1 = -ln(1 – x0 ).
Solving for x0, 1 – x0 = e-1 , or x0 = 0.6321.
Substituting x0 = 0.6321 into Eq. (3),
1
ln (1- x) = ln (1 – 0.6321) -  x = -1-2.718 x
1-0.6321
Placing this value into Eq. (2) along with x(t) = x0 + x and f(t) = 1 + f, yields the linearized differential
d 2 x d x
equation, 2 2
2  1  2.718 x  1   f
dt dt
d 2 x d x
or 2 2
2  2.718 x   f
dt dt
Taking the Laplace transform and rearranging yields the transfer function,
 x (s ) 1
 2
 f (s ) 2s  2s  2.718
57.
a. The three equations are transformed into the Laplace domain:
Ss  S 0  k K S C  k S
Cs  k (S  K M C )
Ps  k 2C
The three equations are algebraically manipulated to give:

S0 k K
S   SC
s  k s  k
Sk
C
s  k K M
k2
P C
s
By direct substitutions it is obtained that:
(s  k K M )
S S0
s  k (1  K M )s  k 2 (K M  K S )
2
k
C S0
(s  k (1  K M )s  k 2 (K M  K S ))
2
k 2 k
P S0
s(s 2  k (1  K M )s  k 2 (K M  K S ))
b.
S ()  Lim sS (s )  0
s 0
C ()  Lim sC (s )  0
s 0
k 2 k S 0 k 2S 0
P ()  Lim sP (s )    S0
s 0 k  (K M  K S )
2
k2
k  (K S   KS )
k
58.
Eliminate Tbal by direct substitution. This results in
d 2
t
J   kJ (t )   J (t )   J   (t )dt  Td (t )
dt 2 0
Obtaining Laplace transform on both sides of this equation and eliminating terms one gets that:
59.
a.
We have that
mL xLa  mL g
x La  x T  x L
xL  L
From the second equation
xLa  xT  xL  vT  L  g
Obtaining Laplace transforms on both sides of the previous equation
sVT  Ls  g  from which sVT  (g  Ls 2 )
so that
 s 1 s 1 s
(s )   
VT g  Ls 2
L s 2  g L s  02
2
V0
b. Under constant velocity VT (s )  so the angle is
s
V0 1
(s ) 
L s  02
2
Obtaining inverse Laplace transform

V0
 (t )  sin( 0 t ) , the load will sway with a frequency 0 .
L 0
c. From mT xT  fT  mL g and Laplace transformation we get

1 s 1 s2
mT s 2 XT (s)  FT  mL g(s )  FT  mL g V  F  m g XT
L s 2  02 L s 2  02
T T L
From which
XT 1 s 2  02 1 s 2  02
  2 
FT m g 1
s 2 (mT  L 2 ) s (mT (s 2  02 )  mL02 ) mT s 2 (s 2  a02 )
L s  02
mL
Where a  1 
mT
d. From part c
VT sX T 1 s 2  02
 
FT FT mT s(s 2  a02 )
F
Let FT  0 then
s
F s2  2 A B Cs  D
VT (s )  0 2 2 0 2  2   2
mT s (s  a0 ) s s s  a02
After partial fraction expansions, so
v T (t )  A ' t  B  C 'cos(a0t   )
t 

From which it is clear that v T 

60.
a. Obtaining Laplace transforms on both sides of the equation
N0
sN (s )  N 0  KN (s ) or N (s ) 
s K
By inverse Laplace transformation
N (t )  N 0e Kt
b. Want to find the time at which

N 0e Kt  2N 0
Obtaining ln on both sides of the equation

ln 2
t
K
61. The Laplace transform of the systems output is
2a f T  2a f
T t   T s  
Tref Tref
  2  ref  2
s s   s  4 f 2 2
s  s    s  4 2f 2
Dividing by the input one gets

T  2a f s
s   
U s   Tref s  4 2 f 2
2
62.

dV (t )  (1e  at )
a. By direct differentiation  V 0 ( e t )e   e tV (t )
dt 
 
(1e  t )
b. V ()  Lim V (t )  Lim V 0e   V 0e 
t 
 t 

c.
Lambda = 2.5;
alpha = 0.1;
V0=50;
t=linspace(0,100);
V=V0.*exp(Lambda.*(1-exp(-alpha.*t))/alpha);
plot(t,V)
grid
xlabel('t (days)')
ylabel('mm^3 X 10^-3')
d. From the figure V ()  3.5X 10

12
mm3 X 10-3
 2.5
From part c V ()  V 0e   50e 0.1  3.6X 1012 mm3 X 10-3
63. Using the impedance method the two equations are:
x1 :  ms 2

 k x1  xm k  F1
xm :  x1k   Bs  k  xm  Fiso
Solving both equations simultaneously, one gets
F1 k
Fiso Bs  k F1  Bs  k   Fiso k F1 Bs  k  F1  Fiso 
x1   
ms 2  k k  ms 2

 k  Bs  k   k 2 
s mBs 3  kms  kB 
k Bs  k
64. Opening the current source, we find the contribution of the voltage source, Va(s), to the ac current,
IacF (s).
1
V a (s ) V a (s ) Cs
I acF (s )    V a (s )
1 Z (s ) Ls  R  1 LCs  RCs  1
2
Cs
Short-circuiting the voltage source, Va(s), we find the contribution of the current source, IacR(s), to
the ac current, IacF (s).
2
1
R
Cs RCs  1
I acF (s )  I acR (s )  I acR (s )
2
Ls  R 
1 LCs 2  RCs  1
Cs
Thus, the total current, IacF (s), is given by:
1  RCs Cs
I acF (s )  I acF (s )  I acF 1 (s )  I acR (s )  V a (s )
2 LCs  RCs  1
2
LCs  RCs  1
2
65. Writing the loop equation around the armature circuit for the motor in Figure 2.35:
dia d
ea t   Ra ia  L a  Kb m
dt dt
Taking the Laplace transform:
Ea (s)  RaI a (s)  LasI a (s )  K b sm (s ) (1)
The torque developed at the motor is:
d 2m (t ) d (t )
Tm (t )  J m  Dm m  K mm (t )
dt dt
Taking the Laplace transform:
Tm (s)  Jm s 2m (s )  Dm sm (s )  K mm (s )  (Jm s 2  Dm s  K m )m (s )
But Tm (s )  K t I a (s ) . Solving for I a (s ) and substituting for Tm (s )

Tm (s ) 1
I a (s )   (J m s 2  Dm s  K m )m (s )
Kt Kt
Substituting in (1) for I a (s ) and simplifying
1
Ea (s )  (Ra  L as )(J m s 2  Dm s  K m )  K t K b s  m (s )
Kt 
Thus
m (s ) Kt

Ea (s ) J m L as  (J m Ra  Dm L a )s  (Dm Ra  K m L a  K t K b )s  K m Ra
3 2
66.
Ae
a. Expressing 2gh as a Taylor series around h0i
A
Ae Ae  A  A A g
2gh  2gh0   e 2gh  h  e 2gh0  e h (1)
A A h  A h0 A A 2gh0
Also,
h  h0  h (2)
and
q  q0  q (3)
Substituting (1), (2), and (3) into the given nonlinear equation and eliminating
the equilibrium values yields the linear equation
d h A e g q
 h 
dt A 2gh0 A
Thus the transfer function is
H (s ) 1 / A

Q (s )  A g 
s  e 
 A 2gh0 
 
d
b. Substituting qe   A e 2ghav into e1q  eqe  (  Aehav )
dt
de
e1q  e  A e 2ghav   Ahav
dt
Rearranging
de
 Ahav  e  A e 2ghav  e1q
dt
Simplifying,
de A
 e 2ghav e  e1q
dt Ahav
Taking the Laplace transform

Ae
sE (s )  2ghav E (s )  e1Q (s )
Ahav
From which,
E (s ) e1

Q (s ) Ae
(s  2ghav )
A hav
67.
a. The first two equations are nonlinear because of the Tv products on their right hand side.
Otherwise the equations are linear.
dT dT * dv
b. To find the equilibria let   0
dt dt dt
Leading to
s  dT  T  0
Tv  T *  0
kT *  cv  0
The first equilibrium is found by direct substitution. For the second equilibrium, solve the last two
equations for T*
 Tv cv c
T*  and T*  . Equating we get that T 
 k k
Substituting the latter into the first equation after some algebraic manipulations we get that
ks d cv s cd
v  . It follows that T *    .
c  k  k
68.
F  Fw
a. From a  , we have: F  Fw  k m  m  a  FRO  FL  FSt   k m  m  a (1)
km  m
Substituting for the motive force, F, and the resistances FRo, FL, and Fst using the equations given in
the problem, yields the equation:
P  tot
 f  m  g  cos   m  g  sin   0.5    Cw  A  v  v hw   k m  m  a (2)
2
F
v
b. Noting that constant acceleration is assumed, the average values for speed and acceleration are:
aav = 20 (km/h)/ 4 s = 5 km/h.s = 5x1000/3600 m/s2 = 1.389 m/s2
vav = 50 km/h = 50,000/3,600 m/s = 13.89 m/s
The motive force, F (in N), and power, P (in kW) can be found from eq. 2:
Fav = 0.011 x 1590 x 9.8 + 0.5 x 1.2 x 0.3 x 2 x 13.89 2 + 1.2 x 1590 x 1.389 = 2891 N
Pav = Fav. v /  tot = 2891 x 13.89 / 0.9 = 44, 617 N.m/s = 44.62 kW
o
To maintain a speed of 60 km/h while climbing a hill with a gradient  = 5 , the car engine or
motor needs to overcome the climbing resistance:
FSt  m  g  sin   1590  9.8  sin 5  1358 N
Thus, the additional power, Padd, the car needs after reaching 60 km/h to maintain its speed while
o
climbing a hill with a gradient  = 5 is:
Padd  FSt  v / = 1358 x 60 x 1000/(3,600 x 0.9) = 25, 149 W = 25.15 kW
c. Substituting for the car parameters into equation 2 yields:
F  0.011 x 1590 x 9.8  0.5 x 1.2 x 0.3 x 2 v 2  1.2 x 1590 dv / dt
or F (t )  171.4  0.36 v  1908 dv / dt (3)

2
To linearize this equation about vo = 50 km/h = 13.89 m/s, we use the truncated taylor series:
d (v 2 )
v 2  vo 2  (v  vo )  2vo (v  vo ) (4), from which we obtain:
dv v v
o
v2 v  v  v o 2  27.78  v  13.892 (5)

2 o
Substituting from equation (5) into (3) yields:
F (t )  171.4  10 v  69.46  1908 dv / dt or
Fe (t )  F (t )  FRo  Fo  F (t )  171.4  69.46  10 v  1908 dv / dt (6)
Equation (6) may be represented by the following block-diagram:

d. Taking the Laplace transform of the left and right-hand sides of equation (6) gives,
Fe(s)  10 V (s)  1908 sV (s) (7)
Thus the transfer function, Gv(s), relating car speed, V(s) to the excess motive force, Fe(s), when the
car travels on a level road at speeds around vo = 50 km/h = 13.89 m/s under windless conditions is:
V (s) 1
Gv (s )   (8)
Fe (s) 10  1908 s
69.
a.
Since the system’s transfer function exhibits a pure time delay of T seconds, the
unit step response of the system is the unit step response of a first order system
delayed T seconds, namely
 
t T

h t   K  1  e   u t  T 
 
b.
c.
The output will he delayed T seconds, thus writing
H s  K
 e sT
Q s  1   s 
Then cross-multiplying
H  s 1   s  e sT  KQ  s 
And obtaining the inverse Laplace transform, one gets:

d
 h t  T   h t  T   Kq t 
dt
ONLINEFFIRS 11/25/2014 13:29:37 Page 1
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Control systems engineering / Norman S. Nise, California State Polytechnic University, Pomona. — Seventh edition.
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1. Automatic control–Textbooks. 2. Systems engineering–Textbooks. I. Title.
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T W O

Antenna Control: Transfer Functions

Transfer Function of a Nonlinear Electrical Network

(i0  δi)2  i 02  2i | δi  2i 0 δi. Thus, (i 0  δi)2  i 02  2i 0 δi.

ANSWERS TO REVIEW QUESTIONS

Using L'Hopital's Rule

b. Applying Laplace transform and solving for I(s)/V(s) gives:

Substituting the values of R, L, and LC, we have:

Solving for I(s) and noting that V(s) = 1/s, we get:

may be given by:

Solving for X(s)

and expanding by partial fractions,

Taking the inverse Laplace transform,

and expanding by partial fractions,

Solving for X(s),

| / 1/2 \ 131 3 sin| ------ | |

Cross multiplying, (s6+7s5+3s4+2s3+s2+5)C(s) = (s5+2s4+4s3+s2+4)R(s).

Taking the inverse Laplace transform assuming zero initial conditions,

Cross multiplying, (s5+3s4+2s3+4s2+5s+2)C(s) = (s4+2s3+5s2+s+1)R(s).

Taking the inverse Laplace transform assuming zero initial conditions,

Taking Laplace transform of the differential equation:

s 2 X (s )  s  1  4sX (s)  4  5X (s)  R (s)

Collecting terms: (s  4s  5)X (s )  R (s )  s  3

The block diagram is shown below, where R(s) = 1/s.

45 s^5 + 2925 s^4 + 51390 s^3 + 147240 s^2 + 133200 s + 53280

56 s^4 + 3528 s^3 + 41888 s^2 + 51576 s + 41552

Writing mesh equations

(2s  2)I1 (s)  2 I2 (s)  Vi (s)

-2I1 (s)  (2s  4)I 2 (s)  0

(2s  2)(s  2)I2 (s)  2 I 2 (s)  Vi (s)

I2 (s) / Vi (s)  1/(2s2  4s  2)

But, VL (s)  sI2 (s). Therefore, VL (s) / Vi (s)  s /(2s2  4s  2).

Writing mesh equations,

(2s + 1)I1(s) – I2(s) = Vi(s)

-I1(s) + (3s + 1 + 2/s)I2(s) = 0

b. Transforming the network yields,

Writing the loop equations,

Rewriting and simplifying,

Solving for VR(s) and VC(s),

Vo (s) VR (s)  VC (s) 3s 2

b. Writing the nodal equations yields,

(V1 (s)  Vi (s)) (s 2  1)

Rewriting and simplifying,

Solving for Vo(s)

(V1 (s)  V (s)) V1 (s) (V1 (s)  Vo (s))

%variable 's' and V.

[ 4*s + 4, - 4*s - 2, -2]

G(s) via Mesh Equations

[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), V/2]

[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), -1/(6*s + 4)]

G(s) via Nodal Equations

Z 1 (s )  Z 2 (s ) 2640s 2  8420s  4275

-5X1(s) +5X2(s) = F(s)

Adding the equations,

Solving for X2(s),

mass. Writing the equations of motion, gives:

Solving for X2(s),

(4s 2  2s  6)X 1 (s )  2sX 2 (s )  0

Solving for X3(s),

(4s2  8s  5)X1 (s)  8sX 2 (s)  5X 3 (s)  F(s)

Solving for X3(s),

(4s2  8s  5) -8s F(s)

(8s2  4 s 16) X1 (s)  (4 s 1) X 2 (s)  15 X 3 (s)  0

Solving for X3(s),

[ 4s + 4, - 4s - 2, -2]

[ (6s^2 + 12s + 5)/(12s^2 + 14s + 4), V/2]

[ (6s^2 + 12s + 5)/(12s^2 + 14s + 4), -1/(6*s + 4)]