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B C Kuo Solutions1 9th Edition
B C Kuo Solutions1 9th Edition
B C Kuo Solutions1 9th Edition
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Chapter 2
( Poles: s = 0, −1 + j, −1 − j;
(c) (d) Poles: s = 0, −1, −2, ∞.
Zeross: s = −2.
2
2-2) a)
b)
c)
2
2-3)
M
MATLAB code
e:
2‐1
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
clear all;
s = tf('s')
Ga=10*(s+2)/(s^2*(s+1)*(s+10))
'Poles:'
pole(Ga)
'Zeros:'
zero(Ga)
Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
'Poles:';
pole(Gb)
'Zeros:'
zero(Gb)
Gc=10*(s+2)/(s*(s^2+2*s+2))
'Poles:';
pole(Gc)
'Zeros:'
zero(Gc)
Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
'Poles:';
pole(Gd)
'Zeros:'
zero(Gd)
2‐2
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(a)
Poles: 0 0 ‐10 ‐1
Zeros: ‐2
(b)
Zeros: 0 ‐1
(c)
Poles:
‐1.0000 + 1.0000i
‐1.0000 ‐ 1.0000i
Zeros: ‐2
Poles:
‐2.0000
‐1.0000 + 0.0000i
‐1.0000 ‐ 0.0000i
Zeros:
2‐3
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
10 22 + ω 2 1 + ω 2 102 + ω 2
R= ;
−ω 2 (ω 2 + 1)(ω 2 + 100)
ω
10( jω + 2)
φ1 = tan −1 2 + ω
2 2
−ω ( jω + 1)( jω + 10)
2
2
10( jω + 2) ( − jω + 1)(− jω + 10) 22 + ω 2
= ×
−ω ( jω + 1)( jω + 10) (− jω + 1)(− jω + 10)
2
−ω
10( jω + 2)( − jω + 1)(− jω + 10)
φ2 = tan −1 1 + ω
2
a) =
−ω (ω + 1)(ω + 100)
2 2 2 1
jω + 2 − jω + 1 − jω + 10 1+ ω2
=R
22 + ω 2 1 + ω 2 102 + ω 2 −ω
φ3 = tan −1 10 + ω
2 2
= R(e jφ1 e jφ2 e jφ3 )
10
102 + ω 2
φ = φ1 + φ2 + φ3
10 1 + ω 2 9 + ω 2
R= ;
(ω 2 + 1) 2 (ω 2 + 9)
−ω
10
−1 1 + ω
2
( jω + 1) ( jω + 3)
2 φ1 = tan
1
10 (− jω + 1)(− jω + 1)(− jω + 3) 1+ ω2
= ×
( jω + 1)( jω + 1)( jω + 3) ( − jω + 1)(− jω + 1)(− jω + 3) −ω
10(− jω + 1)(− jω + 1)(− jω + 3) −1 1 + ω
2
b) = φ = tan
1
(ω 2 + 1) 2 (ω 2 + 9)
2
− jω + 1 − jω + 1 − jω + 3 1+ ω2
= R
1+ ω2 1+ ω2 9 + ω2 −ω
φ3 = tan −1 9 + ω
2
= R (e jφ1 e jφ2 e jφ3 )
3
9 + ω2
φ = φ1 + φ2 + φ3
2‐4
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
10
jω ( j 2ω + 2 − ω 2 )
−10 j (2 − ω 2 − j 2ω )
= ×
ω ( j 2ω + 2 − ω 2 ) (2 − ω 2 − j 2ω )
10(−2ω − (2 − ω 2 ) j )
c) =
ω (4ω 2 + (2 − ω 2 ) 2 )
−2ω − (2 − ω 2 ) j
=R
4ω 2 + (2 − ω 2 ) 2
= R (e jφ )
10 4ω 2 + (2 − ω 2 ) 2 10
R= = ;
ω (4ω + (2 − ω ) ) ω 4ω + (2 − ω 2 ) 2
2 2 2 2
−2 − ω 2
4ω 2 + (2 − ω 2 ) 2
φ = tan −1 −2ω
4ω + (2 − ω 2 ) 2
2
1
R= ;
10ω 2 + ω 2 1 + ω 2
2
e −2 jω
−ω
10 jω ( jω + 1)( jω + 2)
φ = tan −1 22 + ω 2
− j (− jω + 1)(− jω + 2) −2 jω 1 2
= e
d) 10ω (ω 2 + 1)(ω 2 + 2) 2 + ω2
2
− jω + 2 − jω + 1 −2 jω − jπ / 2 −ω
=R e
2 + ω 1+ ω
2 2 2
φ2 = tan −1 1 + ω
2
1
= R (e jφ1 e jφ2 e jφ3 )
1+ ω2
φ = φ1 + φ2 + φ3
MATLAB code:
clear all;
s = tf('s')
Ga=10*(s+2)/(s^2*(s+1)*(s+10))
figure(1)
2‐5
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Nyquist(Ga)
Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))
figure(2)
Nyquist(Gb)
Gc=10*(s+2)/(s*(s^2+2*s+2))
figure(3)
Nyquist(Gc)
Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))
figure(4)
Nyquist(Gd)
Part(a)
2‐6
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Nyquist Diagram
15
10
5
Imaginary Axis
-5
-10
-15
-300 -250 -200 -150 -100 -50 0
Real Axis
Part(b)
Nyquist Diagram
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis
Part(c)
2‐7
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Nyquist Diagram
80
60
40
20
Imaginary Axis
-20
-40
-60
-80
-7 -6 -5 -4 -3 -2 -1 0
Real Axis
Part(d)
Nyquist Diagram
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis
2‐8
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2-5) In all cases find the real and imaginary axis intersections.
10 10(− jω + 2) 10 2 − jω
G ( jω ) = = = ;
( jω − 2) (ω + 4)
2
(ω 2 + 4) (ω 2 + 4)
2
Re {G ( jω )} = cos φ = ,
(ω 2 + 4)
−ω
a) Im {G ( jω )} = sin φ = ,
(ω 2 + 4)
2
(ω 2 + 4)
φ = tan −1 −ω
(ω 2 + 4)
10
R=
(ω 2 + 4)
b&c) =1 0o
∞ =0 -180o
Therefore:
Re{ G(jω) } =
Im {G(jω)} =
2‐9
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
If Re{G(jω )} = 0 Ö
0
If Im{ G(jω )} = 0 Ö 0
∞
If ω = ωn Ö
90
If ω = ωn and ξ = 1 Ö
If ω = ωn and ξ 0 Ö
If ω = ωn and ξ ∞ Ö 0
d) G(jω) =
limω G jω = - 90o
limω ∞G jω = -180o
e) | |
√
G(jω) = + = tan-1 (ω T) – ω L
2‐10
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐6
MATLAB code:
clear all;
s = tf('s')
%Part(a)
Ga=10/(s-2)
figure(1)
nyquist(Ga)
%Part(b)
Gb=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(2)
nyquist(Gb)
%Part(c)
wn=2*pi*10
Gc=1/(1+2*zeta*s/wn+s^2/wn^2)
figure(3)
nyquist(Gc)
%Part(d)
Gd=1/(s*(s*T+1))
figure(4)
nyquist(Gd)
2‐11
Automatic Control Systems, 9th Edition Chapter 2 Solutions 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: In order to use Matlab Nyquist command, parameters needs to be assigned with values, and Pade
approximation needs to be used for exponential term in part (e).
2‐12
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part(a)
Nyquist Diagram
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-5 -4 -3 -2 -1 0 1
Real Axis
Part(b)
Nyquist Diagram
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
2‐13
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part(c)
Nyquist Diagram
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
Part(d)
2‐14
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Nyquist Diagram
60
40
20
Imaginary Axis
-20
-40
-60
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Part(e)
Nyquist Diagram
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
2‐15
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2-7) a) G(jω) =
. .
(1) = -90o
0: 90
(2) =
∞ 0
0: 0
.
(3) =
.
∞: 90
.
0: 90
.
(4) =
.
∞ 0
.
G(jω) = . Ö G(s) =
.
2‐16
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(1) for term 1/s the phase starts at -90o and at ω = 2 the phase will be -180o
(2) for higher frequencies the phase approaches -270o
0.01 1
0.01 1
9
for term , slope is -2 (-40 dB/decade) and passes through | | 1
(2) G(jω)|ω =1 = 0
(3) G(jω)|ω = 2 = -180o
d) G(jω) = ω ω
ξ ω ω
(3) As ξ is a damping ratio, then the magnitude must be obtained for various ξ when
0≤ξ≤1
2‐17
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
The high frequency slope is twice that of the asymptote for the single-pole case
(1) The phase starts at 0o and falls -1 or -20 dB/decade at = 0.2 and approaches -180o
(2) As ξ is a damping ratio, the phase angles must be obtained for various ξ when
0≤ξ≤1
2‐8) Use this part to confirm the results from the previous part.
MATLAB code:
s = tf('s')
Ga=2000*(s+0.5)/(s*(s+10)*(s+50))
figure(1)
bode(Ga)
grid on;
Gb=25/(s*(s+2.5*s^2+10))
figure(2)
bode(Gb)
grid on;
Gc=(s+100*s^2+100)/(s^2*(s+25*s^2+100))
figure(3)
bode(Gc)
grid on;
2‐18
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
zeta = 0.2
wn=8
Gd=1/(1+2*zeta*s/wn+(s/wn)^2)
figure(4)
bode(Gd)
grid on;
t=0.3
exp_term=pade(exp(-s*t),1)
Ge=0.03*(exp_term+1)^2/((exp_term-1)*(3*exp_term+1)*(exp_term+0.5))
figure(5)
bode(Ge)
grid on;
Part(a)
2‐19
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
-60
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
Part(b)
Bode Diagram
50
Magnitude (dB)
-50
-100
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
2‐20
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part(c)
Bode Diagram
60
40
Magnitude (dB)
20
-20
-40
0
-45
Phase (deg)
-90
-135
-180
-1 0 1
10 10 10
Frequency (rad/sec)
Part(d)
2‐21
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Bode Diagram
10
Magnitude (dB)
-10
-20
-30
-40
-50
0
-45
Phase (deg)
-90
-135
-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
Part(e)
Bode Diagram
0
-20
Magnitude (dB)
-40
-60
-80
-100
-120
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
2‐22
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2-9)
a)
⎡ −1 2 0 ⎤ ⎡0 0 ⎤
⎡ u1 (t ) ⎤
A = 0 −2 3 ⎥
⎢ B = 1 0⎥
⎢ u (t ) = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎣ u 2 (t ) ⎦
⎢⎣ −1 −3 −1⎥⎦ ⎢⎣ 0 1 ⎥⎦
b)
1 2 0 2 0
2 0 1 0 1
3 4 1 0 0
∞
1
2
2
∞
Ö sG s g 0 g′ t
Ö sG s – g 0
∞ ∞
2‐23
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
∞
1
Which means: ↔
2-13) Consider:
2‐24
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
1
2
Then
Where
therefore:
1
G s G s
2
= = sG(s) + g(0)
2‐25
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
As
Therefore: 0
As
∞ 0
Therefore
0 ∞ 0
which means:
2‐15)
MATLAB code:
clear all;
syms t
s=tf('s')
f1 = (sin(2*t))^2
L1=laplace(f1)
2‐26
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
f3 = (cos(2*t))^2
L3=laplace(f3)
2
MATLAB solution for L sin 2t is: { }
8/s/(s^2+16)
{
2
} 2
Calculating L cos 2t based on L sin 2t { }
{ }
L cos 2 2t = (s^^3 + 8 s)/( s^4 + 16 s^2)
{ 2
verifying L cos 2t : }
(8+s^2)/s/(s^2+16)
5 4s 1 4
G( s) = G(s) = + G( s) =
( s + 5) 2
(s 2
+4 ) s+2 2
s + 4s + 8
(d) (e)
∞
1 1
G( s) = 2
s +4
G ( s) = ∑e kT ( s + 5 )
=
1− e
− T ( s +5 )
k =0
2‐27
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐17) Note: %section (e) requires assignment of T and a numerical loop calculation
MATLAB code:
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)
Answer: 5/(s+5)^2
Answer: 4*s/(s^2+4)^2+1/(s+2)
Answer: 4/(s^2+4*s+8)
2‐28
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Answer: 2/(s^2+16)
∞
(e) g (t ) = ∑e −5 kT
δ ( t − kT ) where δ(t) = unit‐impulse function
k =0
2‐18 (a)
g (t ) = u s (t ) − 2u s (t − 1) + 2u s ( t − 2) − 2u s (t − 3) + L
−s
1 1− e
G(s) = (1 − 2e − s + 2e −2 s − 2e −3s + L) =
s (
s 1+ e
−s
)
gT (t ) = u s (t ) − 2u s (t − 1) + u s (t − 2) 0≤t≤2
1 1
(1 − 2e − s + e −2 s ) = (1 − e − s )
2
GT ( s ) =
s s
∞ ∞ −s
1 1− e
g (t ) = ∑g T
( t − 2 k )u s ( t − 2 k ) G( s) = ∑ s (1 − e − s 2 −2 ks
) e =
s(1 + e
−s
)
k =0 k =0
(b)
2 ( −0.5s )
2 1− e
G(s) = ( 1 − 2e
−0.5 s
+ 2e
−s
− 2e
−1.5 s
) s 2 1 + e−0.5s
+L =
s
2
( )
gT ( t ) = 2tu s ( t ) − 4( t − 0.5)u s ( t − 0.5) + 2( t − 1)u s ( t − 1) 0≤ t ≤1
2 2
(1 − 2e−0.5 s + e− s ) = s 2 (1 − e−0.5 s )
2
GT ( s ) = 2
s
∞ ∞
2 ( −0.5 s
2 1− e )
g ( t ) = ∑ g T (t − k )u s (t − k ) G ( s) = ∑ (1 − e )
−0.5 s 2
e
− ks
= 2
s (1 + e
k =0 k =0 s
2 −0.5 s
)
2‐19)
2‐29
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
1 1
G (s) =
s
2 (1 − e − s − e −2 s + e −3s ) + s (1 − 2e − s + e −3s )
2-20)
1 1
1
2-21)
1
1
2-22) 0 0 0
0 0
Ö 2 2 2 2
2‐30
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Ö 2 2 2 2
2‐23
MATLAB code:
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')
X2(s)= (s‐2)/(2+3*s+s^2)
2‐31
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐24)
MATLAB code:
clear all;
syms s Fs
f3=solve('s^2*Fs-Fs=1/(s-1)','Fs')
2‐25)
MATLAB code:
clear all;
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
2‐32
Automatic Control Systems, 9th Edition Chapter 2 Solutions 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)
1 1 1 1 1 −2t 1 −3t
G( s) = − + g (t ) = − e + e t≥0
3s 2( s + 2) 3( s + 3) 3 2 3
(b)
−2.5 5 2.5 −t −t −3t
G( s) = + 2
+ g ( t ) = −2.5e + 5te + 2.5e t≥0
s + 1 ( s + 1) s+3
(c)
G(s) = ( 50
s
−
s +1
20
−
30 s + 20
s +4
2 ) e
−s
[
g ( t ) = 50 − 20 e
− ( t −1)
− 30 cos 2(t − 1) − 5 sin 2(t − 1) ] us (t − 1)
(d)
1 s −1 1 1 s
G( s) = − 2
= + 2
− 2
Taking the inverse Laplace transform,
s s + s+2 s s + s+2 s + s+2
g (t ) = 1 + 1.069e
−0.5t
[sin 1.323t + sin (1.323t − 69.3o )] = 1 + e−0.5t (1.447 sin 1.323t − cos1.323t ) t≥0
2 −t
(e) g ( t ) = 0.5t e t≥0
>> b=num*2
2‐33
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
b=
2 2 2
>>num =
1 1 1
>> denom1=[1 1]
denom1 =
1 1
>> denom2=[1 5 5]
denom2 =
1 5 5
>> num*2
ans =
2 2 2
denom =
1 6 10 5 0
>> b=num*2
b=
2 2 2
>> a=denom
a=
1 6 10 5 0
r=
-0.9889
2‐34
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2.5889
-2.0000
0.4000
p=
-3.6180
-1.3820
-1.0000
k=[]
b r r r
= 1 + 2 + ... + n + k
a s + p1 s + p2 s + pn
(g)
Ö G s 2e 2e 2e 1
(h)
Ö 3
2‐35
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(i)
2‐27
MATLAB code:
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')
2‐36
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
syms s
F7=ilaplace(f7n)
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)
1
Part (a): G ( s) =
s( s + 2)( s + 3)
G(t)=‐1/2*exp(‐2*t)+1/3*exp(‐3*t)+1/6
To simplify:
syms t
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
10
Part (b): G ( s) =
( s + 1) 2 ( s + 3)
G(t)= 5/2*exp(‐3*t)+5/2*exp(‐t)*(‐1+2*t)
2‐37
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
100( s + 2)
Part (c): G( s) = 2
e− s
s( s + 4 )( s + 1)
G(t)=Step(t‐1)*(‐4*cos(t‐1)^2+2*sin(t‐1)*cos(t‐1)+4*exp(‐1/2*t+1/2)*cosh(1/2*t‐1/2)‐4*exp(‐t+1)‐cos(2*t‐2)‐
2*sin(2*t‐2)+5)
2( s + 1)
Part (d): G ( s) =
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))
To simplify:
syms t
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))
1
Part (e): G ( s) =
( s + 1) 3
G(t)= 1/2*t^2*exp(‐t)
2( s 2 + s + 1)
Part (f): G( s) =
. )( s 2 + 5s + 5)
s( s + 15
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)))
2 + 2 se − s + 4e −2 s
Part (g): G ( s ) =
s 2 + 3s + 2
2‐38
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
G(t)= 2*exp(‐2*t)*(7+8*t)+8*exp(‐t)*(‐2+t)
2s + 1
Part (h): G ( s) =
s + 6 s 2 + 11s + 6
3
G(t)= ‐1/2*exp(‐t)+3*exp(‐2*t)‐5/2*exp(‐3*t)
3s 3 + 10 s 2 + 8s + 5
Part (i): 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)))
2‐39
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2-28) Ax t Bu t
a)
b)
3 2
2 2
(c) (d)
−s
Y (s) s ( s + 2) Y (s) 1 + 2e
= 4 3 2
= 2
R( s) s + 10 s + 2 s + s + 2 R( s) 2s + s + 5
e) 1
Ö 5 2 2
4 5 2
As X s e Y s , then
2‐40
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2 1
4
Then:
2
2 2 2
As a result:
2‐30)
After taking the Laplace transform, the equation was solved in terms of Y(s), and consecutively was divided by
input R(s) to obtain Y(s)/R(s):
MATLAB code:
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
2‐41
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
MATLAB Answers:
%Note: Parts E&F are too complicated with MATLAB, Laplace of integral is not
executable in MATLAB.....skipped
2‐31
MATLAB code:
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');
2‐42
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
[r,p] = residue(num,den)
%Part d
[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)
The solutions are presented in the form of two vectors, r and p, where for each case, the partial fraction
expansion is equal to:
2‐43
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
b( s ) r r r
= 1 + 2 + ... + n
a( s ) s − p1 s − p 2 s − pn
Part(a):
r =0.6944
‐0.9375
0.2431
0.4167
p =‐6.0000
‐4.0000
Part(b):
r =0.2500
‐0.2500 ‐ 0.0000i
‐0.2500 + 0.0000i
0.2500
p =‐2.0000
‐1.0000 + 1.0000i
2‐44
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
‐1.0000 ‐ 1.0000i
Part(c):
r =0.1500
1.2500
‐1.4000
2.0000
p = ‐5
‐1
Part(d):
r =10.0000
‐5.0000 ‐ 0.0000i
‐5.0000 + 0.0000i
p =‐1.0000
‐0.5000 + 0.8660i
‐0.5000 ‐ 0.8660i
2‐45
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part(e):
r =110.9400
‐110.9400
100.0000
p =‐4.3028
‐0.6972
Part(f):
r =0.2400 + 0.3200i
0.2400 ‐ 0.3200i
‐4.4800
‐1.6000
4.0000
p =‐0.0000 + 1.0000i
‐0.0000 ‐ 1.0000i
‐0.5000
‐0.5000
2‐46
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part(g):
r =‐0.1000 + 0.0500i
‐0.1000 ‐ 0.0500i
1.1000 + 0.3000i
1.1000 ‐ 0.3000i
p =0.0000 + 2.0000i
0.0000 ‐ 2.0000i
‐1.0000 + 1.0000i
‐1.0000 ‐ 1.0000i
Part(h):
r =5.0000
‐1.0000
9.0000
‐2.0000
1.0000
p =‐2.0000
‐1.0000
‐1.0000
2‐47
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐32)
MATLAB code:
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
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)
2‐48
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
%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)
MATLAB Answers:
Part(a):
G(t)= ‐15/16*exp(‐4*t)+25/36*exp(‐6*t)+35/144+5/12*t
To simplify:
syms t
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)+1/4‐1/2*exp(‐t)*cos(t)
Part(c):
G(t)= 5/4*exp(‐t)‐7/5+3/20*exp(‐5*t)+2*t
2‐49
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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)= 100‐800/13*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)
2‐50
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(c) Poles are at s = −0.8688, 0.4344 + j 2.3593, 0.4344 − j 2.3593 Two poles in RHP. Unstable.
2-34) Find the Characteristic equations and then use the roots command.
(a)
p= [ 1 3 5 0]
sr = roots(p)
p=
1 3 5 0
sr =
-1.5000 + 1.6583i
-1.5000 - 1.6583i
sr = roots(p)
p=
1 5 2 10
2‐51
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
sr =
-5.0000
0.0000 + 1.4142i
0.0000 - 1.4142i
(c)
ans =
-3.6180
-1.3820
ans =
-5.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
ans =
1.6694 + 2.1640i
1.6694 - 2.1640i
-1.3387
2‐52
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
-22.8487 +22.6376i
-22.8487 -22.6376i
21.3487 +22.6023i
21.3487 -22.6023i
Alternatively
Problem 2‐34
MATLAB code:
% 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)
2‐53
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
%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)
MATLAB answer:
Part(a)
‐1.5000 + 1.6583i
‐1.5000 ‐ 1.6583i
Part(b)
‐5.0000
2‐54
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
‐0.0000 + 1.4142i
‐0.0000 ‐ 1.4142i
Part(c)
0.4344 + 2.3593i
0.4344 ‐ 2.3593i
‐0.8688
Part(d)
‐5.0000
‐1.0000 + 1.0000i
‐1.0000 ‐ 1.0000i
Part(e)
1.6694 + 2.1640i
1.6694 ‐ 2.1640i
‐1.3387
Part(f)
2‐55
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
‐22.8487 +22.6376i
‐22.8487 ‐22.6376i
21.3487 +22.6023i
21.3487 ‐22.6023i
2-35)
Routh Tabulation:
3
s 1 10
2
s 25 450
250 − 450 Two sign changes in the first column. Two roots in RHP.
1
s = −8 0
25
0
s 450
Routh Tabulation:
3
s 1 10
2
s 25 50
250 − 50 No sign changes in the first column. No roots in RHP.
1
s =8 0
25
0
s 50
Routh Tabulation:
2‐56
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
3
s 1 250
2
s 25 10
6250 − 10 No sign changes in the first column. No roots in RHP.
1
s = 249.6 0
25
0
s 10
Routh Tabulation:
4
s 2 5.5 10
3
s 10 5.5
2 55 − 11
s = 4.4 10
10
1 24.2 − 100
s = −75.8
4.4
0
s 10
Routh Tabulation:
6
s 1 8 20 16
5
s 2 15 16
4 16 − 15 40 − 16
s = 0.5 = 12
2 2
3
s − 33 − 48
2‐57
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2 −396 + 24
s = 11.27 16
−33
1 −5411
. + 528
s = −116
. 0
11.27
0
s 0
Routh Tabulation:
4
s 1 10 5
3
s 2 20
2 20 − 20
s =0 5
2
2
s ε 5 Replace 0 in last row by ε
1 20ε − 10 10
s ≅−
ε ε Two sign changes in first column. Two roots in RHP.
0
s 5
(g)
s8 1 8 20 16 0
s7 2 12 16 0 0
s6 2 12 16 0 0
s5 0 0 0 0 0
2 12 16
12 60 64
2‐58
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
s5 12 60 64 0
s4 2 16 0 0
3
s3 28 64 0 0
s2 0.759 0 0 0
s1 28 0
s0 0
a) roots([1 25 10 450])
ans =
-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
ans =
-12.4799 + 9.6566i
-12.4799 - 9.6566i
2‐59
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
-0.0402
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])
2‐60
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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
1. Activate MATLAB
3. Type in
Acsys
2‐61
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
5. Enter the characteristic equation in the denominator and press the “Routh‐Hurwitz” push‐
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.
2‐62
Automatic Control Systems, 9th Edition Chapter 2 Solutions 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)
for K=0:12
roots([1 25 15 20 K])
end
K=
ans =
-24.4193
-0.2904 + 0.8572i
-0.2904 - 0.8572i
K=
ans =
2‐63
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
-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=
2‐64
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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=
2‐65
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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=
2‐66
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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=
2‐67
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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=
2‐68
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
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
2‐69
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
1. Activate MATLAB
3. Type in
Acsys
2‐70
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
5. Enter the characteristic equation in the denominator and press the “Routh‐Hurwitz” push‐
button.
RH =
[ 1, 15, k]
[ 25, 20, 0]
[ 71/5, k, 0]
[ ‐125/71*k+20, 0, 0]
[ k, 0, 0]
6. Find the values of K to make the system unstable following the next steps.
2‐71
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Using ACSYS toolbar under “Transfer Function Symbolic”, the Routh‐Hurwitz option can be used to generate RH
matrix based on denominator polynhomial. The system is stable if and only if the first column of this matrix
contains NO negative values.
%Part a
den_a=[1 25 10 450]
roots(den_a)
%Part b
den_b=[1 25 10 50]
roots(den_b)
%Part c
roots(den_c)
%Part d
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)
2‐72
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
%Part g
den_g=[1 2 8 12 20 16 16 0 0]
roots(den_g)
using ACSYS, the denominator polynomial can be inserted, and by clicking on the “Routh‐Hurwitz” button, the R‐
H chart can be observed in the main MATLAB command window:
Part(a): for the transfer function in part (a), this chart is:
RH chart =
[ 1, 10]
[ 25, 450]
[ ‐8, 0]
[ 450, 0]
2 complex conjugate poles on right hand side. All the poles are:
‐25.3075
2‐73
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part (b):
RH chart:
[ 1, 10]
[ 25, 50]
[ 8, 0]
[ 50, 0]
Part (c):
2‐74
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
RH chart:
[ 1, 250]
[ 25, 10]
[ 1248/5, 0]
[ 10, 0]
Part (d):
RH chart:
[ 2, 11/2, 10]
[ 10, 11/2, 0]
[ 22/5, 10, 0]
[ ‐379/22, 0, 0]
[ 10, 0, 0]
2 complex conjugate poles on right hand side. All the poles are:
‐4.4660
‐1.1116
0.2888 + 0.9611i
0.2888 ‐ 0.9611i
2‐75
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Part (e):
RH chart:
[ 1, 8, 20, 16]
[ 2, 15, 16, 0]
[ ‐33, ‐48, 0, 0]
[ 124/11, 16, 0, 0]
[ ‐36/31, 0, 0, 0]
[ 16, 0, 0, 0]
Unstable system due to ‐33 and ‐36/31 on the 4th and 6th row.
4 complex conjugate poles on right hand side. All the poles are:
0.1776 + 2.3520i
0.1776 ‐ 2.3520i
‐1.2224 + 0.8169i
‐1.2224 ‐ 0.8169i
0.0447 + 1.1526i
0.0447 ‐ 1.1526i
Part (f):
RH chart:
[ 1, 10, 5]
[ 2, 20, 0]
2‐76
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
[ eps, 5, 0]
[ (‐10+20*eps)/eps, 0, 0]
[ 5, 0, 0]
2 complex conjugate poles slightly on right hand side. All the poles are:
0.0390 + 3.1052i
0.0390 ‐ 3.1052i
‐1.7881
‐0.2900
Part (g):
RH chart:
[ 1, 8, 20, 16, 0]
[ 2, 12, 16, 0, 0]
[ 2, 12, 16, 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]
2‐77
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
0.0000 + 2.0000i
0.0000 ‐ 2.0000i
‐1.0000 + 1.0000i
‐1.0000 ‐ 1.0000i
0.0000 + 1.4142i
0.0000 ‐ 1.4142i
2‐78
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(a) s 4 + 25 s 3 + 15 s 2 + 20 s + K = 0
Routh Tabulation:
4
s 1 15 K
3
s 25 20
2 375 − 20
s = 14.2 K
25
1 284 − 25 K
s = 20 − 176
. K 20 − 176
. K > 0 or K < 1136
.
14.2
0
s K K>0
Thus, the system is stable for 0 < K < 11.36. When K = 11.36, the system is marginally stable. The
2 2
auxiliary equation is A( s ) = 14.2 s + 11.36 = 0. The solution of A(s) = 0 is s = −0.8. The
(b) s 4 + Ks 3 + 2 s 2 + ( K + 1) s + 10 = 0
Routh Tabulation:
4
s 1 2 10
3
s K K +1 K>0
2 2K − K − 1 K −1
s = 10 K >1
K K
2
1 −9 K − 1 2
s − 9K − 1 > 0
K −1
0
s 10
2 2
The conditions for stability are: K > 0, K > 1, and −9 K − 1 > 0 . Since K is always positive, the
last condition cannot be met by any real value of K. Thus, the system is unstable for all values of K.
2‐79
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(c) s 3 + ( K + 2 ) s 2 + 2 Ks + 10 = 0
Routh Tabulation:
3
s 1 2K
2
s K+2 10 K > −2
2
1 2 K + 4 K − 10 2
s K + 2K − 5 > 0
K+2
0
s 10
2
The conditions for stability are: K > −2 and K + 2 K − 5 > 0 or (K +3.4495)(K − 1.4495) > 0,
or K > 1.4495. Thus, the condition for stability is K > 1.4495. When K = 1.4495 the system is
2 2
marginally stable. The auxiliary equation is A( s ) = 3.4495 s + 10 = 0. The solution is s = −2.899 .
(d) s 3 + 20 s 2 + 5 s + 10 K = 0
Routh Tabulation:
3
s 1 5
2
s 20 10 K
1 100 − 10 K
s = 5 − 0.5K 5 − 0.5K > 0 or K < 10
20
0
s 10 K K>0
The conditions for stability are: K > 0 and K < 10. Thus, 0 < K < 10. When K = 10, the system is
2
marginally stable. The auxiliary equation is A( s ) = 20 s + 100 = 0. The solution of the auxiliary
2
equation is s = −5. The frequency of oscillation is 2.236 rad/sec.
2‐80
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(e) s 4 + Ks 3 + 5 s 2 + 10 s + 10 K = 0
Routh Tabulation:
4
s 1 5 10 K
3
s K 10 K>0
2 5 K − 10
s 10 K 5K − 10 > 0 or K > 2
K
50 K − 100 2
− 10 K 3
1 K 50 K − 100 − 10 K 3
s = 5 K − 10 − K > 0
5K − 10 5 K − 10
K
0
s 10 K K>0
3
The conditions for stability are: K > 0, K > 2, and 5 K − 10 − K > 0.
>> syms k
>> kval=solve(5*k‐10+k^3,k);
>> eval(kval)
kval =
1.4233
‐0.7117 + 2.5533i
‐0.7117 ‐ 2.5533i
So K>1.4233.
2‐81
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
(f) s 4 + 12.5 s 3 + s 2 + 5 s + K = 0
Routh Tabulation:
4
s 1 1 K
3
s 12.5 5
2 12.5 − 5
s = 0.6 K
12.5
1 3 − 12.5 K
s = 5 − 20.83 K 5 − 20.83 K > 0 or K < 0.24
0.6
0
s K K>0
The condition for stability is 0 < K < 0.24. When K = 0.24 the system is marginally stable. The auxiliary
2 2
equation is A( s ) = 0.6 s + 0.24 = 0. The solution of the auxiliary equation is s = −0.4. The frequency of
2-39)
3 2
The characteristic equation is Ts + ( 2T + 1) s + ( 2 + K ) s + 5 K = 0
Routh Tabulation:
3
s T K+2 T >0
2
s 2T + 1 5K T > −1 / 2
1 ( 2T + 1)( K + 2 ) − 5 KT
s K (1 − 3T ) + 4T + 2 > 0
2T + 1
0
s 5K K>0
4T + 2
The conditions for stability are: T > 0, K > 0, and K < . The regions of stability in the
3T − 1
2‐82
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
1. Activate MATLAB
3. Type in
Acsys
2‐83
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐84
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
5. Enter the characteristic equation in the denominator and press the “Routh‐Hurwitz” push‐
button.
RH =
[600, k, 80*k]
[‐1/600*k+50000, 358/15*k, 0]
[ (35680*k‐1/600*k^2)/(‐1/600*k+50000), 80*k, 0]
[ 24*k*(k^2‐21622400*k+5000000000000)/(k‐30000000)/(35680*k‐1/600*k^2)*(‐1/600*k+50000),
0, 0]
[80*k, 0, 0]
6. Find the values of K to make the system unstable following the next steps.
Routh Tabulation:
5
s 1 50000 24 K
4
s 600 K 80 K
7
3 3 × 10 − K 14320 K 7
s K < 3 × 10
600 600
2
2 21408000 K − K
s 7
80 K K < 21408000
3 × 10 − K
16 11 2
1 −7.2 × 10 + 3113256
. × 10 K − 14400 K 2 7 12
s K − 2.162 × 10 K + 5 × 10 <0
600(21408000 − K )
0
s 80 K K>0
2‐85
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
3 7
From the s row: K < 3 × 10
2 7
From the s row: K < 2.1408 × 10
1 2 7 12 5 7
From the s row: K − 2.162 × 10 K + 5 × 10 < 0 or ( K − 2.34 × 10 )( K − 2.1386 × 10 ) < 0
5 7
Thus, 2.34 × 10 < K < 2.1386 × 10
0
From the s row: K>0
5 7
Thus, the final condition for stability is: 2.34 × 10 < K < 2.1386 × 10
5
When K = 2.34 × 10 ω = 10.6 rad/sec.
7
When K = 2.1386 × 10 ω = 188.59 rad/sec.
Routh tabulation:
3
s 1 30 K
2
s K+2 200 K K > −2
2
1 30 K − 140 K
s K > 4.6667
K+2
0
s 200 K K>0
2 2
When K = 4.6667, the auxiliary equation is A( s ) = 6.6667 s + 933.333 = 0 . The solution is s = −140.
2‐86
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Routh tabulation:
3
s 1 200
2
s 30 K
1 6000 − K
s K < 6000
30
0
s K K>0
2 2
When K = 6000, the auxiliary equation is A( s ) = 30 s + 6000 = 0. The solution is s = −200.
Routh tabulation:
3
s 1 K+3
2
s 2 K +1
1 K +5
s K > −5
30
0
s K +1 K > −1
Stability condition: K > −1. When K = −1 the zero element occurs in the first element of the
0
s row. Thus, there is no auxiliary equation. When K = −1, the system is marginally stable, and one
of the three characteristic equation roots is at s = 0. There is no oscillation. The system response
2‐87
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
⎡1 −2 ⎤ ⎡0 ⎤
A=⎢ ⎥ B=⎢ ⎥
⎣10 0 ⎦ ⎣1 ⎦
⎡ 1 −2 ⎤
A − BK = ⎢
⎣10 − k1 − k 2 ⎥⎦
s −1 2
sI − A + BK = = s + ( k 2 − 1) s + 20 − 2k1 − k 2 = 0
2
−10 + k1 s + k2
Stability requirements:
k 2 − 1 > 0 or k 2 > 1
Parameter plane:
s −1 0
sI − A + BK = 0 −1 = s + ( k 3 + 3 ) s + ( k 2 + 4 ) s + k1 = 0
3 2
s
k1 k2 + 4 s + k3 + 3
2‐88
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Routh Tabulation:
k2 + 4
3
s 1
k3 + 3 k 3 +3>0 or k 3 > −3
2
s k1
(k + 3 )( k 2 + 4 ) − k1
s
1 3
(k + 3) ( k + 4 ) − k > 0
k3 + 3
3 2 1
k >0
0
s k 1 1
Stability Requirements:
2‐44 (a) Since A is a diagonal matrix with distinct eigenvalues, the states are decoupled from each other. The
second row of B is zero; thus, the second state variable, x 2 is uncontrollable. Since the uncontrollable
state has the eigenvalue at −3 which is stable, and the unstable state x3 with the eigenvalue at −2 is
(b) Since the uncontrollable state x1 has an unstable eigenvalue at 1, the system is no stabilizable.
2-45) a)
If , then or
If , then 1 . As a result:
1
1 1
2‐89
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
1
b Ö
As a result:
1 1
Y ( s) G ( s) H (s) ( K p + K d s)
= =
X ( s ) (1 + G ( s ) H ( s )) ((τ s + 1)( s 2 − g / l ) + K p + K d s )
( K p + K d s)
=
(τ s + (τ (− g / l ) + 1) s 2 + K d s − g / l + K p )
3
1. Activate MATLAB
3. Type in
Acsys
2‐90
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
2‐91
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
5. Enter the characteristic equation in the denominator and press the “Routh‐Hurwitz” push‐
button.
RH =
[ 1/10, kd]
[ eps, kp-10]
[ (-1/10*kp+1+kd*eps)/eps, 0]
[ kp-10, 0]
For the choice of g/l or τ the system will be unstable. The quantity τ g/l must be >1.
2‐92
Automatic Control Systems, 9th Edition Chapter 2 Solutions 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.
1. Activate MATLAB
3. Type in
Acsys
2‐93
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
5. Enter the characteristic equation in the denominator and press the “Inverse Laplace Transform”
push‐button.
----------------------------------------------------------------
----------------------------------------------------------------
2‐94
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
G(s) =
[ kd kp ]
[------------------------ ------------------------------]
[ 3 3 ]
G(s) factored:
[ kd kp ]
[ 3 3 ]
[ s + 10 s kd + 10 kp - 100 s + 10 s kd + 10 kp - 100]
g(t) =
matrix([[10*kd*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd
+10*kp-
100)),10*kp*sum(1/(3*_alpha^2+10*kd)*exp(_alpha*t),_alpha=RootOf(_Z^3+10*_Z*kd+1
0*kp-100))]])
While MATLAB is having a hard time with this problem, it is easy to see the solution will be unstable
for all values of Kp and Kd. Stability of a linear system is independent of its initial conditions. For
different values of g/l and τ, you may solve the problem similarly – assign all values (including Kp and
Kd) and then find the inverse Laplace transform of the system. Find the time response and apply the
initial conditions.
Lets chose g/l=1 and keep τ=0.1, take Kd=1 and Kp=10.
2‐95
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
Using ACSYS:
RH =
[ 1/10, 1]
[ 9/10, 9]
[ 9/5, 0]
[ 9, 0]
----------------------------------------------------------------
----------------------------------------------------------------
G(s) =
s + 10
-------------------------
3 2
1/10 s + 9/10 s + s + 9
2‐96
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
G factored:
Zero/pole/gain:
10 (s+10)
-----------------
g(t) = -10989/100000*exp(-
2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/25000
0000*exp(-
2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*ex
p(-9*t)
for i=1:1000
t=0.1*i;
tf(i)=‐10989/100000*exp(‐
2251801791980457/40564819207303340847894502572032*t)*cos(79057/25000*t)+868757373/250
000000*exp(‐
2251801791980457/40564819207303340847894502572032*t)*sin(79057/25000*t)+10989/100000*e
xp(‐9*t);
end
figure(3)
plot(1:1000,tf)
2‐97
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
syms t
f=5+2*exp(‐2*t)*sin(2*t+pi/4)‐4*exp(‐2*t)*cos(2*t‐pi/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 =
2‐98
Automatic Control Systems, 9th Edition Chapter 2 Solutions 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))
syms s
cltFsimp=simplify(cltF)
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 =
USE ACSYS Routh‐Hurwitz tool as described in previous problems and this Chapter’s section 2‐14.
RH =
[ 1, 5581205465083989*2^(‐46), 160]
[87071/5000, 5862680441794645*2^(‐45), 0]
[427334336632381556219/6127076924293382144, 160, 0]
2‐99
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
[ 238083438912827127943602680401244833403/1879436288300987963959490983755776000,
0, 0]
[ 160, 0, 0]
syms s
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=
1/4‐1/2*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)
2‐100
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo
RH =
[ 1, 6, 1]
[ 4, 5, 0]
[ 19/4, 1, 0]
[ 79/19, 0, 0]
[ 1, 0, 0]
STABLE
2‐101
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
Chapter 3__________________________________________________________________________
3-1) a)
b)
c)
G H
d) Feedback ratio =
e)
3-2)
Characteristic equation: 1 2 1 0
Ö 3 2 1 0
3‐1
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-3)
G 1
1 − G1 H 1
H2
G2
G1
1 − G1 H 1
G1G2 H2
G3 +
1 − G1 H 1 G2
1
1 1
1
3‐2
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-4)
G2
1 + G 2 G3 H 3
+ G2
X G1 G3 Y
1 + G2G3 H 3 + G2 H 2
-
H1
3‐3
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
+ G1G2 G3
X Y
1 + G 2 G3 H 3 + G 2 H 2
-
H1
G3
3
3-5)
3‐4
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-6) MATLAB
syms s
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)]
3‐5
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-7)
33-8)
3‐6
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-9)
3
3-10)
3
3-11)
3‐7
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-12)
3-13)
syms t
f=100*(1‐0.33*exp(‐6*t)‐0
0.7*exp(‐10*t))
F=laplace(f)
syms s
F=eval(F)
Gc=F*s
M=30000
syms K
Olp=simplify(KK*Gc/M/s)
Kt=0.15
Clp= simplify(Olp/(1+Olp*K
Kt))
s=0
Ess=eval(Clp)
f=
100‐30*exp(‐6
6*t)‐70*exp(‐‐10*t)
F=
80*(11*s+75)/s/(s+6)/(s+1
10)
ans =
3‐8
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
(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=
0
EEss =
2
20/3
3
3-14)
3‐9
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-15)
‐1 ‐1
Note: If G(s) = g(t), then {e‐asG(s)} = u(t ‐ a) • g(t ‐ a)
syms t s
f=100*(1‐0.3*exp(‐6*(t‐0.5)))
F=laplace(f)*exp(‐0.5*s)
F=eval(F)
Gc=F*s
M=30000
syms K
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=
100‐30*exp(‐6*t+3)
F=
(100/s‐30*exp(3)/(s+6))*exp(‐1/2*s)
F=
(100/s‐2650113767660283/4398046511104/(s+6))*exp(‐1/2*s)
Gc =
(100/s‐2650113767660283/4398046511104/(s+6))*exp(‐1/2*s)*s
M=
30000
Olp =
‐1/131941395333120000*K*(2210309116549883*s‐2638827906662400)/s/(s+6)*exp(‐1/2*s)
Kt =
0.1500
Clp =
3‐10
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
20/3*K*(2210
2 03091165498
883*s‐263882
27906662400
0)*exp(‐1/2*s)/(‐8796093002220800000
0*s^2‐
5
52776558133324800000*s+
+2210309116
6549883*K*eexp(‐1/2*s)*s‐‐2638827906
6662400*K*exxp(‐1/2*s))
s=
0
Ess =
20/3
Fsimp =
50*s)*(5.*s‐6
‐.10e3*exp(‐.5 6.)/s/(s+6.)
Gcsimp =
‐.10e3*exp(‐.5
50*s)*(5.*s‐6
6.)/(s+6.)
Olpsimp =
‐.10e‐2*K*exp
p(‐.50*s)*(17
7.*s‐20.)/s/(s++6.)
Clpsimp =
5.*K*exp(‐.50
5 0*s)*(15.*s‐1
17.)/(‐.44e4*ss^2‐.26e5*s+1
11.*K*exp(‐.5
50*s)*s‐13.*K
K*exp(‐.50*s)))
3-16)
3‐11
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-17)
3-18)
1
5 6 3 0.5
1
0.5
1
0.5 1.5 0.5 0.5 0.5
0.5 0.5
0.5 0.5
0.5
u1 0.5 z1
1
3
0.5
1/s -1 1/s 1/s x1 0.5
-6
0.5 0.5 x3 x2 0.5
1 -5
1.5 1
u2 0.5 0.5
-0.5 z2
3‐12
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3-19)
Ö
Ö
B1
B0 1/s 1 1/s
u y
x
-A1
-A0
3-20)
3‐13
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3
3-21)
3
3-22)
3‐14
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
33-23)
3‐15
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-24)
3
3-25)
3
3-26)
3
3-27)
3‐16
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
33-28)
3‐17
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
33-29)
3‐18
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-31) MATLAB
syms s K
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=simmplify(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
3‐19
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
YN =
100*s/(s^3+6*s^2+5*s+100*K)
RH =
[ 1, 5]
[ 6, 100*k]
[ ‐50/3*k+5, 0]
[ 100*k, 0]
Stability requires: 0<k<3/10.
3‐20
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3‐32)
3‐21
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3‐34) MATLAB
M
clear all
p = [1
1 5 6 10] % Define p
polynomial s^3+5*s^2
2+6*s+10=0
roots(
(p)
G=tf(1
1,p)
step(G
G)
3‐22
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
p=
1 5 6 10
ans =
‐4.1337
‐0.4331 + 1.4938i
‐0.4331 ‐ 1.4938i
Transfer function:
1
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^3 + 5 s^2 + 6 s + 10
3‐23
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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
B =
1
A =
1 5 6 10 0
r =
-0.0152
-0.0424 + 0.0333i
-0.0424 - 0.0333i
0.1000
p =
-4.1337
-0.4331 + 1.4938i
-0.4331 - 1.4938i
0
k =
[]
1 −0.0152 −0.0424 + 0.0333i −0.0424 - 0.0333i
So partial fraction of Y is: + + +
s s − 4.1337 s − 0.4331 + 1.4938i s − 0.4331 - 1.4938i
3‐24
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3‐25
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3‐36)
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 4 3 5 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
3‐26
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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 =
1-
1/14863*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
B =
1
A =
1 4 3 5 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 =
[]
3‐27
Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo
3-37)
3-38) MATLAB
M
Use TFFcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windoow).
TFcal
3‐28
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
G1 =
100
G2 =
(s+1)/(s+2)
G3 =
10/s/(s+20)
G4 =
(101/10*s^3+1061/5*s^2+204*s)/(s+1)
H1 =
1
H2 =
1
ans =
1000*(s+1)/(201*s^3+4222*s^2+5040*s+1000)
clear all
TF=tf([1000 1000],[201 4222 5040 1000])
step(TF)
3‐29
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
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 =
3‐30
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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^4-
848*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 9 15 25 25 14 6
ans =
-3.0000
-0.0000 + 1.4142i
-0.0000 - 1.4142i
-1.0000
-0.2500 + 0.6614i
-0.2500 - 0.6614i
3‐31
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
P2 =
1 8 23 36 38 28 16
ans =
-4.0000
-2.0000
-1.0000 + 1.0000i
-1.0000 - 1.0000i
0.0000 + 1.0000i
0.0000 - 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
3‐32
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
3‐41)
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
A =
2 9 26 45 46 40 0
r =
-1.0600 - 1.7467i
-1.0600 + 1.7467i
0.9600
-0.1700 + 0.7262i
-0.1700 - 0.7262i
2.0000
p =
-1.0000 + 2.0000i
-1.0000 - 2.0000i
-2.0000
-0.2500 + 1.3919i
-0.2500 - 1.3919i
0
k =
[]
3‐33
Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo
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=
1 15 56 70 108 80
A=
2 9 26 45 46 40 0
Transfer function:
s^5 + 15 s^4 + 56 s^3 + 70 s^2 + 108 s + 80
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
2 s^6 + 9 s^5 + 26 s^4 + 45 s^3 + 46 s^2 + 40 s
Transfer function:
2 s^11 + 39 s^10 + 273 s^9 + 1079 s^8 + 3023 s^7 + 6202 s^6 + 9854 s^5 + 12400 s^4
+ 11368 s^3 + 8000 s^2 + 3200 s
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
4 s^12 + 38 s^11 + 224 s^10 + 921 s^9 + 2749 s^8 + 6351 s^7 + 11339 s^6 + 16074 s^5
+ 18116 s^4 + 15048 s^3 + 9600 s^2 + 3200 s
ans =
0
‐0.7852 + 3.2346i
‐0.7852 ‐ 3.2346i
‐2.5822
‐1.0000 + 2.0000i
‐1.0000 ‐ 2.0000i
‐2.0000
‐0.0340 + 1.3390i
‐0.0340 ‐ 1.3390i
‐0.2500 + 1.3919i
‐0.2500 ‐ 1.3919i
‐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
3‐34
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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:
ans =
-5.0000
-4.0000
0.0716 + 0.9974i
0.0716 - 0.9974i
-1.4265 + 1.3355i
-1.4265 - 1.3355i
-3.0000
-2.1451 + 0.3366i
-2.1451 - 0.3366i
G3=G1+G2
G4=G1-G2
G5=G4/G3
G6=G4/(G1*G2)
Transfer function:
8 s^12 + 92 s^11 + 522 s^10 + 1925 s^9 + 5070 s^8 + 9978 s^7 + 15154 s^6 +
18427 s^5
3‐35
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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
-------------------------------------------------------------------------------
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
+
1.152e007 s
-------------------------------------------------------------------------------
16 s^21 + 448 s^20 + 5904 s^19 + 49252 s^18 + 294265 s^17 + 1.346e006 s^16
3‐36
Automatic Control Systems, 9th Edition Chapter 3 Solutions 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
+
1.152e007 s
-------------------------------------------------------------------------------
8 s^20 + 308 s^19 + 5270 s^18 + 54111 s^17 + 379254 s^16 + 1.955e006 s^15
3‐37
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Chapter 4__________________________________________________________________________
4-1) When the mass is added to spring, then the spring will stretch from position O to position L.
1
2
where y is a displacement from equilibrium position L.
1
2
0
since KL = mg, therefore:
0
4‐1
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
4-2)
KU
KL
1
2
Potential energy:
As we know , then:
4‐2
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
1 1 1
2 2 2
By differentiating, we have:
0
b)
c)
1 1 1
2 2 2
1 1
2 2
Then:
1 1
2 2
Or:
4‐3
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
J
d) G (s) =
(ms + K )
2
Transfer function:
10
‐‐‐‐‐‐‐‐
s^2 + 10
4‐4
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
4-44)
⎛ dy1 − dy2 ⎞ + K y − y
2
d y1 dy1
f (t ) = M 1 + B1 + B3 ⎜ ⎟ ( 1 2)
dt
2
dt ⎝ dt dt ⎠
⎛ d 2⎞
2
dy1 dy d y2 dy2
B3 ⎜ − ⎟ + K ( y1 − y2 ) + M 2 2 + B2
⎝ dt ddt ⎠ dt dt
2
d y1 (B + B3 ) dy1 B3 dyy 2 K f
2
=− 1
+ − (y 1
− y2 ) +
dt M1 dt M 1 dt
d M1 M1
2
d y2 B3 dy1 (B + B3 ) dy2 K
2
= − 2
+ (y1
− y2 )
dt M 2 dt M2 dtt M2
4‐5
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
dy 2 dy1
State equations: Define the state variables as x1 = y1 − y 2 , x 2 = , x3 = .
dt dt
dy 2 dy1
(ii) State variables: x1 = y 2 , x 2 = , x3 = y1 , x 4 = .
dt dt
State equations:
dx1 dx 2 K B2 + B3 K B3
= x2 =− x1 − x2 + x3 + x4
dt dt M2 M2 M2 M2
dx3 dx 4 K B3 K B1 + B3 1
= x4 = x1 + x2 − x3 − x4 + f
dt dt M1 M1 M1 M1 M1
State diagram:
Transfer functions:
M 2 s + ( B2 + B3 ) s + K
2
Y1 ( s )
=
F (s) {
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 2
}
Y2 ( s ) B3 s + K
=
F (s) {
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 2
}
(b) Force equations:
4‐6
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
d y1
2
(B + B2 ) dy1 B2 dy 2 1 dy2 dy1 K
2
=− 1
+ + f = − y2
dt M dt M dt M dt dt B2
State equations:
dx1 K dx 2 K B1 1
=− x1 + x 2 =− x1 − x2 + f
dt B2 dt M M M
dy1
(ii) State equations: State variables: x1 = y 2 , x 2 = y1, x3 = .
dt
dx1 K dx 2 dx3 K B1 1
=− x1 + x3 = x3 =− x1 − x3 + f
dt B2 dt dt M M M
Transfer functions:
Y1 ( s) B2 s + K Y2 ( s ) B2
= =
F ( s ) s ⎡⎣ MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K ⎤⎦
2
F (s) MB2 s + ( B1 B2 + KM ) s + ( B1 + B2 ) K
2
dy1 dy2 1
2
d y2 (B + B2 ) dy2 B1 dy2 B1 dy1 K
= + f 2
=− 1
+ + − y2
dt dt B1 dt M dt M dt M dt M
4‐7
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
State equatio
ons: Define thee outputs of integrators as sttate variables.
dx1 dxx 2 K B2 1
= x2 =− x1 − x2 + f
dt d
dt M M M
dy 2
(ii) State equations: state variaables: x1 = y1 , x 2 = y 2 , x3 = .
dt
dx1 1 dx 2 dxx3 K B2 1
= x3 + f = x3 =− x2 − x3 + f
dt B1 dt d
dt M M M
State diagram
m:
Transfer funcctions:
Ms + ( B1 + B2 ) s + K
2
Y1 ( s ) Y2 ( s ) 1
= =
F (s) (
B1 s Ms + B2 s + K
2
) F (s) Ms + B2 s + K
2
4-55)
4‐8
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Staate diagram:
Staate equations:
Deffine the state
varriables as:
dy
x1 = y 2 , x 2 = 2
d
dt
.
dx1 d 2
dx K1 B 1
= x2 =− x1 − x2 + ( f + Mg )
dtt dt M M M
Transfer function
ns:
2
Y1 ( s ) s + Bs + K1 + K 2 Y2 ( s ) 1
= 2
= 2
F ( s) K 2 ( Ms + Bs + K1 ) F ( s) Mss + Bs + K1
Statte diagram: (W
With minimum number of inttegrators)
4‐9
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
To obtain the transsfer functions Y1 ( s ) / F ( s ) and Y2 ( s ) / F ( s ), we need to redefine the sttate variables as:
x1 = y 2 , x 2 = dy 2 / dtt , and x3 = y1 .
Statte diagram:
Transfer funcctions:
Ms + ( B1 + B2 ) s + K1 Bs + K1
2
Y1 ( s ) Y2 ( s )
= =
F (s) s
2
[ MB
M s + (B B
1 1 2
+ MK1 )] F (s) s
2
[ MB
M s + (B B
1 1 2
+ MK1 )]
4-66) a)
y1
y2
K ( y1 − y 2 )
m K ( y1 − y 2 ) M F
μmgy& 2 μMgy&1
Then:
4‐10
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
c)
1
2
d)
0 0 1 0
0 0 0 1 0
0
0 1
0 0
0001 0
f (t ) = K h ( y1 − y2 ) + Bh ⎜ ⎟ K h ( y1 − y 2 ) + Bh ⎜ ⎟
⎝ dt dt ⎠ ⎝ dt dt ⎠ 2 t
dt dt
dy 2
(b) State variables: x1 = y1 − y 2 , x 2 =
dt
4‐11
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
State equations:
dx1 Kh 1 dx 2 Bt 1
=− x1 + f (t ) =− x2 + f (t )
dt Bh Bh dt M M
4-8)
α2
α1
sin
Ö 0
Ö sin sin sin cos
sin
cos 1 0
Ö Ö
sin 0
cos 1
4-9) a)
4‐12
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Fy
θ m
x(t) Fx
mg
M
f
θ
Ö cos sin
From the torque balance, we have:
cos sin sin
Where:
cos
cos sin
Substituting these equation:
cos sin
4-10) a)
4‐13
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Fy1 Fy 2
Fx1 Fx 2
m1 g
m2 g
θ1 θ2
b) Kinetic energy
1 1
sin cos
2 2
1 1
sin cos
2 2
4‐14
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
sin 0
b) As:
Then
sin 0
If we linearize the equation about beam angle α = 0, then sinα ≈ α and sinθ ≈ θ
Then:
4‐15
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
c) Considering
0
0 1
0 0
mgd
d) G ( s) =
( 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
4‐16
Automatic Control Systems, 9th Edition Chapter 4 Solutions 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, ω is vertical velocity, q is pitch rate, and θ 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
cos sin
1
sin cos
4‐17
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Refer to the aircraft dynamics textbooks, the state equations can be written as:
1
2
3
Which gives:
4‐18
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
For plotting
g state flow diagram, equation
u (4) muust be rewritten as:
or
ml 1/Ms 1 1/s
u y
x
-B/M
-K
State equations:
dx1 dx 2 B 1
= x2 =− x2 + T
dt dt J J
Transsfer function:
Θ( s ) 1
=
T ( s) s( Js + B )
d θ1 dθ 2
2
K 1
2
=− (θ 1
− θ2 ) + T K (θ 1 − θ 2 ) = B
dt J J dt
4‐19
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
State equations:
dx1 K dx 2 K 1
=− x1 + x 2 =− x1 + T
dt B dt J J
dθ 1
State equations: Let x1 = θ 2 , x 2 = θ 1 , and x3 = .
dt
dx1 K K dx 2 dx3 K K 1
=− x1 + x2 = x3 = x1 − x2 + T
dt B B dt dt J J J
State diagram:
Tran
nsfer functionss:
Θ1 ( s ) B +K
Bs Θ2 ( s) K
= =
T (s) (
s BJs + JKs + BK
2
) T (s) (
s BJs + JK
Ks + BK
2
)
(c) Torqque equationss:
d θ1 d θ2
2 2
T (t ) = J 1 2
+ K (θ 1 − θ 2 ) K (θ 1 − θ 2 ) = J 2 2
dt dt
Statte diagram:
4‐20
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
dθ 2 dθ 1
e equations: sttate variables:: x1 = θ 2 , x 2 =
State , x3 = θ 1 , x 4 = .
dt d
dt
dx1 dx 2 K K d 3
dx d 4
dx K K 1
= x2 =− x1 + x3 = x4 = x1 − x3 + T
dt dt J2 J2 dt dt J1 J1 J1
nsfer functionss:
Tran
Θ1 ( s ) J2s + K Θ2 ( s)
2
K
= =
s ⎡⎣ J 1 J 2 s + K ( J 1 + J 2 ) ⎤⎦ s ⎡⎣ J 1 J 2 s + K ( J 1 + J 2 ) ⎤⎦
2 2 2 2
T (s) T (s)
d θm d θ1 d θ2
2 2 2
T (t ) = J m 2
+ K1 (θ m − θ 1 ) + K 2 (θ m − θ 2 ) K1 (θ m − θ 1 ) = J 1 2
K 2 (θ m − θ 2 ) = J 2 2
dt dt dt
4‐21
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
State diiagram:
dθ 1 dθ m dθ 2
ons: x1 = θ m − θ 1 , x 2 =
State equatio , x3 = , x 4 = θ m − θ 2 , x5 = .
dtt dt dt
Transfer funcctions:
Θ1 ( s ) K1 ( J 2 s + K 2 )
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 4 2
T (s)
Θ2 (s) K 2 ( J 1 s + K1 )
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 4 2
T (s)
d 2θ m K1 K2 1 d θ1
2
K1 B1 dθ 1 d θ2
2
K2 B2 dθ 2
2
=− (θ m − θ1 ) − (θ m − θ 2 ) + T = (θ m
− θ1 ) − 2
= (θ m
− θ1 ) −
dt Jm Jm Jm d
dt
2
J1 J 1 dt dt J2 J 2 dt
State diagram
m:
4‐22
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
dθ 1 dθ m dθ 2
S
State variabless: x1 = θ m − θ 1 , x 2 = , x3 = , x 4 = θ m − θ 2 , x5 = .
dt dt dt
State equatio
ons:
dx1 dx 2 K1 B dx3 K1 K2 1 dx4 dx5 K2 B2
= − x 2 + x3 = x1 − 1 x 2 =− x1 − x4 + T = x3 − x 5 = x4 − x5
dt dt J1 J1 dt Jm Jm Jm dt dt J2 J2
Transfer funcctions:
Θ1 ( s )
=
(
K1 J 2 s + B2 s + K 2
2
) Θ2 (s)
=
(
K 2 J 1 s + B1 s + K1
2
)
T (s) Δ(s) T (s) Δ(s)
Δ ( 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 4 3 2
+ [( 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 θ1 d θ3
2 2
N1 N3 N1
Tm (t ) = J m 2
+ T1 T1 = T2 T3 = T4 T4 = J L 2
T2 = T3 θ2 = θ1
dt N2 N4 dt N2
(a))
N1 N 3 N3 N3 d θ3
2
d θ1
2
N1 N 3 ⎡ ⎡ N1 N 3 ⎤ ⎤ d 2θ 1
2
θ3 = θ1 T2 = T4 = JL Tm = J m + T4 = ⎢ J m + ⎢ ⎥ JL ⎥ 2
⎢⎣ ⎣ N 2 N 4 ⎦ ⎥⎦ dt
2 2
N2 N4 N4 N4 dt dt N2 N4
4‐23
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
(b)
d θ1 d θ2 d θ3
2 2 2
N1 N3
Tm = J m 2
+ T1 T2 = J 2 2
+ T3 T4 = ( J 3 + J L ) 2
T1 = T2 T3 = T4
dt dt dt N2 N4
d θ2 d θ2 d θ3
2 2 2
N1 N1 N 3 N3 N3
θ2 = θ1 θ3 = θ1 T2 = J 2 2
+ T4 = J 2 2
+ (J 3
+ JL ) 2
N2 N2 N4 dt N4 dt N4 dt
d θ1
2
N1 ⎛ d θ2
2
⎡ ⎛ N1 ⎞
N3
2
⎛ N1 N 3 ⎞
2
⎤ d 2θ1
d θ3 ⎞
2
Tm (t ) = J m + ⎜ J 2 dt 2 + N ( J 3 + J 4 ) dt 2 ⎟ = ⎢ J m + ⎜ N ⎟ J 2 + ⎜ N N ⎟ ( J 3 + J L ) ⎥ dt 2
N2 ⎝ ⎠ ⎣⎢ ⎝ 2⎠ ⎝ 2 4⎠ ⎦⎥
2
dt 4
4-15) (a)
2 2
d θm d θL N1
Tm = J m 2
+ T1 T2 = J L 2
+ TL T1 = T2 = nT2 θ m N1 = θ L N 2
dt dt N2
d θm d θL ⎛ J m + nJ ⎞ α + nT nTm − n TL
2 2 2
Tm = J m + nJ L + nTL = ⎜ L ⎟
Thus, α L =
⎝ n ⎠
L L
Jm + n JL
2 2 2
dt dt
∂α L J mTL Jm
Set
∂n
= 0. (T
m (
− 2 nTL ) J m + n J L − 2 nJ L nTm − n J L = 0
2
) ( 2
) Or, n +
2
n− =0
J LTm JL
2 2 2
∗ J mTL J mTL + 4 J m J LTm
Optimal gear ratio: n =− + where the + sign has been chosen.
2 J LTm 2 J LTm
4-16) (a) Torque equation about the motor shaft: Relation between linear and rotational displacements:
2 2
d θm 2 d θm dθ m
Tm = J m 2
+ Mr 2
+ Bm y = rθ m
dt dt dt
(b) Taking the Laplace transform of the equations in part (a), with zero initial conditions, we have
(
Tm ( s ) = J m + Mr
2
)s Θ 2
m
( s ) + Bm sΘ m ( s ) Y (s) = rΘm (s)
4‐24
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Transffer function:
Y ( s) r
=
Tm ( s ) (
s ⎡⎣ J m + Mr
r
)s + B m
⎤⎦
4-117) (a)
d θm
2
Tm = J m 2
+ r ( T1 − T2 ) T1 = K 2 ( rθ m − rθ p ) = K 2 ( rθ m − y ) T2 = K1 ( y − rθ m )
dt
d θm
2 2 2
d y d y
T1 − T2 = M 2
us, Tm = J m
Thu 2
+ r ( K1 + K 2 )( rθ m − y ) M 2
= ( K1 + K 2 )( rθ m − y )
dt dtt dt
Y ( s) r ( K1 + K 2 )
=
s ⎡⎣ J m Ms + ( K1 + K 2 )(( J m + rM ) ⎤⎦
2 2
Tm ( s )
s ⎡⎣ J m Ms + ( K1 + K 2 )( J m + rM ) ⎤⎦ = 0
2 2
4‐25
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
dω m dia
Tm = K i ia = ( J m + J L ) + Bmω m ea = Ra ia + La + K bω m y = nθ m y = y ( t − TD )
dt dt
d
TD = (sec) e = r −b b = Ks y E a ( s ) = KGc ( s ) E ( s )
V
Blockk diagram:
(b) Forw
ward‐path transfer function
n:
− TD s
Y (s) KK i nGc ( s )e
=
E (s) s {( Ra + La s ) [( J m + J L ) s + Bm ] + K b K i }
− TD s
Y ( s) KK
K i nGc ( s )e
=
s ( Ra + La s ) [ ( J m + J L ) s + Bm ] + K b K i s + KGc ( s ) K i ne
− TD s
R(s)
d θm dθ m d θL dθ L
2 2
Tm (t ) = J m 2
+ Bm + K (θ m − θ L ) K (θ m − θ L ) = J L 2
+ BL
dt dt dt dt
State diagram:
4‐26
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Θ L ( s) Θm (s) J L s + BL s + K
2
K
= = Δ ( s ) = s ⎡⎣ J m J L s + ( Bm J L + BL J m ) s + ( KJ m + KJ L + Bm BL ) s + Bm K ⎤⎦
3 2
Tm ( s ) Δ(s) Tm ( s ) Δ( s)
Tm
dy‐state perforrmance: Tm ( t ) = Tm = constant.
(d) Stead t Tm ( s ) = .
s
J L s + BL s + K
2
1
lim ω m (t ) = lim sΩ m ( s ) = lim =
J m J L s + ( Bm J L + BL J m ) s + ( KJ
K m + KJ L + Bm BL ) s + Bm K
3 2
t →∞ s →0 s →0 Bm
dθ dθ
2 2
Ts ( d1 + d 2 ) δ + Fα d 2 = J 2
Ts ( d1 + d 2 ) δ + K F d 2θ = J 2
dt dt
4‐27
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Θ( s ) Ts ( d1 + d 2 )
Js Θ ( s ) − K F d 2 Θ ( s ) = Ts ( d1 + d 2 ) Δ ( s ) =
2
Δ(s) Js − K F d 2
2
e( t ) e( t 0
With Ra = 0 , φ ( t ) = = K f i f ( t ) = K f i f ( t ) = K f ia ( t ) Then, ia ( t ) =
Kb v ( t ) Kb K f v ( t )
2
Ki e ( t ) dv ( t ) Ki 2
f ( t ) = Kiφ ( t )ia ( t ) = 2 2
. Thus, = − Bv ( t ) + 2 2
e (t )
Kb K f v (t ) dt Kb K f v (t )
dx ( t ) dv ( t ) 2
= v (t ) = − Bv ( t ) + Ki K f ia ( t )
dt dt
2 φ (t )
f ( t ) = K i K f ia ( t ) ia ( t ) = i f ( t ) =
Kf
dx ( t ) dv ( t ) Ki 2
= v (t ) = − Bv ( t ) + φ (t )
dt dt Kf
4‐28
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
4-22) Define as the angle between mass m and the horizontal axis (positive in c..c.w. direction):
θ=ωt ym
y + &&
m( && ym ) = − Fm
( M − m) &&
y = Fm − By& − Ky
ym = −eω 2 sin ωt
&&
⇒
My&& + By& + Ky = meω 2 sin ωt
Where M is the Mass of the overall block system. M-m is the mass of the block alone.
Y meω 2
G ( s) = =
R Ms 2 + Bs + K
Zero i.c. and input r (t ) = sin ωt
Note θ = ωt . So in case of a step response as asked in the question, ω is a step input and angle θ increases
with time – i.e. it is a ramp function. Hence, ym is a sinusoidal function, where the Laplace transform of a
ω
sine function is sin(ωt ) = 2
s + ω2
Pick values of the parameters and run MATLAB. See toolbox 5-8-2
clear all
m=20.5 %kg
M=60 %kg
K=100000 %N/m
Om=157 %rad/s
B=60 %N-m/s
e=0.15 %m
G=tf([m*e*Om^2],[M B K])
t=0:0.01:1;
u=1*sin(Om*t);
lsim(G,u,t)
xlabel( 'Time(sec)');
ylabel('Amplitude');
4‐29
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
m =
20.5000
M =
60
K =
100000
Om =
157
B =
60
e =
0.1500
Transfer function:
7.58e004
----------------------
60 s^2 + 60 s + 100000
4‐30
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
2 1
0 2
2
0
0 0 1 0
0 0 0 1 0
2 0
0 0 1
0 0 0
b)
Which gives:
and
Therefore:
2 2
4‐31
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
where
as a result:
0
2 2
0
2 2
0
2 2
By using Laplace transform we have:
4‐32
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
V s V s V s V s
CsV s 0
2R 2R
Cs V s Cs
V s V s V s V s 0
2 R 2
Cs V s V s
V s V s 0
2 2R
From above equations:
1
V s V s V s
2 RCS 1
RCS
V s V s V s
2 RCS 1
1
4 1
i1 i2 RL
Vin VC1 VC 2
Then we have:
When
If RL >>R, then
4‐33
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Therefore:
can be obtained by substituting above expressions into the first equation of the state variables
of the system.
2
Since the electric force is opposes the motion of the plates, then the equation of the motion is written
as:
4‐34
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Since , then :
b) As then
If 1
4‐35
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
If 1
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, Φ, and displacement, x.
4‐36
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
,
2
where W is a function of electrical and mechanical power exerted to the inductor, so:
∂W Φ
i
∂Φ L x
∂W Φ
F
∂x 2L x
As v = , then:
1
2
c) Changing the flux requires a sinusoidal movement, and then we can conclude that:
Also, the current is changing with the rate of changes in displacement. It means:
i Bx
So:
1
2
Therefore:
V s 2
tan ω 1
F s B
4‐37
Automatic Control Systems, 9th Edition Chapter 4 Solutions 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
,
2
Where W is a function of electrical and mechanical power exerted to the capacitor, so:
As , then:
1
2
c) The same as Problem 4.28,
Consider:
4‐38
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
or
1
1 1
1
Therefore:
4‐39
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
As
10
1
then:
10
1
1
which gives:
1
10 1 10
Then:
Also:
0
Then:
1
1 0
As a result:
4‐40
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
1 1
1
Or
1
0
As a result:
or
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.
4‐41
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
1 1 1
Therefore:
Or
2 1
If we consider the right hand side of the above equation as two inputs to the system as: 2
and 1 or , then:
2
1
4-33) Due to insulation, there is no heat flow through the walls. The heat flow through the sides is:
4‐42
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
2
, 1
ln
2
, 2
ln
ln
, 3
2
: 4
: 5
: 6
, 7
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:
2
1 1 1 1
4‐43
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Also the enclosure loses heat to the air through its top. So:
Where
And Ct is the convective heat transfer coefficient and At is the surface area of the enclosure.
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 and , and
TAN and TAX, respectively. Then:
1
2
5
ln
1 1
2
4‐44
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Where Ci and Co arre convectivve heat transffer coefficiennt of the inner and outerr tube; Ai andd Ao are
the surfface of innerr and outer tuube; Ri and Ro are the raadius of inneer and outer tube.
t
Substittuting equations (1), (2), and (5) intoo equations (3) and (4) giives the statee model of thhe
system
m.
Js + ( JK L + B ) s + K 2 B + K 3 K 4 e
−τ D s
=0
2
Ω( s ) K1 K 4 ( 2 − τ D s )
≅
α (s) Δ( s)
Charaacteristic equaation:
Δ ( s ) ≅ J τ D s + ( 2 J + JK 2τ D + Bτ D ) s + ( 2 JK 2 + 2 B − τ D K 2 B − τ D K 3 K 4 ) s + 2 ( K 2 B + K 3 K 4 ) = 0
3 2
1 1
2 2
The tottal kinetic en
nergy is:
4‐45
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Therefore:
2
As a result:
2
Also, by assuming sin and substituting into yields the same result
when calculated for maximum displacement.
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:
4‐46
Automatic Control Systems, 9th Edition Chapter 4 Solutions 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)
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.
4‐47
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Pa Aω
Bv 2
Pb Aω
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 Aω
Ps Aω
Q
Q y
Ff
Pa Aω P1 Aω
a b)
0
8
0
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:
4‐48
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
32
32
As a result
0 0
sin
cos sin
cos
0
cos sin
where L is the length of lever and r is the offset from the center of rotation.
4‐49
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Also:
sin cos
2
Due to force balance, we can write:
sin sin
2
Therefore can be calculated form above equations.
On the other hand, sin , and and , the dynamic of the system is:
4‐50
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
4-41) If the capacitances of the tanks are assumed to be C1 and C2 respectively, then
Therefore:
1
Asa result:
1 1 1
0
1 1
0
Considering gives:
or
4‐51
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
TAO ( s ) KM KR 3.51
= =
Tr ( s ) (1 + τ s )((1 + τ s ) + K
c s m
KR 20 s + 122 s + 4.51
2
4-444)
Sysstem equations:
d θm dθ m d θL dθ L
2 2
Tm (t ) = J m 2
+ Bm + K (θ m − θ L ) K (θ m − θ L ) = J L 2
+ Bp
dt dt dt d
dt
Eθ L
Output equ
uation: eo =
20π
State diiagram:
Transferr
fun
nction:
ΘL (s) 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 ⎤⎦
3 2
Tm ( s )
Eo ( s ) KE / 20π
=
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 ⎤⎦
3 2
Tm ( s )
4‐52
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
dθ m dω m Bm (K + K2 ) K1 K2 1
= ωm =− ωm − 1
θm + θt + θL + Tm
dt dtt Jm Jm Jm Jm Jm
Θ L (s)
=
(
K 2 J t s + K1
2
) Θt ( s)
=
(
K1 J L s + K 2
2
) Θm (s)
=
J t J L s + ( K1 J L + K 2 J t ) s + K1 K 2
4 2
Δ ( 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 4 3
+ Bm J L ( K1 + K 2 ) s + K1 K 2 ( J L + J t + J m ) s + Bm K1 K 2 ] = 0
2
4-446)
Ec ( s ) 1 + R2 Cs
G(s) = =
E (s) 1 + ( R1 + R2 ) Cs
4‐53
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Ωm (s) K (1 + R2 Cs )
=
E (s) [1 + ( R 1
+ R2 ) Cs ] ( K b K i + Ra J L s )
Ωm (s) K φ K (1 + R2 Cs )
=
Fr ( s ) [1 + ( R 1
+ R2 ) Cs ] ( K b K i + Ra J L s ) + K φ KK e N (1 + R2 Cs )
Ec ( s ) (1 + R Cs )
(e) Gc ( s ) = = 2
E (s) R1Cs
Ωm (s) K (1 + R2 Cs )
=
E (s) R1Cs ( K b K i + Ra J L s )
Ωm (s) K φ K (1 + R2 Cs )
=
Fr ( s ) R1Cs ( K b K i + Ra J L s ) + K φ 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) + ⎟
Ωm (s) B + Js ⎝ Ra + La s ⎠ B + Js ⎝ Ra + La s ⎠
= ≅ =0
TL ( s ) ωr =0
Δ( s) Δ(s)
Thus,
4‐54
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
H i (s) H i (s)
H e (s) = − = − ( Ra + La s )
Ra + La s H e (s)
K1 K i
Ωm ( s) (R + La s )( B + Js )
(b) = a
Ωr (s) TL = 0
Δ( s)
K1 K b K1 H i ( s ) K1 K i K b H e ( s )
Δ ( s ) = 1 + K1 H e ( s ) + + +
(R a
+ La s )( B + Js ) Ra + La s (R a
+ La s )( ( B + Js )
K1 K b K1 K i
= 1+ +
(R a
+ La s )( B + Js ) (R a
+ La s )( B + Js )
Ωm (s) K1 K i 1
= ≅
Ωr ( s) TL = 0
(R a
+ La s )( B + Js ) + K i K b + K1 K i K b H e ( s ) Kb H e (s)
dia Ra 1
=− ia + (e a
− eb ) Tm = K i ia
dt La La
d θm Bm dθ m
2
1 nK L Tm
2
=− + Tm − ( nθ m
− θo ) T2 = θ 2 = nθ m
dt J m dt J Jm n
d θo
2
KL
2
= (θ 2
− θo )
dt JL
State variables: x1 = θ o , x 2 = ω o , x3 = θ m , x 4 = ω m , x5 = ia
State equations:
dx1 dx 2 KL nK L dx3
= x2 =− x1 + x3 = x4
dt dt JL JL dt
2
dx 4 nK L n KL Bm Ki dx5 KK s Kb Ra KK s
=− x1 − x3 − x4 + x5 =− x1 − x4 − x5 + θr
dt Jm Jm Jm Jm dt La La La La
4‐55
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
(c) Forw
ward‐path tran
nsfer function:
Θo ( s) KK s K i nK L
=
Θe (s)
4 3
(
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 +
2
) 2
(n R K J
2
a L L )
+ Ra K L J m + Bm K L La s + K i K b K L + Ra Bm K L ⎤⎦
Θo ( s) KK s K i nK L
=
Θr (s)
5 4
(
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 +
2
) 3
(n R K J
2
a L L )
+ 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
Staate equations::
dω m Bm Ki dθ m dia Ra KK s KK s Kb
=− ωm + ia = ωm =− ia + θr − nθ m − ωm
dtt JT JT dt dt La La La La
State diagram:
4‐56
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Θo ( s ) KK s K i n
=
Θe ( s) s ⎡⎣ J T La s + ( Ra J T + Bm La ) s + Ra Bm + K i K b ⎤⎦
2
Θo ( s) KK s K i n
=
Θr (s) J T La s + ( Ra J T + Bm La ) s + ( Ra Bm + K i K b ) s + KK s K i n
3 2
From paart (c), when K L = ∞, all the terms withoutt K L in Θ o ( s ) / Θ e ( s ) and Θ o ( s ) / Θ r ( s ) cann be neglectedd.
The sam
me results as ab
bove are obtained.
(b) Take the Laplace traansform on booth sides of thee last three equuations, with zero initial condditions, we havve
K i I a ( s ) = ( M T s + BT ) V ( s ) Ea ( s ) = [ Ra + ( La + Las ) s ] I a ( s ) − Las sI s ( s ) + K bV ( s )
0 = − Las sI a ( s ) + [ Rs + s ( Ls + Las )] I s ( s )
Ki V (s) Ki
V (s) = I a (s) Y (s) = = I a (s)
M T s + BT s s ( M T s + BT )
1 Las s
I a (s) = [E ( s ) + Las sI s ( s ) − K bV ( s ) ] I s (s) = I a (s)
Ra + ( La + Las ) s Ra + ( La + Las ) s
a
Block diagram:
d
4‐57
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
Y (s) K i [ Rs + ( Ls + Las ) s ]
=
s [ Ra + ( La + Las ) s ] [ Rs + ( Ls + Las ) s ] ( M T s + BT ) + K i K b [ Rs + ( La + Las ) s ] − Las s (M s + BT )
2 2
Ea ( s ) T
ea − eb
θe = θr −θL e = K sθ e K s = 1 V/rrad ea = Ke ia =
Ra
dω m 1 Bm KL dω L KL
Tm = K i ia = Tm − ω− (θ m
−θL ) = (θ m
−θL ) eb = K bω m
dt
d Jm Jm Jm dt JL
15.5
Kb = 15.5 V / KRPM = = 0.148 V / rad / sec
1000 × 2π / 60
Statte equations:
dθ L dω L KL KL dθ m dω m Bm KL 1 Ki
= ωL = θm − θL = ωm =− ωm − θL + ( KK θs e
− K bω m )
dt dt JL JL dt dt Jm Jm J m Ra
(c) Forw
ward‐path tran
nsfer function:
K i KK
Ks KL
G(ss ) =
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 2
4‐58
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
J m Ra J L = 0.03 × 115
. × 0.05 = 0.001725 Bm Ra J L = 10 × 115
. × 0.05 = 0.575 Ki Kb J L = 21 × 0.148 × 0.05 = 0.1554
Ra K L J L = 115
. × 50000 × 0.05 = 2875 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) =
(
s s + 423.42 s + 2.6667 × 10 s + 4.2342 × 10
3 2 6 8
)
(d) Closed‐loop transfer function:
ΘL (s) G(s) K i KK s K L
M ( s) = = =
Θr ( s) 1 + G(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 ) s + K i KK s K L
4 3 2
8
6.087 × 10 K
M ( s) = 4 3 6 2 8 8
s + 423.42 s + 2.6667 × 10 s + 4.2342 × 10 s + 6.087 × 10 K
K =1 K = 2738 K = 5476
s = −1.45 s = ± j1000 s = 405 ± j1223.4
s = −159.88 s = −2117
. ± j1273.5 s = −617.22 ± j1275
s = −13105
. ± j1614.6
2
Ki e ( t ) dv ( t ) Ki 2
f ( t ) = Kiφ ( t )ia ( t ) = 2 2
. Thus, = − Bv ( t ) + 2 2
e (t )
Kb K f v (t ) dt Kb K f v (t )
dx ( t ) dv ( t ) 2
= v (t ) = − Bv ( t ) + Ki K f ia ( t )
dt dt
4‐59
Automatic Conttrol Systems, 9th Edition Chapteer 4 Solutionss Golnarraghi, Kuo
2 φ (t )
f ( t ) = K i K f ia ( t ) ia ( t ) = i f ( t ) =
Kf
dx ( t ) dv ( t ) Ki 2
= v (t ) = − Bv ( t ) + φ (t )
dt dt Kf
d θm dθ m ⎛ dθ m − dθ L ⎞
2
K i ia = J m + Bm + K (θ m − θ L ) + B ⎜ ⎟
dt
2
dt ⎝ dt
d dt ⎠
⎛ dθ m − dθ L ⎞ = ⎛ J d θ L + B dθ L ⎞
2
K (θ m − θ L ) + B ⎜ ⎟ ⎜ L 2 ⎟ + TL
⎝ dt dt ⎠ ⎝
L
dt dt ⎠
(b) Take the Laplace traansform of thee differential eqquations with zero initial connditions, we geet
( )
K i I a ( s ) = J m s + Bm s + Bs + K Θ m ( s ) + ( Bs + K ) Θ L ( s )
2
( Bs + K ) Θ m ( )
( s ) − ( Bs + K ) Θ L ( s ) = J L s + BL sΘ L ( s ) + TL ( s)
2
s
Ki Bs + K
Θm (s) = I a (s) + Θ L (s)
J m s + ( Bm + B ) s + K J m s + ( Bm + B ) s + K
2 2
Bss + K TL ( s )
Θ L (s) = Θm (s) −
J L s + ( BL + B ) s + K J L s + ( BL + B ) s + K
2 2
4‐60
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
⎢ Θ (s) ⎥ = Δ (s) ⎢ K i ( Bs + K )
⎥⎢ ⎥
J m s + ( Bm + B ) s + K ⎦ ⎣ −TL ( s ) ⎦
⎣ L ⎦ ⎣
2
o
Δ 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 3 2
1 2
2
1 2
2
Therefore:
2
2 1 1
As a result:
Poles: , ,
zeros:
4-55) By approximating :
1
2
1
2
a)
1
2
1 1
2
Therefore:
1
2
1 1
2
4‐61
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
b)
1 1
2 2 2 4
1 1
2
3 2
2 2 1 2 1 4 1 2
2 1
4 4
2 1
4-56) MATLAB
clear all
L=1
T=0.1
G1=tf([‐1/2 1],conv([0.1 1],[1/2 1]))
figure(1)
step(G1)
G2=tf([‐1 ‐1 4 4], conv (conv ([1 2],[1 2]),conv([1 1],[1 1])))
figure(2)
step(G2)
L=
1
T=
0.1000
Transfer function:
‐0.5 s + 1
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
0.05 s^2 + 0.6 s + 1
Transfer function:
‐s^3 ‐ s^2 + 4 s + 4
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^4 + 6 s^3 + 13 s^2 + 12 s + 4
4‐62
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
⎡ L⎤
4-57) 4‐23 (a) Differential equations: ⎢ L ( y ) =
⎣ y ⎥⎦
d L ( y )i ( t ) dL( y ) dy ( t ) L di ( t ) L dy ( t ) L di ( t )
e ( t ) = Ri ( t ) + = Ri ( t ) + i ( t ) + = Ri ( t ) − 2
i(t ) +
dt dy dt y dt y dt y dt
2 2
Ki ( t ) di ( t ) dy ( t ) d y(t )
My ( t ) = Mg − 2
At equilibrium, = 0, = 0, 2
=0
y (t ) dt dt dt
4‐63
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Eeq dy eq Eeq K
Thus, ieq = =0 yeq =
R dt R Mg
dy
(b) Define the state variables as x1 = i, x 2 = y, and x3 = .
dt
Eeq Eeq K
Then, x1eq = x 2eq = x3eq = 0
R R Mg
2
dx1 R x1 x3 x2 dx 2 dx3 K x1
=− x1 x 2 + + e = f1 = x3 = f 2 = g− 2
= f3
dt L x2 L dt dt M x2
(c) Linearization:
∂f1 x 2 eq 1 K Eeq ∂f 2 ∂f 2 ∂f 2 ∂f 2
= = =0 =0 =1 =0
∂e L L Mg R ∂x1 ∂x 2 ∂x 3 ∂e
2
∂f 3 2 K x1eq 2 Rg ∂f 3 2 K x1eq 2 Rg Mg ∂f 3
=− 2
=− = 3
= =0
∂x1 M x 2 eq Eeq ∂x 2 M x 2eq Eeq K ∂e
∗ ∗
The linearized state equations about the equilibrium point are written as: Δx& = A Δx + B Δe
⎡ Eeq K Mg ⎤ ⎡ Eeq K ⎤
⎢− 0 ⎥ ⎢ ⎥
⎢ L Mg K ⎥
⎢ RL Mg ⎥
A =⎢ 0 ⎥ B =⎢ ⎥
∗ ∗
0 0 0
⎢ ⎥ ⎢ ⎥
⎢ 2 Rg 2 Rg Mg ⎥ ⎢ 0 ⎥
⎢ − E 0 ⎥ ⎢ ⎥
⎣ eq
Eeq K ⎦ ⎣ ⎦
4-58)
4‐64
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
2 2
d y2 (t ) 2 dy 2 ( t ) Ki ( t )
M2 2
= M2 g − B − 2
dt dt y 2 ( t ) − y1 ( t )
dy1 dy 2
Define the state variables as x1 = y1 , x 2 = , x3 = y 2 , x 4 = .
dt dt
2 2 2
dx1 dx2 Ki Ki dx3 dx4 Ki
= x2 M1 = M 1 g − Bx2 − + = x4 M2 = M 2 g − Bx4 −
dt dt x1
2
(x 3
− x1 )
2
dt dt (x 3
− x1 )
2
dx1 dx 2 dx3 dx 4
At equilibrium, = 0, = 0, = 0, = 0. Thus, x 2eq = 0 and x 4 eq = 0.
dt dt dt dt
2 2 2
KI KI KI
M1g − + =0 M2g − =0
X1
2
(X 3
− X1 )
2
(X 3
− X1 )
2
⎛ ( M1 + M 2 ) g ⎞
1/ 2
⎛ M + M2 ⎞
1/ 2
Y2 = X 3 = 1 + ⎜ 1 ⎟ I =⎜ ⎟
⎝ M2 ⎠ ⎝ K ⎠
M 1 ( x3 − x1 ) M 2 ( x3 − x1 )
2 2 2
dt dt M1 M 1 x1 dt dt M2
(c) Linearization:
∂ f1 ∂ f1 ∂ f1 ∂ f1 ∂ f1
=0 =0 =0 =0 =0
∂ x1 ∂ x2 ∂ x3 ∂ x4 ∂i
∂ f2 ∂ f2 ∂ f2 −2 KI ∂ f2
2 2 2
2 KI 2 KI B
= + =− = =0
∂ x1 M1 ( X 3 − X1 ) ∂ x2 ∂ x3 M1 ( X 3 − X1 ) ∂ x4
3 3 3
M 1 x1 M1
∂ f2 2 KI⎛ −1 1 ⎞ ∂ f3 ∂ f3 ∂ f3 ∂ f3 ∂ f3
= ⎜ 2+ 2 ⎟
=0 =0 =0 =1 =0
∂i M1 ⎝ X1 ( X 3 − X1 ) ⎠ ∂ x1 ∂ x2 ∂ x3 ∂ x4 ∂i
∂ f4 −2 KI ∂ f4 ∂ f4 ∂ f4 ∂ f4 −2 KI
2 2
2 KI B
= =0 = =− =
∂ x1 M 2 ( X 3 − X1 ) ∂ x2 ∂ x3 M 2 ( X 3 − X1 ) ∂ x4 ∂i M 2 ( X 3 − X1 )
3 3 2
M2
4‐65
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
1/ 2
⎛ 32.2(1 + 2) ⎞ X = 96.6 X = 9.8285 X
I =⎜ X1 =
1
=1
⎟
⎝ ⎠
1 1 1
1 9.8285
( )
X 3 = 1 + 1 + 2 X 1 = 2.732 X 1 = Y2 = 2.732 X 3 − X 1 = 1.732
⎡ 0 1 0 0 ⎤
⎢ ⎥
⎢ 2 KI ⎛⎜ 1 + ⎞ −B −2 KI ⎡ 0 0 ⎤
2 2
1 1 0
3 ⎟
0 ⎥
⎢ M1 ⎝ X1 ( X 3 − X1 ) ⎠
3
M1 M1 ( X 3 − X1 )
3
⎥ ⎢ 115.2 −0.05 −18.59 0 ⎥
A =⎢
∗
⎥ = ⎢ ⎥
⎢ 0 0 0 1 ⎥ ⎢ 0 0 0 1 ⎥
⎢ ⎢ ⎥
−2 KI − B ⎥ ⎣ −37.18 0 37.18 −0.1⎦
2 2
2 KI
⎢ 0 ⎥
⎢⎣ M 2 ( X 3 − X1 ) M 2 ( X 3 − X1 ) M 2 ⎥⎦
3 3
⎡ 0 ⎤
⎢ ⎥
⎢ 2 KI ⎛⎜ −1 + 1 ⎞⎥ ⎡ 0 ⎤
⎢ M 1 ⎝ X 12 ( X 3 − X 1 )2 ⎟⎠ ⎥ ⎢ −6.552 ⎥
⎥=⎢ ⎥
∗
B =⎢
⎢ 0 ⎥ ⎢ 0 ⎥
⎢ −2 KI ⎥ ⎣ −6.552 ⎥⎦
⎢
⎢ ⎥
⎣⎢ M 2 ( X 3 − X1 ) ⎦⎥
2
4-59) a)
F3
θ
F1 F2
4‐66
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
where
2
The resulted state space equations are:
2
2
4‐67
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
4-60) As the base is not moving then the model can be reduced to:
Therefore:
4-61)
V2
| |
A
C
ρg
4‐68
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
Z (s) −1
= 2
&&
Y ( s ) s + 2ζω n s + ω n 2
ω = 1,
Set Y&&( s ) = impulse , pick n for simplicity.
ς =1
clear all
G=tf([-1],[1 2 1])
figure(1)
impulse(G)
Transfer function:
-1
-------------
s^2 + 2 s + 1
4‐69
Automatic Control Systems, 9th Edition Chapter 4 Solutions Golnaraghi, Kuo
4-63)
Kmr
Ra
Z (s) = Va ( s )
⎛ La ⎞ 2 K m Kb
⎜ s + 1⎟ ( Js + Bs + K ) + s
⎝ Ra ⎠ Ra
⎛ La ⎞
⎜ s + 1⎟ r
− ⎝ Ra ⎠ mrY&&( s )
⎛ La ⎞ 2 K m Kb
⎜ s + 1⎟ ( Js + Bs + K ) + s
R
⎝ a ⎠ R a
La
For =0 (very small) the format of the equation is similar to Eq. (4-324), and we expect the same
Ra
Kmr
Ra
response for the disturbance input. Except, Z ( s ) = Va ( s ) can be used to reduce the
K K
( Js + Bs + K ) + m b s
2
Ra
effects of disturbance. See Chapter 6.
4‐70
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Chapter 5
(c) ζ ≤ 0.5 1 ≤ ω n ≤ 5 rad / sec (d) 0.5 ≤ ζ ≤ 0.707 ω n ≤ 0.5 rad / sec
5‐2 (a) Type 0 (b) Type 0 (c) Type 1 (d) Type 2 (e) Type 3 (f) Type 3
2
5‐3 (a) K p = lim G ( s ) = 1000 K v = lim sG ( s ) = 0 K a = lim s G ( s ) = 0
s→ 0 s→ 0 s→ 0
2
(b) K p = lim G ( s ) = ∞ K v = lim sG ( s ) = 1 K a = lim s G ( s ) = 0
s→ 0 s→ 0 s→ 0
5‐1
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
2
(c) K p = lim G ( s ) = ∞ K v = lim sG ( s ) = K K a = lim s G ( s ) = 0
s→ 0 s→ 0 s→ 0
2
(d) K p = lim G ( s ) = ∞ K v = lim sG ( s ) = ∞ K a = lim s G ( s ) = 1
s→ 0 s→ 0 s→ 0
2
(e) K p = lim G ( s ) = ∞ K v = lim sG ( s ) = 1 K a = lim s G ( s ) = 0
s→ 0 s→ 0 s→ 0
2
(f) K p = lim G ( s ) = ∞ K v = lim sG ( s ) = ∞ K a = lim s G ( s ) = K
s→ 0 s→ 0 s→ 0
________________________________________________________________________________
us (t ) K p = 1000 1 1001
tu s ( t ) Kv = 0 ∞
2
t us (t ) / 2 Ka = 0 ∞
________________________________________________________________________________
us (t ) Kp = ∞ 0
tu s ( t ) Kv = 1 1
2
t us (t ) / 2 Ka = 0 ∞
________________________________________________________________________________
us (t ) Kp = ∞ 0
5‐2
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
tu s ( t ) Kv = K 1/ K
2
t us (t ) / 2 Ka = 0 ∞
The above results are valid if the value of K corresponds to a stable closed‐loop system.
(d) The closed‐loop system is unstable. It is meaningless to conduct a steady‐state error analysis.
________________________________________________________________________________
us (t ) Kp = ∞ 0
tu s ( t ) Kv = 1 1
2
t us (t ) / 2 Ka = 0 ∞
________________________________________________________________________________
us (t ) Kp = ∞ 0
tu s ( t ) Kv = ∞ 0
2
t us (t ) / 2 Ka = K 1/ K
The closed‐loop system is stable for all positive values of K. Thus the above results are valid.
G( s) s +1
5‐5 (a) K H = H ( 0) = 1 M ( s) = = 3 2
1+ G( s) H ( s) s + 2 s + 3s + 3
a0 = 3, a1 = 3, a2 = 2, b0 = 1, b1 = 1.
Unit‐step Input:
1 ⎛ b0 K H ⎞ 2
ess = ⎜1 − a ⎟= 3
KH ⎝ 0 ⎠
5‐3
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Unit‐ramp input:
a0 − b0 K H = 3 − 1 = 2 ≠ 0. Thus e ss = ∞.
Unit‐parabolic Input:
a0 − b0 K H = 2 ≠ 0 and a1 − b1 K H = 1 ≠ 0. Thus e ss = ∞.
(b) K H = H ( 0) = 5
G( s) 1
M ( s) = = 2
a0 = 5, a1 = 5, b0 = 1, b1 = 0.
1+ G( s) H ( s) s + 5s + 5
Unit‐step Input:
1 ⎛ b0 K H ⎞ 1⎛ 5⎞
ess = ⎜1 − a ⎟ = 5 ⎜1 − 5 ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp Input:
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = 5 ≠ 0
a1 − b1 K H 5 1
e ss = = =
a0 K H 25 5
Unit‐parabolic Input:
e ss = ∞
(c) K H = H ( 0) = 1 / 5
G( s) s+5
M ( s) = = 4 3 2
The system is stable.
1+ G( s) H ( s) s + 15s + 50 s + s + 1
a0 = 1, a1 = 1, a2 = 50, a3 = 15, b0 = 5, b1 = 1
Unit‐step Input:
1 ⎛ b0 K H ⎞ ⎛ 5/5⎞
ess = ⎜1 − a ⎟ = 5 ⎜1 − 1 ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp Input:
5‐4
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = 4 / 5 ≠ 0
a1 − b1 K H 1− 1/ 5
e ss = = =4
a0 K H 1/ 5
Unit‐parabolic Input:
e ss = ∞
(d) K H = H ( 0) = 10
G( s) 1
M ( s) = = 3 2
The system is stable.
1+ G( s) H ( s) s + 12 s + 5s + 10
a0 = 10, a1 = 5, a2 = 12, b0 = 1, b1 = 0, b2 = 0
Unit‐step Input:
1 ⎛ b0 K H ⎞ 1 ⎛ 10 ⎞
ess = ⎜1 − a ⎟ = 10 ⎜ 1 − 10 ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp Input:
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = 5 ≠ 0
a1 − b1 K H 5
e ss = = = 0.05
a0 K H 100
Unit‐parabolic Input:
e ss = ∞
s+4
5‐6 (a) M ( s ) = 4 3 2
KH = 1 The system is stable.
s + 16 s + 48 s + 4 s + 4
a0 = 4, a1 = 4, a2 = 48, a3 = 16, b0 = 4, b1 = 1, b2 = 0, b3 = 0
Unit‐step Input:
1 ⎛ b0 K H ⎞ ⎛ 4⎞
ess = ⎜1 − a ⎟ = ⎜1 − 4 ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp input:
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = 4 − 1 = 3 ≠ 0
5‐5
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
a1 − b1 K H 4 −1 3
e ss = = =
a0 K H 4 4
Unit‐parabolic Input:
e ss = ∞
K ( s + 3)
(b) M ( s ) = 3 2
KH = 1 The system is stable for K > 0.
s + 3s + ( K + 2) s + 3K
a0 = 3 K , a1 = K + 2, a2 = 3, b0 = 3 K , b1 = K
Unit‐step Input:
1 ⎛ b0 K H ⎞ ⎛ 3K ⎞
ess = ⎜1 − a ⎟ = ⎜ 1 − 3K ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp Input:
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = K + 2 − K = 2 ≠ 0
a1 − b1 K H K + 2− K 2
e ss = = =
a0 K H 3K 3K
Unit‐parabolic Input:
e ss = ∞
s+5 10 s H ( s)
(c) M ( s ) = 4 3 2
H ( s) = K H = lim =2
s + 15 s + 50 s + 10 s s+5 s→ 0 s
Unit‐step Input:
1 ⎛ a2 − b1 K H ⎞ 1 ⎛ 50 − 1 × 2 ⎞
ess = ⎜ a ⎟= ⎜ ⎟ = 2.4
KH ⎝ 1 ⎠ 2⎝ 10 ⎠
Unit‐ramp Input:
5‐6
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
e ss = ∞
Unit‐parabolic Input:
e ss = ∞
K ( s + 5)
(d) M ( s ) = 4 3 2
KH = 1 The system is stable for 0 < K < 204.
s + 17 s + 60 s + 5 Ks + 5 K
a0 = 5 K , a1 = 5K , a2 = 60, a3 = 17, b0 = 5K , b1 = K
Unit‐step Input:
⎛ b0 K H
1 ⎞ ⎛ 5K ⎞
ess = ⎜1 − a ⎟ = ⎜ 1 − 5K ⎟ = 0
KH ⎝ 0 ⎠ ⎝ ⎠
Unit‐ramp Input:
i = 0: a0 − b0 K H = 0 i = 1: a1 − b1 K H = 5 K − K = 4 K ≠ 0
a1 − b1 K H 5K − K 4
e ss = = =
a0 K H 5K 5
Unit‐parabolic Input:
e ss = ∞
5‐7
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-7)
1
3 2 5 1
5 1 5 11 5
1
2 3
Zero: s = -1
5-8)
5( s + 1)
s ( s + 2)( s + 3)
5 1
2 3
5‐8
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-10)
4( s + 1)
s 2 ( s + 2)
5-11) 3 4
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: ∞ ∞ 3 ∞ 4 ∞
So:
Ö 4 2
5‐9
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 1 1 1
1
Therefore:
1
1
1
The rise time is the time that unit step response value reaches from 0.1 to 0.9. Then:
1 . .
1
It is obvious that tr > 0, then:
1 . .
0
1
. . . .
Therefore 0 or
which yields: 0
5‐13)
Y ( s) KG p ( s ) 20 s 100 K
G( s) = = = Type‐1 system.
E ( s) 1 + Kt G p ( s ) 20 s(1 + 0.2 s + 100 Kt )
5K
Error constants: K p = ∞, K v = , Ka = 0
1 + 100 Kt
1
(a) r ( t ) = u s ( t ): e ss = =0
1+ K p
1 1 + 100 Kt
(b) r ( t ) = tu s ( t ): e ss = =
Kv 5K
1
(c) r ( t ) = t 2u s ( t ) / 2: e ss = =∞
Ka
5‐10
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐14
100 Y ( s) KG p ( s )
G p ( s) = G( s) = =
(1 + 0.1s )(1 + 0.5s ) E ( s) 20 s 1 + Kt G p ( s )
100 K
G( s) =
20 s (1 + 0.1s )(1 + 0.5 s ) + 100 Kt
5K
Error constants: K p = ∞, K v = , Ka = 0
1 + 100 Kt
1
(a) r ( t ) = u s ( t ): e ss = =0
1+ K p
1 1 + 100 Kt
(b) r ( t ) = tu s ( t ): e ss = =
Kv 5K
1
(c) r ( t ) = t 2u s ( t ) / 2: e ss = =∞
Ka
Since the system is of the third order, the values of K and Kt must be constrained so that the system is
s + 12 s + ( 20 + 2000 K t ) s + 100 K = 0
3 2
Routh Tabulation:
3
s 1 20 + 2000 Kt
2
s 12 100 K
1 + 100 K t 1
Stability Conditions: K>0 12 (1 + 100 K t ) − 5 K > 0 or >
5K 12
Thus, the minimum steady‐state error that can be obtained with a unit‐ramp input is 1/12.
5‐11
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
K1 K 2 K i K b + KK1 K i K t
1+ +
Θo ( s) Ra + La s (R + La s )( Bt + J t s )
= a
Θr (s) K1 K 2 K i K b + KK1 K i K t KK s K1 K i N
1+ + +
Ra + La s (Ra
+ La s )( Bt + J t s ) s ( Ra + La s )( Bt + J t s )
Θo (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 ]
=
Θr (s) 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 2
1
θ r ( t ) = u s ( t ), Θ r ( s ) = lim sΘ e ( s ) = 0
s s→ 0
Provided that all the poles of sΘ e ( s ) are all in the left‐half s‐plane.
Ra Bt + K1 K 2 Bt + Ki Kb + KK1 Ki Kt
e ss = lim θ e ( t ) = lim sΘ e ( s ) =
t →∞ s→ 0 KK s K1 Ki N
5‐12
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
K (1 + 0.02 s )
Y ( s) s ( s + 25)
2
K (1 + 0.02 s )
G (s) = = = Type‐1 system.
E (s)
1+ 2
KK t s (
s s + 25s + KK t
2
)
s ( s + 25)
1
Error Constants: K p = ∞, Kv = , Ka = 0
Kt
1 1
For a unit‐ramp input, r ( t ) = tu s ( t ), R( s ) = 2
, e ss = lim e( t ) = lim sE ( s ) = = Kt
s t →∞ s→ 0 Kv
Routh Tabulation:
KK t + 0.02 K
3
s 1
2
s 25 K
1 25 K ( K t + 0.02 ) − K
s
25
0
s K
K
Y (s) s ( s + 25) K
2
= = 3
K (1 + 0.02 s ) KK t s s + 25 s + K ( K t + 0.02 ) s + K
2
N (s)
1+ 2 + 2
s ( s + 25) s ( s + 25)
5‐13
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1. Activate MATLAB
3. Type in
Acsys
4. Then press the “transfer function Symbolic” and enter the Characteristic equation
5‐14
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
(a) n( t ) = 0, r ( t ) = tu s ( t ).
Y (s) K ( s + α )( s + 3)
G(s) = = Type‐1 system.
E ( s) n=0 (
s s −1
2
)
Ramp‐error constant: K v = lim sG ( s ) = −3 Kα
s→ 0
1 1
Steady‐state error: e ss = =−
Kv 3Kv
3 2
Characteristic equation: s + Ks + [ K ( 3 + α ) − 1] s + 3αK = 0
Routh Tabulation:
3
s 1 3 K + αK − 1
2
s K 3αK
1 K ( 3 K + αK − 1) − 3αK
s
K
0
s 3αK
1 + 3K
3 K + αK − 1 − 3α > 0 or K>
Stability Conditions: 3+α
αK > 0
K ( s + 3)
Y (s) s −1
2
Ks ( s + 3)
Transfer Function between n(t) and y(t): = =
N (s) K ( s + α )( s + 3) s 3 + Ks 2 + [ K ( s + α ) − 1]s + 3α K
r =0
1+
(
s s −1
2
)
Steady‐State Output due to n(t):
5‐15
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐18
− πζ
2
1−ζ
Percent maximum overshoot = 0.25 = e
Thus
π π
Peak Time t max = = 0.01 sec. Thus, ωn = = 343.4 rad / sec
2 2
ω n 1− ζ 0.01 1 − ( 0.404)
2
Y ( s) ωn 117916
= 2 2
= 2
R( s ) s + 2ζω n s + ω n s + 277.3s + 117916
5‐16
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
For a second‐order prototype system, when the maximum overshoot is 4.3%, ζ = 0.707.
Rise Time:
2
1 − 0.4167ζ + 2.917ζ 2.164
tr = = = 0.2 sec Thus ω n = 10.82 rad / sec
ωn ωn
2
ωn (10.82)
2
10.3
Thus, K= = = 4.68 5 + 500 Kt = 1.414ω n = 15.3 Thus Kt = = 0.0206
25 25 500
Y ( s) 117
= 2
R( s ) s + 15.3s + 117
Unit‐step Response:
5‐17
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
πζ
= − ln 0.1 = 2.3 π ζ = 5.3 (1 − ζ )
2 2 2
When Maximum overshoot = 10%,
1−ζ
2
Rise Time:
2
1 − 0.4167ζ + 2.917ζ 17696
.
tr = = 0.1 = sec. Thus ω n = 17.7 rad / sec
ωn ωn
2
ωn 15.88
K= = 12.58 Thus Kt = = 0.0318
25 500
Y ( s) 313
= 2
R( s ) s + 20.88 s + 314.5
Unit‐step Response:
y max = 11
. (10% max. overshoot )
5‐18
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y ( s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
2
R( s ) s + ( 5 + 500 Kt ) s + 25 K
πζ
= − ln 0.2 = 1.61 π ζ = 2.59 (1 − ζ )
2 2 2
When Maximum overshoot = 20%,
1−ζ
2
Rise Time:
2
1 − 0.4167ζ + 2.917ζ 1.4165 1.4165
tr = = 0.05 = sec. Thus, ω n = = 28.33
ωn ωn 0.05
2
ωn
K= = 32.1 5 + 500 Kt = 0.912ω n = 25.84 Thus, Kt = 0.0417
25
Y ( s) 802.59
= 2
R( s ) s + 25.84 s + 802.59
Unit‐step Response:
5‐19
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
2
. + 0.125ζ + 0.469ζ
11
Delay time t d ≅ = 0.1 sec.
ωn
1.423
When Maximum overshoot = 4.3%, ζ = 0.707. td = = 0.1 sec. Thus ω n = 14.23 rad/sec.
ωn
2 2
K =⎜
⎛ ω n ⎞ = ⎛ 14.23 ⎞ = 8.1 5 + 500 K = 2ζω = 1.414ω = 20.12 Thus Kt =
1512
.
= 0.0302
⎟ ⎜ ⎟
⎝ 5 ⎠ ⎝ 5 ⎠
t n n
500
Y ( s) 202.5
= 2
R( s ) s + 20.1s + 202.5
Unit‐Step Response:
y max = 1043
. ( 4.3% max. overshoot )
5‐20
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
2
. + 0.125ζ + 0.469ζ
11 1337
. 1337
.
Delay time t d ≅ = 0.05 = Thus, ω n = = 26.74
ωn ωn 0.05
2 2
⎛ ω ⎞ ⎛ 26.74 ⎞ = 28.6
K =⎜ n ⎟ =⎜ 5 + 500 Kt = 2ζω n = 2 × 0.59 × 26.74 = 3155 Thus Kt = 0.0531
⎟ .
⎝ 5 ⎠ ⎝ 5 ⎠
Y ( s) 715
= 2
R( s ) s + 3155
. s + 715
Unit‐Step Response:
y max = 11007
. (10.07% max. overshoot )
5‐21
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
2
. + 0.125ζ + 0.469ζ
11 1.2545
Delay time t d = = = 0.01 sec.
ωn ωn
Y ( s) 15737.7
= 2
R( s ) s + 114.41s + 15737.7
Unit‐step Response:
5‐22
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 5000 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
2
1.2ω n − 5 ωn
Kt = = 0.118 K= = 113.76
500 25
Y ( s) 2844
= 2
R( s ) s + 64 s + 2844
Unit‐step Response:
5‐23
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
2
. ωn −5
118 ωn
Kt = = 0.246 K= = 470.63
500 25
Y ( s) 11765.74
= 2
R( s ) s + 128 s + 11765.74
Unit‐Step Response:
0.912ω n − 5
Kt = = 1.27
500
Y ( s) 492453
= 2
R( s ) s + 640 s + 492453
Unit‐Step Response:
5‐24
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐25
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 25 K
= s + ( 5 + 500 K t ) s + 25 K = 0
2
s + ( 5 + 500 K t ) s + 25 K
2
R(s)
4.5ζ 3.1815
Damping ratio ζ = 0.707. Settling time t s = = = 0.1 sec. Thus, ω n = 31815
. rad/sec.
ωn ωn
2
ωn
5 + 500 Kt = 2ζω n = 44.986 Thus, Kt = 0.08 K= = 40.488
2ζ
Y ( s) 1012.2
= 2
R( s ) s + 44.986 s + 1012.2
Unit‐Step Response: The unit‐step response reaches 0.95 at t = 0.092 sec. which is the measured t s .
5‐26
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
2 2 2
s + 2ζω n s + ω n = s + 1521
. s + 2.313 = 0
3 2
The characteristic equation of the system is s + ( a + 30 ) s + 30 as + K = 0
2
Dividing the characteristic equation by s + 1521
. s + 2.313, we have
69.58
G( s) =
s( s + 16
. )( s + 30)
Unit‐Step Response:
Rise Time:
5‐27
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
K 60.58 1
(ii) For a unit‐ramp input, K v = lim sG ( s ) = = = 1.45 e ss = = 0.69
s→ 0 30 a 30 × 16
. Kv
Routh Tabulation:
3
s 1 2+ K
2
s 3 −K
1 6 + 4K
s
3
0
s −K
Stability Condition: ‐1.5 < K < 0 This simplifies the search for K for two equal roots.
5‐28
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
The step responses in (a) and (b) all have a negative undershoot for small values of t. This is due to the
5‐29
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
dx1 dx 2
= − x1 + 5x 2 = −6 x1 − k1 x1 − k 2 x 2 + r
dt dt
s +1 −5
Δ= = s + (1 + k 2 ) s + ( 30 + 5k1 + k 2 ) = 0
2
6 + k1 s + k2
2
For ω n = 10 rad / sec, 30 + 5k1 + k 2 = ω n = 100. Thus 5k1 + k 2 = 70
k2
(b) For ζ = 0.707, 2ζω n = 1 + k 2 . Thus ω n = 1 + .
1.414
(1 + k ) 2
ωn = = 30 + 5k1 + k 2 k 2 = 59 + 10 k1
2 2 2
Thus
2
Y (s) 5 5
= =
s + ( k 2 + 1) s + ( 30 + 5k1 + k 2 ) s + 14.14 s + 100
2 2
R(s)
5
For a unit‐step input, lim y ( t ) = lim sY ( s ) = = 0.05
t →∞ s→ 0 100
5‐30
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) 100 ( K P + K D s ) 2
= s + 100 K D s + 100 K P = 0
s + 100 K D s + 100 K P
2
R(s)
5‐31
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
s→0 s →0
ω n = 10 K P = 50 Thus K P = 25
(g) When K P = 0,
100 K D s 100 K D
G( s) = 2
= (pole‐zero cancellation)
s s
5‐32
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y (s) KK i 10 K
G(s) = = =
E (s) s [ Js (1 + Ts ) + K i K t ] (
s 0.001s + 0.01s + 10 K t
2
)
K 1 Kt
When r ( t ) = tu s ( t ), K v = lim sG ( s ) = e ss = =
s→ 0 Kt Kv K
Y (s) 1 + Ts 1 + 0.1s
= =
Td ( s ) s [ Js (1 + Ts ) + K i K t ] + KK i (
s 0.001s + 0.01s + 10 K t + 10 K
2
)
1 1
For Td ( s ) = lim y ( t ) = lim sY ( s ) = if the system is stable.
s t →∞ s→ 0 10 K
3 2
0.001s + 0.01s + 0.1s + 10 K = 0
The system is unstable for K > 0.1. So we can set K to just less than 0.1. Then, the minimum value of
1 +
=1
10 K K = 0.1
−
However, with this value of K, the system response will be very oscillatory. The maximum overshoot
3 2 3 2 4
0.001s + 0.01s + 10 Kt s + 1 = 0 or s + 10 s + 10 Kt s + 1000 = 0
5‐33
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
For the two complex roots to have real parts of −2/5. we let the characteristic equation be written as
(s + a)(s 2
+ 5s + b = 0 ) or s + ( s + 5) s + (5a + b) s + ab = 0
3 2
4
Then, a + 5 = 10 a=5 ab = 1000 b = 200 5a + b = 10 Kt Kt = 0.0225
. . . . .
5-33) Rise time: 0.56
.
Peak time: 0.785
√ .
.
Maximum overshoot: . 0.095
.
Settling time: 0 0.69
.
Ö 1.067
.
5‐34
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-34)
K
s ( Js + a + KK f )
0.125
Ö
2 5.42
. .
Ö 5.49
.
Ö 19.88
5‐35
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-35) a)
6.5
1
6.5 2
.
Ö 1
Ö 6.5 1
Ö
. .
, , ,
1
1 sin 1
1
where cos
b)
5‐36
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Therefore:
As a result:
which means:
1
1
The unit step response is:
1
1
Therefore as a result:
1
1 sin 1
1
where ω n = 1 and ξ ω n = 1 / 2
c)
Therefore:
1 1
1
1
5‐37
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
where ω n = 1, and 2ξ ω n = 1 Î ξ = 1 / 2
sin 1
2 √3
1 sin
√3 2
clear all
Amat=[-1 -1;6.5 0]
Bmat=[1 1;1 0]
Cmat=[1 0;0 1]
Dmat=[0 0;0 0]
disp(' State-Space Model is:')
Statemodel=ss(Amat,Bmat,Cmat,Dmat)
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial:')
chareq=poly(Amat);
[mchareq,nchareq]=size(chareq);
syms 's';
poly2sym(chareq,s)
disp(' Equivalent Transfer Function Model is:')
Hmat=Cmat*inv(s*eye(2)-Amat)*Bmat+Dmat
Since the system is multi input and multi output, there are 4 transfer functions as:
, , ,
6.5
6.5
5‐38
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Let’s 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.
Other parts are the same.
5‐39
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
sin 1
1
b)
sin 1
1
c)
1
1 sin 1
1
where α = cos-1 ξ
H22 =
13/(2*s^2+2*s+13)
ans =
13/5*exp(-1/2*t)*sin(5/2*t)
13
---------------
2
2 s + 2 s + 13
Transfer function:
6.5
-------------
s^2 + s + 6.5
5‐40
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
sin
cos
If θ is small enough, then sin θ ≈ θ and cos θ ≈ 1. Therefore, the equation of motion is
rewritten as:
5‐41
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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.
9 × 10 K
12
G(s) =
(
s s + 5000 s + 1.067 × 10 s + 50.5 × 10 s + 5.724 × 10
4 3 7 2 9 12
)
9 × 10 K
12
=
s ( s + 116)( s + 4883)( s + 41.68 + j 3178.3)( s + 41.68 − j 3178.3)
Routh Tabulation:
5 7 12
s 1 1.067 × 10 5.724 × 10
4 9 12
s 5000 50.5 × 10 9 × 10 K
3 5 12 9
s 5.7 × 10 5.72 × 10 − 18
. × 10 K 0
2 8 7 12
s 2.895 × 10 + 1579
. × 10 K 9 × 10 K
13 12 9 2
1 16.6 × 10 + 8.473 × 10 K − 2.8422 × 10 K
s
29 + 1579
. K
0 12
s 9 × 10 K
5‐42
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 2
From the s row, the condition of stability is 165710 + 8473 K − 2.8422 K > 0
2
or K − 298114
. K − 58303.427 < 0 or ( K + 19.43)( K − 3000.57 ) < 0
The critical value of K for stability is 3000.56. With this value of K, the roots of the characteristic
equation are: −4916.9, −41.57 + j3113.3, −41.57 + j3113.3, −j752.68, and j752.68
9 × 10 K
11
G(s) =
(
s s + 5000 s + 1.582 × 10 s + 5.05 × 10 s + 5.724 × 10
4 3 6 2 9 11
)
9 × 10 K
11
=
s (1 + 116.06)( s + 4882.8)( s + 56.248 + j1005)( s + 56.248 − j1005)
5 4 6 3 9 2 11 11
s + 5000 s + 1.582 × 10 s + 5.05 × 10 s + 5.724 × 10 s + 9 × 10 K = 0
Routh Tabulation:
5 6 11
s 1 1.582 × 10 5.724 × 10
4 9 11
s 5000 5.05 × 10 9 × 10 K
3 5 11 8
s 5.72 × 10 5.724 × 10 − 18
. × 10 K 0
2 7 6 11
s 4.6503 × 10 + 15734
. × 10 K 9 × 10 K
18 15 14 2
1 26.618 × 10 + 377.43 × 10 K − 2.832 × 10 K
s 7 6
4.6503 × 10 + 15734
. × 10 K
0 11
s 9 × 10 K
5‐43
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 4 2
From the s row, the condition of stability is 26.618 × 10 + 3774.3 K − 2.832 K > 0
2
Or, K − 1332.73 K − 93990 < 0 or ( K − 1400 )( K + 67.14 ) < 0
The critical value of K for stability is 1400. With this value of K, the characteristic equation root are:
(c) K L = ∞.
nK s K i K
G(s) = 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 891100 K
= =
(
s s + 5000 s + 566700
2
) s ( s + 116)( s + 4884)
3 2
s + 5000 s + 566700 s + 891100 K = 0
Routh Tabulation:
3
s 1 566700
2
s 5000 891100 K
1
s 566700 − 178.22 K
0
s 8991100 K
1
From the s row, the condition of K for stability is 566700 − 178.22K > 0.
5‐44
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
The critical value of K for stability is 3179.78. With K = 3179.78, the characteristic equation roots are
When the motor shaft is flexible, K L is finite, two of the open‐loop poles are complex. As the shaft
becomes stiffer, K L increases, and the imaginary parts of the open‐loop poles also increase. When
K L = ∞ , the shaft is rigid, the poles of the forward‐path transfer function are all real. Similar effects
are observed for the roots of the characteristic equation with respect to the value of K L .
5‐41 (a)
100( s + 2 )
Gc ( s ) = 1 G( s) = 2
K p = lim G ( s ) = −200
s −1 s→ 0
1 1 1
e ss = = =− = −0.005025
1+ K p 1 − 200 199
(b)
s +α 100( s + 2)( s + α )
Gc ( s ) = G(s) = Kp = ∞ ess = 0
s (
s s −1
2
)
(c)
α =5 maximum overshoot = 5.6%
α = 50 maximum overshoot = 22%
α = 500 maximum overshoot = 54.6%
5‐45
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
As the value of α increases, the maximum overshoot increases because the damping effect of the
Unit‐Step Responses:
1
(d) r ( t ) = 0 and Gc ( s ) = 1. d ( t ) = u s ( t ) D( s ) =
s
Y ( s) 100( s + 2)
= 3 2
D( s ) r =0
s + 100 s + (199 + 100α ) s + 200α
100( s + 2 )
Y ( s) =
3 2
s s + 100 s + (199 + 100α ) s + 200α
200 1
y ss = lim y ( t ) = lim sY ( s ) = =
t →∞ s→ 0 200α α
(e) r ( t ) = 0, d ( t ) = u s ( t )
s +α
Gc ( s ) =
s
5‐46
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Y ( s) 100 s( s + 20 1
= 3 2
D( s ) =
D( s ) r =0
s + 100 s + (199 + 100α ) s + 200α s
y ss = lim y ( t ) = lim sY ( s ) = 0
t →∞ s→ 0
(f)
Y ( s) 100 s( s + 2 )
α =5 = 3 2
D( s ) r =0
s + 100 s + 699 s + 1000
Y ( s) 100 s( s + 2)
α = 50 = 3 2
D( s ) r =0
s + 100 s + 5199 s + 10000
Y ( s) 100 s( s + 2)
α = 5000 = 3 2
D( s ) r =0
s + 100 s + 50199 s + 100000
Unit‐Step Responses:
(g) As the value of α increases, the output response y(t) due to r(t) becomes more oscillatory, and the
overshoot is larger. As the value of α increases, the amplitude of the output response y(t) due to d(t)
5‐47
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
H ( s) 10 N N 2
G( s) = = ≅ s + s+ N = 0
E ( s) s( s + 1)( s + 10) s( s + 1)
2
N=1: Characteristic Equation: s + s + 1 = 0 ζ = 0.5 ω n = 1 rad/sec.
− πζ
1−ζ
2
π
Maximum overshoot = e = 0.163 (16.3%) Peak time t max = = 3.628 sec.
2
ω n 1− ζ
2
N=10: Characteristic Equation: s + s = 10 = 0 ζ = 0.158 ω n = 10 rad/sec.
− πζ
1−ζ
2
π
Maximum overshoot = e = 0.605 (60.5%) Peak time t max = = 1006
. sec.
2
ω n 1− ζ
5‐48
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Unit‐Step Response: N = 10
5‐49
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
When Tz is small, the effect is lower overshoot due to improved damping. When Tz is very large, the
overshoot becomes very large due to the derivative effect. Tz improves the rise time, since 1 + Tz s is a
5‐50
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1
The effect of adding the pole at s = − to G(s) is to increase the rise time and the overshoot. The system is
Tp
5‐51
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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.
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)
5‐52
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
(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
5‐53
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Transfer function:
20 s + 1
-------------
s^2 + 2 s + 2
5-46) Since the system is linear we use superposition to find Y, for inputs X and D
First, consider D = 0
kK
Js + a
Kf
Then
;
1
5‐54
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Kk
s ( Js + a + KK f k )
1
1 1
kK Kf
+1
Js + a s
Accordingly,
and
5‐55
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 1
: lim –
1
1
lim
1
lim –
Y ( s) = Y ( s) D =0 + Y ( s ) X =0
y (t ) = y (t ) d (t ) =0 + y (t ) x (t ) =0
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^2-
4*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^2-
4*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^2-
4*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)))
5‐56
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
∞
5-47) (a) Find the ∫0
e(t )dt when e(t) is the error in the unit step response.
∞
As the system is stable then ∫0
e(t )dt will converge to a constant value:
∞ E ( s)
∫
0
e(t )dt = lim s
s →0 s
= lim E ( s )
s →0
Y ( s) G ( s) ( A s + 1)( A2 s + 1)...( An s + 1)
= = 1 n≤m
X ( s) 1 + G ( s) ( B1 s + 1)( B2 s + 1)...( Bm s + 1)
G ( s) 1
E ( s ) = X ( s) − Y ( s) = X (s) − 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) ⎠
1 ⎛ ( B s + 1)( B2 s + 1)...( Bm s + 1) − ( A1s + 1)( A2 s + 1)...( An s + 1) ⎞
lim E ( s ) = lim ⎜ 1 ⎟
s →0 s →0 s
⎝ ( B1s + 1)( B2 s + 1)...( Bm s + 1) ⎠
= ( B1 + B2 + L + Bm ) − ( A1 + A2 + L + An )
1 ⎛ ( A s + 1)( A2 s + 1)...( An s + 1) ⎞
ess = lim s ⎜ 1 − 1 ⎟=0
s →0 s ⎝ ( B1s + 1)( B2 s + 1)...( Bm s + 1) ⎠
5‐57
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 1
(b) Calculate =
K lim sG ( s )
s→ 0
Recall
G ( s) 1
E ( s ) = X ( s) − Y ( s) = X ( s) − 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 ) K v
Ramp Error Constant
5‐58
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-48)
10 10
25 10 35 25 10
Comparing with the second order prototype system and matching denominators:
25 10
35 2
Then
2 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
5‐59
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
or 1
jω
π /t
ωn 1 − ξ 2
−π /t ωn 1 − ξ 2
5‐60
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-50) Using a 2nd order prototype system format, from Figure 5-15, ωn is the radial distance from the
complex conjugate roots to the origin of the s-plane, then ωn with respect to the origin of the
shown region is ωn≈ 3.6.
Therefore the natural frequency range in the region shown is around 2.6 ≤ ωn ≤ 4.6
On the other hand, the damping ratio ζ at the two dashed radial lines is obtained from:
ζ cos /2 sin
ζ cos /2 sin
ζ 0.56
ζ 0.91
b)
As Kp=2, then:
2
2 1 2
If the roots of the characteristic equations are assumed to be lied in the centre of the shown
region:
3 2
Ö 6 13 0
3 2
2 1 6 2
2 13 3.25
2 0
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.
5‐61
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-51) a)
0.2
0.109
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 0.2
. . .
f) As , then 0.6,
as 0.2 , therefore; 1
5‐62
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
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
5‐63
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐64
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
. .
As , then, 3.62
. .
1 3
3 3
Therefore:
3 3 2
2 3
2 3
4.8 10 3
48 16 3
160 160
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
5‐65
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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
clear all
num=[‐1 ‐2 ‐3];
denom=[‐3+sqrt(9‐40) ‐3‐sqrt(9‐40) ‐0.02+sqrt(.004‐.07) ‐0.02‐sqrt(.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)
5‐66
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Note the system has two dominant complex poles close to the imaginary axis. Lets zoom in the root locus diagram and
use the cursor to find the parameter values.
5‐67
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
As shown for K=0.933 the dominant closed loop poles are at ‐0.46±j 0.626 AND OVERSHOOT IS
ALMOST 10%.
Increasing K will push the poles closer towards less dominant zeros and poles. As a process the design process becomes less
trivial and more difficult.
To confirm use
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
5‐68
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
To reduce rise time, the poles have to move to left to make the secondary poles more dominant. As
a result the little bump in the left hand side of the above graph should rise. Try K=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.
5‐69
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
K=5
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)
5‐70
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐71
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Ramp‐error constant:
K 200 a
K v = lim sG ( s ) = = =5 Thus a = 10 K = 2000
s→ 0 200 + 20a 200 + 20 a
MATLAB Symbolic tool can be used to solve above. We use it to find the roots for the next part:
>> syms s a K
>>solve(5*200+5*20*a‐200a)
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
‐10‐10*i
5‐72
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
G(s) =
2000
Gc ( s ) =
G(s)
=
(
20 s + 10 s + 100
2
)
(
s s + 30 s + 400
2
) Gp (s) (s 2
+ 30 s + 400 )
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
-------------------------
Clearly PO=0.
5‐73
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-55)
M ( s) K
G( s) = = 3 2
1− M ( s) s + ( 20 + a ) s + ( 200 + 20a ) s + 200a − K
Ramp‐error constant:
K 200 a
K v = lim sG ( s ) = = =9 Thus a = 90 K = 18000
s→ 0 200 + 20a 200 + 20 a
MATLAB Symbolic tool can be used to solve above. We use it to find the roots for the next part:
>> syms s a K
solve(9*200+9*20*a‐200*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
‐10‐10*i
5‐74
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
G(s) =
18000
Gc ( s ) =
G(s)
=
(
180 s + 10 s + 100
2
)
(
s s + 110 s + 2000
2
) Gp ( s) ( s + 110s + 2000 )
2
Zero/pole/gain:
18000
-------------------------
(s+90) (s^2 + 20s + 200)
PO is less than 4.
5‐75
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
MATLAB
clear all
syms s Kp Kd kv
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
1000 ( K P + K D s ) 1000 K P
K v = lim s = = 100 K P = 1000 Thus K P = 10
s →0 s ( s + 10) 10
Kp=10
clear s
syms s
Mnum=(Kp+Kd*s)*1000/s/(s+10)
Mden=1+(Kp+Kd*s)*1000/s/(s+10)
5‐76
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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)
solve(10+1000*Kd‐100)
ans =
9/100
90
Thus KD = = 0.09
1000
(b) For K v = 1000 and ζ = 0.707 , and from part (a), ω n = 100 rad/sec,
131.4
2ζω n = 10 + 1000 K D = 2 × 0.707 × 100 = 141.4 Thus KD = = 0.1314
1000
(c) For K v = 1000 and ζ = 1.0 , and from part (a), ω n = 100 rad/sec,
190
2ζω n = 10 + 1000 K D = 2 × 1 × 100 = 200 Thus KD = = 0.19
1000
5‐77
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1000 ( K P + K D s )
K v = lim s = 100 K P = 10, 000 Thus K P = 100
s →0 s ( s + 10)
1000 (100 + K D s )
The forward‐path transfer function is: G(s) =
s ( s + 10)
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)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
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)
5‐78
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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)
5‐79
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
4500 K ( K P + K D s )
G ( s ) = Gc ( s )G p ( s ) =
s ( s + 361.2)
4500 KK P
Ramp Error Constant: K v = lim sG ( s ) = = 12.458 KK P
s→ 0 361.2
1 0.0802
e ss = = ≤ 0.001 Thus KK P ≥ 80.2 Let K P = 1 and K = 80.2
Kv 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)
5‐80
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
(s^2 + 541.6s + 3.609e005)
Zero/pole/gain:
360.9 (s+1000)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s (s+361.2)
Zero/pole/gain:
360.9 (s+1000)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
(s^2 + 722.1s + 3.609e005)
Zero/pole/gain:
541.35 (s+666.7)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s (s+361.2)
Zero/pole/gain:
541.35 (s+666.7)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
(s^2 + 902.5s + 3.609e005)
Zero/pole/gain:
721.8 (s+500)
‐‐‐‐‐‐‐‐‐‐‐‐‐
s (s+361.2)
Zero/pole/gain:
721.8 (s+500)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
(s^2 + 1083s + 3.609e005)
5‐81
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐82
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
200 ( K P + K D s )
G(s) =
s ( s + 1)( s + 10)
To stabilize the system, we can reduce the forward‐path gain. Since the system is type 1, reducing the
gain does not affect the steady‐state liquid level to a step input. Let K P = 0.05
200 ( 0.05 + K D s )
G(s) =
s ( s + 1)( s + 10)
clear all
figure(1)
KD=0
num = [];
den = [0 -1 -10];
G=zpk(num,den,200*0.05)
M=feedback(G,1)
step(M)
hold on;
for KD=0.01:0.01:0.1;
KD
num = [-0.05/KD];
G=zpk(num,den,200*KD)
M=feedback(G,1)
step(M)
end
xlabel('Time(secs)')
ylabel('y(t)')
title('Unit-step responses of the system')
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
5‐83
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
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)
5‐84
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
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)
5‐85
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
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)
5‐86
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
0.05 2.721 0
0.06 3.039 0
0.10 4.317 0
When K D = 0.05 the rise time is 2.721 sec, and the step response has no overshoot.
5‐87
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
200 ( K P + K D s )
K v = lim sG ( s ) = lim s = 20 K P = 1 Thus K P = 0.05
s →0 s→0 s ( s + 1)( s + 10)
200 ( 0.05 + K D s )
G(s) =
s ( s + 1)( s + 10)
5-61)
⎛
100 ⎜ K P +
KI ⎞
⎟ 100 ( K P s + K I )
G(s) =
⎝ s ⎠ For K v = 10, K v = lim sG ( s ) = lim s = K I = 10
s + 10 s + 100
2
s →0 s →0
(
s s + 10 s + 100
2
)
Thus K I = 10.
100 ( K P s + K I ) 100 ( K P s + 10 )
Gcl ( s ) = =
s + 10 s + 100 s + 100 ( K P s + K I )
2 2
s + 10 s + 100(1 + K P ) s + 1000
3 3
(b) Let the complex roots of the characteristic equation be written as s = −σ + j15 and s = −σ − j15.
The quadratic equation must satisfy the characteristic equation. Using long division and solve for zero
remainder condition.
5‐88
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
s + (10 − 2σ )
s + 2σ s + σ + 225 s
3 2
( 2
)
(
(10 − 2σ ) s + 100 K P − σ − 125 s + 1000
2
) 2
(100 K P
2
)
+ 3σ − 20σ − 125 s + 2σ − 10σ + 450σ − 1250
3 2
3 2
For zero remainder, 2σ − 10σ + 450σ − 1250 = 0 (1)
2
and 100 K P + 3σ − 20σ − 125 = 0 (2)
2
125 + 20σ − 3σ
KP = = 15765
.
100
The characteristic equation roots are: s = −2.8555 + j15, − 2.8555 − j15, and s = −10 + 2σ = −4.289
Dividing both sides of s + 10 s + (100 + 100 K P ) s + 1000 = 0 by the terms that do not contain Kp we have:
3 2
100 K P s
1+ = 1 + Geq
s + 10 s + 100 s + 1000
3 2
100 K P s 100 K P s
Geq ( s ) = =
s + 10 s + 100 s + 1000
3 2
( s + 10 ) ( s 2
+ 100 )
Root Contours: See Chapter 9 toolbox 9‐5‐2 for more information
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 1000];
rlocus(num,den)
5‐89
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐90
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
⎛
100 ⎜ K P +
KI ⎞
⎟ 100 ( K P s + K I )
G(s) =
⎝ s ⎠ For K v = 10, K v = lim sG ( s ) = lim s = K I = 10
s + 10 s + 100
2
s →0 s →0
(
s s + 10 s + 100
2
)
Thus the forward‐path transfer function becomes
100 (10 + K P s )
G(s) =
(
s s + 10 s + 100
2
)
100 ( K P s + K I ) 100 ( K P s + 10 )
Gcl ( s ) = =
s + 10 s + 100 s + 100 ( K P s + K I )
2 2
s + 10 s + 100(1 + K P ) s + 1000
3 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
5‐91
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Use the curser to find the maximum overshoot and rise time. For example when Kp = 2, PO=43 and tr100%=0.152
sec.
Transfer function:
200 s + 1000
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
5‐92
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5-63)
100 ( K P s + K I )
G(s) =
(
s s + 10 s + 100
2
)
For K v = 100,
100 ( K P s + K I )
K v = lim sG ( s ) = lim s = K I = 100 Thus K I = 100.
s →0 s →0
(
s s + 10 s + 100
2
)
s + 10 s + (100 + 100 K P ) s + 100 K I = 0
3 2
(b) The characteristic equation is
Routh Tabulation:
3
s 1 100 + 100 K P
2
s 10 10,000
For stability, 100 K P − 900 > 0 Thus KP > 9
1
s 100 K P − 900 0
0
s 10,000
7. Activate MATLAB
9. Type in
Acsys
10. Then press the “transfer function Symbolic” and enter the Characteristic equation
5‐93
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
RH =
[ 1, 100+100*kp]
[ 10, 10000]
[ ‐900+100*kp, 0]
[ (‐9000000+1000000*kp)/(‐900+100*kp), 0]
5‐94
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Root Contours:
100 K P s 100 K P s
Geq ( s ) = 3 2
=
s + 10 s + 100 s + 10,000 ( s + 23.65)( s − 6.825 + j19.4)( s − 6.825 − j19.4)
clear all
Kp =.001;
num = [100*Kp 0];
den = [1 10 100 10000];
rlocus(num,den)
5‐95
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
(c) K I = 100
100 ( K P s + 100 )
G(s) =
(
s s + 10 s + 100
2
)
The following maximum overshoots of the system are computed for various values of K P .
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 30 40 100 1000
5‐96
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
ymax 1.794 1.779 1.7788 1.7785 1.7756 1.779 1.782 1.795 1.844 1.859
5‐97
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
100 ( K P s + K I ) 100 K I
G(s) = For K v = = 10, K I = 10
(
s s + 10 s + 100
2
) 100
3
s 1 100 + 100 K P
2
s 10 1000
For stability, KP > 0
1
s 100 K P 0
0
s 1000
Root Contours:
100 K P s
Geq ( s ) = 3 2
s + 10 s + 100 s + 1000
5‐98
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
(c) The maximum overshoots of the system for different values of K P ranging from 0.5 to 20 are
ymax 1.393 1.275 1.2317 1.2416 1.2424 1.2441 1.246 1.28 1.372 1.514 1.642
5-65)
KDs + KPs + KI ⎛ KI 2 ⎞
2
KI
Gc ( s ) = K P + K D s + = = (1 + K D 1 s ) ⎜ K P 2 + ⎟
s s ⎝ s ⎠
where
K P = K P 2 + K D1 K I 2 K D = K D1 K P 2 KI = KI 2
G ( s ) = Gc ( s )G p ( s ) =
100 (K D s2 + KP s + KI )
(
s s + 10 s + 100
2
)
Thus
KI
K v = lim sG ( s ) = 100 = 100
s →0 100
K I = 100
5‐99
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
100 ( K P s + 100 )
G(s) = s + 10 s + (100 + 100 K P ) s + 10, 000 = 0
3 2
(
s s + 10 s + 100
2
)
For stability, Kp>9. Select Kp =10 and observe the response.
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
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)
5‐100
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Transfer function:
200 s^2 + 1000 s + 10000
------------------------------
s^3 + 210 s^2 + 1100 s + 10000
Unit‐step Response
The rise time seems reasonable. But we need to increase Kp to improve approach to steady state.
Increase Kp to Kp=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
5‐101
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
5‐102
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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.
xc
mc
mc
ks cs
ks cs x
xw m
mw
mw k c
kw kw cw
cw y y
Figure 4-84 Quarter car model realization: (a) quarter car, (b) 2 degree of
which can be simplified by substituting the relation z(t) = x(t)‐y(t) and non‐dimensionalizing the coefficients to
the form
The Laplace transform of Eq. (4‐323) yields the input output relationship
5‐103
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Z (s) −1
= 2 (4-324)
Y&&( s ) s + 2ζω n s + ω n 2
Now let’s apply control – see section 6-6 for more detail.
x
m
k c
k f(t)
y
For simplicity and better presentation, we have scaled the control force as kf(t) we rewrite (4-324) as:
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 ⎟ Z (s)
⎝ s ⎠
Z (s) −1
=
A( s ) ⎛ K ⎞
s 2 + 2ζωn s + ωn 2 ⎜ 1 + K P + K D s + I ⎟
⎝ s ⎠
Z (s) −s
= 3
A( s ) s + 2ζωn s + ωn ( (1 + K P ) s + K D s 2 + K I )
2 2
5‐104
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Transfer function:
-s
---------------------
s^3 + 1.414 s^2 + 2 s
5‐105
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
⎛ K ⎞
F ( s ) = X ref − ⎜ K P + K D s + I ⎟ X ( s )
⎝ s ⎠
B
2ζωn =
M
K
ωn 2 =
M
X ( s) 1
=
X ref ( s ) ⎛ K ⎞
s 2 + 2ζωn s + ⎜ ωn 2 + K P + K D s + I ⎟
⎝ s ⎠
5‐106
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1
2
Potential energy:
As we know , then:
1 1 1
2 2 2
By differentiating, we have:
0
b)
c)
5‐107
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1 1 1
2 2 2
1 1
2 2
Then:
1 1
2 2
Or:
J
d) G (s) =
(ms + K )
2
Transfer function:
5
------------
25 s^2 + 100
ans =
0 + 2.0000i
0 - 2.0000i
5‐108
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Uncontrolled
With a proportional controller one can adjust the oscillation amplitude the transfer function is
rewritten as:
JK p
Gcl ( s ) =
(ms + K + JK p )
2
5‐109
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Kp =
0.1000
Transfer function:
0.5
--------------
25 s^2 + 100.5
ans =
0 + 2.0050i
0 - 2.0050i
5‐110
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
a)
y2 y1
K ( y1 − y 2 )
K ( y1 − y 2 )
μmgy& 2 μMgy&1
Then:
The output equation can be the velocity of the engine, which means
c)
5‐111
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1
2
KP
Zref _ F Z
1
2
1
2 1
x(t)
F
L
M
Here is an alternative representation including friction (damping) μ. In this case the angle θ is
measured differently.
5‐112
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
1)
2)
which gives:
Φ s
F s
Ignoring friction 0.
Φ s
F s
where
Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
KP+KDs
R _ F Φ
F ( s) = K p ( R ( s ) − Φ ) − K D s ( R ( s ) − Φ )
Φ A( K p + KDs)
= 2
R (s + K D s + A ( K p − B )
5‐113
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Transfer function:
50 s + 100
--------------
s^2 + 5 s + 20
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.
5‐114
Automatic Control Systems, 9th Edition Chapter 5 Solutions Golnaraghi, Kuo
Φ 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
5‐115
Automatic Control Systems, 9th Edition Chapter 5 Solutions 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
For a better design, and to meet rise time criterion, use Example 5-
11-1.
5‐116
Automatic Control Systems, 9th Edition 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:
Ra J m Ra J m − k b k mτ m
τm = , B= = 0.000792kg ⋅ m 2 / sec
Ra B + k b k m Raτ m
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. +15 V input:
c. –10 V input:
6-1
Automatic Control Systems, 9th Edition 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 ζ.
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition 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:
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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. +15 V:
c. –10 V:
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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:
9
G(s) = ,
0.23s + 1
where the time constant (0.23) is found at 5.68 rad/sec (63.2% of the final value).
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
9. Sine input to SIMLab and Virtual Lab (1 V. amplitude, and 0.5, 5, and 50 rad/sec frequencies)
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. 5 rad/sec (SIMLab):
c. 50 rad/sec (SIMLab):
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. 5 rad/sec (SIMLab):
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
c. 50 rad/sec (SIMLab):
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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 ϕ = −93.82 o for ω = 50.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
a. +5 V:
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. +15 V:
c. -10 V:
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. +15 V:
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
c. -10 V:
6-1
Automatic Control Systems, 9th Edition 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 system’s parameters. For this case, the gain of proportional
controller and speed set point are 10 and 5 rad/sec, respectively.
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
b. +15 V:
c. –10 V:
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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.
After neglecting of electrical time constant, the second order closed loop transfer function of position
control obtained in Eq. 5-126. In experiments 19 through 21 we observe an under damp response of a
second order system. According to the equation, as the proportional gain increases, the damped
frequency must be increased and this fact is verified in experiments 19 through 21. Experiments16
through 18 exhibits an over damped second order system responses.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1. In order to find the current of the motor, the motor constant has to be separated from the electrical
component of the motor.
11.2
a) It takes 0.0797 seconds to reach 63% of the steady state speed (31.5rad/sec).
b) The maximum current: 2.226A
c) 100rad/sec
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-3
a) 50rad/sec
b) 0.0795 seconds
c) 2.5A. The current
d) 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-4
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
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
Automatic Control Systems, 9th Edition 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).
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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-10
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
a) 1 radian.
b) 1.203 radians.
c) 0.2215 seconds.
6-11
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
As the derivative gain increases, overshoot decreases, but rise time increases.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-14
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-16
0.1 Hz
0.2 Hz
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
0.5 Hz
1 Hz
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
2Hz
5Hz
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
10Hz
50Hz
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
As Kd value increases, the overshoot decreases and the rise time increases.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-20 From the “Experiment” Menu select the Open Loop Sine Input” option.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
Double click on the “Sine wave” block and choose the input values.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-21)
6-1
Automatic Control Systems, 9th Edition 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
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-22)
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
Run simulation, and repeat the process for different gain values.
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-25) a)
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
c) A sample response
d)
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 6 Solutions Golnaraghi, Kuo
6-1
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Chapter 7
7-1 (a) P ( s ) = s 4 + 4 s 3 + 4 s 2 + 8 s Q( s ) = s + 1
Intersect of Asymptotes:
−3.5 − 0.24512 − 0.24512 − ( −1)
σ1 = = −1
4 −1
(b) P ( s ) = s 3 + 5 s 2 + s Q( s ) = s + 1
Intersect of Asymptotes:
−4.7913 − 0.2087 − ( −1)
σ1 = = −2
3−1
(c) P ( s ) = s 2 3 2
Q( s ) = s + 3s + 2 s + 8
7‐1
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
(d) P ( s ) = s 3 + 2 s 2 + 3 s ( )
Q( s) = s − 1 ( s + 3)
2
Asymptotes: There are no asymptotes, since the number of zeros of P(s) and
Q(s) are
equal.
(e) P ( s ) = s 5 + 2 s 4 + 3 s 3 2
Q( s ) = s + 3s + 5
Intersect of Asymptotes:
−1 − 1 − ( −15)
. − ( −15)
. 1
σ1 = =
5− 2 3
(f) P ( s ) = s 4 + 2 s 2 + 10 Q( s ) = s + 5
Intersect of Asymptotes:
−10398
. − 10398
. + 10398
. + 10398
. − ( −5) −5
σ1 = =
4 −1 3
7‐2
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
6
2
Imaginary Axis
-2
-4
-6
-8 -6 -4 -2 0 2 4
Real Axis
Assymp1_angle = 60
Assymp2_angle = -60
Assymp3_angle = 180
7‐3
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-5 -4 -3 -2 -1 0 1
Real Axis
Assymp1_angle = 90
Assymp2_angle = -90
7‐4
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐5
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Assymp1_angle = 180
sigma = -3.0000 (intersect of asymptotes)
Root Locus
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5
Real Axis
No asymptotes
7‐6
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
6
2
Imaginary Axis
-2
-4
-6
-8 -6 -4 -2 0 2 4
Real Axis
Assymp1_angle = 60
7‐7
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 0.3333 (intersect of asymptotes)
7‐8
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-20 -15 -10 -5 0 5 10 15 20
Real Axis
Assymp1_angle = 60
Assymp2_angle = -60
Assymp3_angle = 180
sigma = 1.6667 (intersect of asymptotes)
7-3) Consider
|s| > |zi| for i = 1,2,…,m and |s| > |pi| for i = 1,2,…,n
therefore סG(s)H(s)
סG(s)H(s) =
7‐9
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
If we consider , then:
סG(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 is
real, therefore
7‐10
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
jω
jω
σ × σ
7‐11
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
K > 0: −θ 1 − θ 2 − θ 3 + θ 4 = −180o
−θ 1 − 90 − 45 + 90 = −180
o o o o
θ 1 = 135
o
θ 1 = −45
o
−θ 1 − θ 2 − θ 3 + θ 4 = −180
o
K > 0:
−θ 1 − 135 − 90 + 90 = 0
o o o o
K < 0:
θ 1 = −135
o
7‐12
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
−θ 1 − θ 2 − θ 3 + θ 4 = −180
o
K > 0:
−θ 1 − 135 − 90 − 45 = −180
o o o o
θ 1 = −90
o
−θ 1 − θ 2 − θ 3 − θ 4 = −180
o
K > 0:
θ 1 = −180
o
7‐13
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
θ 1 + θ 6 − θ 2 − θ 3 − θ 4 − θ 5 = −360
o
K < 0:
θ 1 = −108.435
o
7‐14
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7-7) a) סG(s)H(s) =
we know that
therefore
b) Similarly:
סG(s)H(s) =
Therefore:
As a result, θ =180 –
7‐15
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Arrival angles at
(c) (d)
7‐16
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐17
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐18
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7-10) The breaking points are on the real axis of and must satisfy
or
5 4 3 2
7-11) (a) Breakaway-point Equation: 2 s + 20 s + 74 s + 110 s + 48 s = 0
6 5 4 3 2
(b) Breakaway-point Equation: 3 s + 22 s + 65 s + 100 s + 86 s + 44 s + 12 = 0
6 5 4 3 2
(c) Breakaway-point Equation: 3 s + 54 s + 347.5 s + 925 s + 867.2 s − 781.25 s − 1953 = 0
7‐19
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
6 5 4 3 2
(d) Breakaway-point Equation: − s − 8 s − 19 s + 8 s + 94 s + 120 s + 48 = 0
7-12) (a)
K ( s + 8)
G( s) H ( s) =
s( s + 5)( s + 6)
o o o o
Asymptotes: K > 0: 90 and 270 K < 0: 0 and 180
Intersect of Asymptotes:
0 − 5 − 6 − ( −8 )
σ1 = = −15
.
3−1
Breakaway‐point Equation:
3 2
2 s + 35 s + 176 s + 240 = 0
7‐20
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (b)
K
G( s) H ( s) =
s( s + 1)( s + 3)( s + 4 )
o o o o o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315 K < 0: 0 , 90 , 180 , 270
Intersect of Asymptotes:
0 − 1− 3 − 4
σ1 = = −2
4
3 2
Breakaway‐point Equation: 4 s + 24 s + 38 s + 12 = 0
7‐21
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (c)
K( s + 4)
G( s) H ( s) = 2 2
s ( s + 2)
o o o o o o
Asymptotes: K > 0: 60 , 180 , 300 K < 0: 0 , 120 , 240
Intersect of Asymptotes:
0 + 0 − 2 − 2 − ( −4 )
σ1 = =0
4 −1
Breakaway‐point Equation:
4 3 2
3 s + 24 s + 52 s + 32 s = 0
7‐22
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (d)
K ( s + 2)
G( s) H ( s) = 2
s( s + 2 s + 2 )
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
0 − 1 − j − 1 − j − ( −2 )
σ1 = =0
3−1
3 2
Breakaway‐point Equation: 2s + 8s + 8s + 4 = 0
Breakaway Points: −2.8393 The other two solutions are not breakaway points.
7‐23
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (e)
K ( s + 5)
G(s) H (s) =
(
s s + 2s + 2
2
)
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
0 − 1 − j − 1 − j − ( −5)
σ1 = = 15
.
3−1
Breakaway‐point Equation:
3 2
2 s + 17 s + 20 s + 10 = 0
Breakaway Points: −7.2091 The other two solutions are not breakaway points.
7‐24
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (f)
K
G(s) H (s) =
(
s ( s + 4 ) s + 2s + 2
2
)
o o o o o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315 K < 0: 0 , 90 , 180 , 270
Intersect of Asymptotes:
0 − 1− j − 1+ j − 4
σ1 = = −15
.
4
3 2
Breakaway‐point Equation: 4 s + 18 s + 20 s + 8 = 0
Breakaway Point: −3.0922 The other solutons are not breakaway points.
7‐25
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (g)
2
K( s + 4)
G( s) H ( s) = 2 2
s ( s + 8)
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intesect of Asymptotes:
0 + 0 − 8 − 8 − ( −4 ) − ( −4 )
σ1 =
4−2
5 4 3 2
Breakaway‐point Equation: s + 20 s + 160 s + 640 s + 1040 s = 0
7‐26
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (h)
K
G( s) H ( s) = 2 2
s ( s + 8)
o o o o o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315 K < 0: 0 , 90 , 180 , 270
Intersect of Asymptotes:
−8 − 8
σ1 = = −4
4
3 2
Breakaway‐point Equation: s + 12 s + 32 s = 0
7‐27
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (i)
G(s) H (s) =
(
K s + 8s + 20
2
)
s ( s + 8)
2 2
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
−8 − 8 − ( −4 ) − ( −4 )
σ1 = = −4
4−2
5 4 3 2
Breakaway‐point Equation: s + 20 s + 128 s + 736 s + 1280 s = 0
7‐28
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
(j)
2
Ks
G(s) H (s) =
(s 2
−4 )
Since the number of finite poles and zeros of G ( s ) H ( s ) are the same, there are no asymptotes.
Breakaway‐point Equation: 8 s = 0
7‐29
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (k)
G(s) H (s) =
(
K s −4
2
)
(s 2
+1 )( s 2
+4 )
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
−2 + 2
Intersect of Asymptotes: σ1 = =0
4−2
6 4 2
Breakaway‐point Equation: s − 8 s − 24 s = 0
7‐30
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (l)
K ( s − 1)
2
G(s) H (s) =
(s 2
+1 )( s 2
+4 )
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
−1 + 1
σ1 = =0
4−2
5 3
Breakaway‐point Equation: s − 2s − 9s = 0
7‐31
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
(m)
K ( s + 1)( s + 2)( s + 3)
G( s) H ( s) = 3
s ( s − 1)
7‐32
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
Asymptotes: K > 0: 180 K < 0: 0
6 5 4 3 2
Breakaway‐point Equation: s + 12 s + 27 s + 2 s − 18 s = 0
7‐33
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
(n)
K ( s + 5)( s + 40)
G( s) H ( s) = 3
s ( s + 250)( s + 1000)
o o o o o o
Asymptotes: K > 0: 60 , 180 , 300 K < 0: 0 , 120 , 240
Intersect of asymptotes:
6 5 8 4 10 3 11 2
Breakaway‐point Equation: 3750 s + 335000 s + 5.247 × 10 s + 2.9375 × 10 s + 1875
. × 10 s = 0
7‐34
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐12 (o)
K ( s − 1)
G( s) H ( s) =
s( s + 1)( s + 2 )
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
7‐35
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Intersect of Asymptotes:
−1 − 2 − 1
σ1 = = −2
3−1
3
Breakaway‐point Equation: s − 3s − 1 = 0
7‐36
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
7-13(a) MATLAB code: 10
num=[1 7]; 8
den=conv([1 0],[1 5]);
6
den=conv(den,[1 6]);
mysys=tf(num,den) 4
rlocus(mysys); 2
Imaginary Axis
0
-2
-4
-6
-8
-10
-8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
Root Locus
10
num=[0 1]; 2
Imaginary Axis
-8
-10
-12 -10 -8 -6 -4 -2 0 2 4 6 8
Real Axis
7‐37
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
15
10
Imaginary Axis
7-13(c) MATLAB code: 0
num=[1 4];
-5
den=conv([1 0],[1 0]);
den=conv(den,[1 2]);
den=conv(den,[1 2]); -10
mysys=tf(num,den)
rlocus(mysys); -15
-12 -10 -8 -6 -4 -2 0 2 4 6 8
Real Axis
Root Locus
10
2
Imaginary Axis
-2
7-13(d) MATLAB code:
-4
num=[1 2];
-6
den=conv([1 0],[1
(1+j)]); -8
den=conv(den,[1 (1-
-10
j)]); -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
mysys=tf(num,den)
rlocus(mysys);
7‐38
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
25
20
15
10
5
Imaginary Axis
0
-5
-10
-15
7‐39
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
5
Imaginary Axis
mysys=tf(num,den) 0
rlocus(mysys);
-1
-2
-3
-4
-5
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Root Locus
10
8
7-13(g) MATLAB code:
6
num=conv([1 4],[1 4]);
den=conv([1 0],[1 0]); 4
den=conv(den,[1 8]); 2
Imaginary Axis
den=conv(den,[1 8]);
0
mysys=tf(num,den)
rlocus(mysys); -2
-4
-6
-8
-10
-9 -8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐40
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
25
20
15
num=[0 1]; 5
Imaginary Axis
den=conv([1 0],[1 0]);
den=conv(den,[1 8]); 0
den=conv(den,[1 8]); -5
mysys=tf(num,den)
-10
rlocus(mysys);
-15
-20
-25
-30 -25 -20 -15 -10 -5 0 5 10 15 20
Real Axis
Root Locus
15
10
5
Imaginary Axis
7‐41
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
0.25
0.2
0.15
0.1
0.05
Imaginary Axis 0
-0.25
-2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis
7‐42
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
rlocus(mysys);
Root Locus
5
Imaginary Axis
0
-1
-2
-3
-4
-5
-2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis
den=conv(den,[1 2j]); 3
mysys=tf(num,den)
rlocus(mysys); 2
1
Imaginary Axis
-1
-2
-3
-4
-5
-1.5 -1 -0.5 0 0.5 1 1.5
Real Axis
7‐43
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
7-13(m) MATLAB code: 6
den=conv(den,[1 -1]);
Imaginary Axis
mysys=tf(num,den) 0
rlocus(mysys);
-2
-4
-6
-18 -16 -14 -12 -10 -8 -6 -4 -2 0 2
Real Axis
Root Locus
1500
1000
7-13(n) MATLAB code:
num=conv([1 5],[1 40]); 500
den=conv([1 0],[1 0]);
Imaginary Axis
den=conv(den,[1 0]);
0
den=conv(den,[1 100]);
den=conv(den,[1 200]);
mysys=tf(num,den) -500
rlocus(mysys);
-1000
-1500
-1400 -1200 -1000 -800 -600 -400 -200 0 200 400 600
Real Axis
7‐44
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
10
Imaginary Axis
7-13(o) MATLAB code: 0
7-14) (a) Q( s ) = s + 5 ( )
P ( s ) = s s + 3s + 2 = s ( s + 1)( s + 2)
2
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
−1 − 2 − ( −5)
σ1 = =1
3−1
3 2
Breakaway‐point Equation: s + 9 s + 15 s + 5 = 0
7‐45
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐14 (b) Q( s ) = s + 3 ε 2
P( s) = s s + s + 2 ϕ
7‐46
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
−1 − ( −3)
σ1 = =1
3−1
3 2
Breakaway‐point Equation: s + 5s + 3s + 3 = 0
Breakaway Points: −4.4798 The other solutions are not breakaway points.
7‐47
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2
7‐14 (c) Q( s ) = 5s P ( s ) = s + 10
o o
Asymptotes: K > 0: 180 K < 0: 0
7‐48
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2
Breakaway‐point Equation: 5 s − 50 = 0
7‐49
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐14 (d) (
Q( s ) = s s + s + 2
2
) P ( s ) = s + 3s + s + 5s + 10
4 3 2
o o
Asymptotes: K > 0: 180 K < 0: 0
6 5 4 3 2
Breakaway‐point Equation: s + 2 s + 8 s + 2 s − 33 s − 20 s − 20 = 0
Breakaway Points: −2, 1.784. The other solutions are not breakaway points.
7‐50
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐14 (e) ( )
Q( s ) = s − 1 ( s + 2 )
2
(
P( s) = s s + 2s + 2
2
)
7‐51
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
3 2
Breakaway‐point Equation: 6 s + 12 s + 8 s + 4 = 0
7‐52
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐53
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
Asymptotes: K > 0: 180 K < 0: 0
4 3 2
Breakaway‐point equations: s + 10 s + 14 s − 8 = 0
7‐54
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐14 (g) Q( s ) = s + 4 s + 5
2
P( s ) = s
2
(s 2
+ 8s + 16 )
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
−8 − ( −4 )
σ1 = = −2
4−2
5 4 3 2
Breakaway‐point Equation: s + 10 s + 42 s + 92 s + 80 s = 0
7‐55
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐14 (h) (
Q( s ) = s − 2
2
) ( s + 4) (
P( s) = s s + 2s + 2
2
)
7‐56
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐57
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
Asymptotes: K > 0: 180 K < 0: 0
4 3 2
Breakaway‐point Equation: s + 5s + 4 s − 1 = 0
Breakaway Points: −4.0205, 0.40245 The other solutions are not breakaway points.
7‐58
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐59
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o o o o o
Asymptotes: K > 0: 60 , 180 , 300 K < 0: 0 , 120 , 240
Intersect of Asymptotes;
0 + 0 − 1 − 1 − ( −2.5) 0.5
σ1 = = = 0.167
4 −1 3
4 3 2
Breakaway‐point Equation: 6 s + 28 s + 32 s + 10 s = 0
7‐60
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
%a)
num_GH_a=(s+5);
den_GH_a=(s^3+3*s^2+2*s);
GH_a=num_GH_a/den_GH_a;
figure(1);
rlocus(GH_a)
7‐61
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
%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;
7‐62
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐63
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
15
10
5
Imaginary Axis
-5
-10
-15
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
7‐64
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-5 -4 -3 -2 -1 0 1 2
Real Axis
Root Locus
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
7‐65
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5
Real Axis
Asymptotes angle:
Therefore,
7‐66
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-18 -16 -14 -12 -10 -8 -6 -4 -2 0 2
Real Axis
Asymptotes angles:
7‐67
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
15
10
5
Imaginary Axis
-5
-10
-15
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
which means:
or
7‐68
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-5 -4 -3 -2 -1 0 1 2
Real Axis
breaking points:
which means :
Asymptotes angles:
or θ =
7‐69
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-10 -8 -6 -4 -2 0 2
Real Axis
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-10 -5 0 5
Real Axis
7‐70
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
6
2
Imaginary Axis
-2
-4
-6
-6 -5 -4 -3 -2 -1 0 1 2 3 4
Real Axis
o o o o
7-16) (a) Asymptotes: K > 0: 45 , 135 , 225 , 315
Intersect of Asymptotes:
−2 − 2 − 5 − 6 − ( −4 )
σ1 = = −2.75
5−1
5 4 3 2
Breakaway‐point Equation: 4 s + 65 s + 396 s + 1100 s + 1312 s + 480 = 0
7‐71
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o o o
7‐16 (b) Asymptotes: K > 0: 45 , 135 , 225 , 315
Intersect of Asymptotes:
7‐72
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
0 − 2 − 5 − 10
σ1 = = −4.25
4
3 2
Breakaway‐point Equation: 4 s + 51s + 160 s + 100 = 0
7‐73
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o
7‐16 (c) Asymptotes: K > 0: 180
4 3 2
Breakaway‐point Equation: s + 4 s + 10 s + 300 s + 500 = 0
7‐74
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐75
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
7‐16 (d) K > 0: 90 , 270
Intersect of Asymptotes:
−2 − 2 − 5 − 6
σ1 = = −7.5
4−2
7‐76
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
%a)
num_G_a=(s+3);
den_G_a=s*(s^2+4*s+4)*(s+5)*(s+6);
G_a=num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
7‐77
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
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)
7‐78
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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
15
10
System: G_a
Gain: 19
Pole: -0.584 + 0.589i
5 Damping: 0.704
Overshoot (%): 4.43
Imaginary Axis
System: G_a
Gain: 19
-5 Pole: -0.584 - 0.589i
Damping: 0.704
Overshoot (%): 4.43
Frequency (rad/sec): 0.829
-10
-15
-20 -15 -10 -5 0 5 10 15
Real Axis
7‐79
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
25
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-25
-30 -25 -20 -15 -10 -5 0 5 10 15 20
Real Axis
Root Locus
3
1
Imaginary Axis
-1
-2
-3
-18 -16 -14 -12 -10 -8 -6 -4 -2 0 2
Real Axis
7‐80
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
30
20
10
Imaginary Axis
-10
-20
-30
-8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
Root Locus
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-15 -10 -5 0 5 10 15 20
Real Axis
7‐81
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Root Locus diagram – 7-17(h): (no solution exists for damping =0.0707)
7‐82
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
1
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Root Locus
4
1
Imaginary Axis
-1
-2
-3
-4
-6 -5 -4 -3 -2 -1 0 1
Real Axis
o o o
7-18) (a) Asymptotes: K > 0: 60 , 180 , 300
7‐83
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Intersect of Asymptotes:
0 − 10 − 20
σ1 = = −10
3
2
Breakaway‐point Equation: 3 s + 60 s + 200 = 0 Breakaway Point: (RL) −4.2265, K = 384.9
o o o o
(b) Asymptotes: K > 0: 45 , 135 , 225 , 315
Intersect of Asymptotes:
0 − 1− 3 − 5
σ1 = = −2.25
4
3 2
Breakaway‐point Equation: 4 s + 27 s + 46 s + 15 = 0
7‐84
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Angle of asymptotes:
Then and
d) Poles:
Angle of asymptotes:
breakaway points:
Angle of asymptotes:
7‐85
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
breakaway points: Î
f) Poles:
Angles of asymptotes:
breakaway point:
%a)
num_G_a=1;
den_G_a=s*(s+10)*(s+20);
G_a=num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
num_G_b= 1;
den_G_b=s*(s+1)*(s+3)*(s+5);
G_b=num_G_b/den_G_b;
figure(2);
rlocus(G_b)
%c)
num_G_c=(s-0.5);
den_G_c=(s-1)^2;
G_c=num_G_c/den_G_c;
figure(3);
rlocus(G_c)
%d)
7‐86
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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
60
40
System: G_a
Gain: 385
20 Pole: -4.23 - 1.45e-007i
Damping: 1
Overshoot (%): 0
Imaginary Axis
-20
-40
-60
-80 -60 -40 -20 0 20 40
Real Axis
7‐87
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
15
10
System: G_b
Gain: 2.88
5 Pole: -0.426 - 1.02e-008i
Damping: 1
Overshoot (%): 0
Imaginary Axis
-15
-15 -10 -5 0 5 10
Real Axis
Root Locus
0.8
0.6
System: G_c
0.4
Gain: 2
Pole: 0
0.2 Damping: -1
Overshoot (%): 0
Imaginary Axis
Frequency (rad/sec): 0
0
-0.2
-0.4
-0.6
-0.8
-0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
Real Axis
7‐88
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
1.5
1
System: G_d
Gain: 1
0.5 Pole: 0.5
Damping: -1
Overshoot (%): 0
Imaginary Axis
-0.5
-1
-1.5
-1 -0.5 0 0.5 1 1.5 2
Real Axis
Root Locus
1.5
1
System: G_e System: G_e
Gain: 5.34 Gain: 0.211
0.5 Pole: -2.24 - 3.95e-008i Pole: 0.383
Damping: 1 Damping: -1
Overshoot (%): 0 Overshoot (%): 0
Imaginary Axis
-0.5
-1
-1.5
-5 -4 -3 -2 -1 0 1 2
Real Axis
7‐89
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
25
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-25
-30 -25 -20 -15 -10 -5 0 5 10 15
Real Axis
7‐90
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7-20)
7‐91
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
%a)
n=1;
num_G_a= 1;
den_G_a=(s+4)^n;
G_a=num_G_a/den_G_a;
figure(n);
rlocus(G_a)
%b)
n=2;
num_G_b= 1;
den_G_b=(s+4)^n;
G_b=num_G_b/den_G_b;
figure(n);
rlocus(G_b)
%c)
n=3;
num_G_c= 1;
den_G_c=(s+4)^n;
G_c=num_G_c/den_G_c;
figure(n);
rlocus(G_c)
%d)
n=4;
num_G_d= 1;
den_G_d=(s+4)^n;
G_d=num_G_d/den_G_d;
figure(n);
rlocus(G_d)
%e)
n=5;
num_G_e= 1;
den_G_e=(s+4)^n;
G_e=num_G_e/den_G_e;
figure(n);
rlocus(G_e)
7‐92
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-16 -14 -12 -10 -8 -6 -4 -2 0 2
Real Axis
Root Locus
2.5
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-2.5
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
7‐93
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
4
1
Imaginary Axis
-1
-2
-3
-4
-9 -8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
Root Locus
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐94
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-9 -8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐95
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
Asymptotes: Kt > 0: 90 , 270
Intersect of Asymptotes:
−25 − 0
σ1 = = −12.5
3−1
3 2
Breakaway‐point Equation: s + 12.5 s − 50 = 0
7‐96
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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
30
20
10
Imaginary Axis
-10
-20
-30
-30 -25 -20 -15 -10 -5 0 5 10 15 20
Real Axis
3 2
7-24) Characteristic equation: s + 5 s + Kt s + K = 0
(a) K t = 0 : P ( s ) = s 2 ( s + 5 ) Q(s) = 1
o o o
Asymptotes: K > 0: 60 , 180 , 300
Intersect of Asymptotes:
−5 − 0
σ1 = = −1667
.
3
7‐97
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2
Breakaway‐point Equation: 3 s + 10 s = 0 Breakaway Points: 0, −3.333
7‐98
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
3 2
7‐24 (b) P ( s ) = s + 5 s + 10 = 0 Q( s ) = s
o o
Asymptotes: K > 0: 90 , 270
Intersect of Asymptotes:
−5 − 0
σ1 = =0
2 −1
3
Breakaway‐point Equation: 2 s + 5 s − 10 = 0
7‐99
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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:
s 3 + 5s 2 + K t s + K
1 + GH =
s 2 ( s + 5) + K t s
Den(GH)= s 3 + 5s 2 and
10
Num(GH) =1, we can use rlocus
command to construct the root 5
locus diagram.
Imaginary Axis
s = tf('s')
5
%a)
Imaginary Axis
num_G_a= 1;
den_G_a=s^3+5*s^2; 0
GH_a=num_G_a/den_G_a;
figure(1); -5
rlocus(GH_a)
-10
%b)
num_G_b= s;
den_G_b=s^3+5*s^2+10; -15
-6 -5 -4 -3 -2 -1 0 1
GH_b=num_G_b/den_G_b; Real Axis
figure(2);
rlocus(GH_b)
7‐100
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2 2
7-26) P ( s ) = s + 116.84 s + 1843 Q ( s ) = 2.05 s ( s + 5)
o
Asymptotes: J L = 0: 180
4 3 2
Breakaway‐point Equation: −2.05 s − 479 s − 12532 s − 37782 s = 0
7‐101
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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
50
Imaginary Axis
-50
-100
-150
-400 -350 -300 -250 -200 -150 -100 -50 0 50
Real Axis
7‐102
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o
Asymptotes: K > 0: 180
4 3 2
Breakaway‐point Equation: s + 16 s + 46 s − 15 = 0
7‐103
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o
Asymptotes: K > 0: 90 , 270
Intersect of Asymptotes:
0 − 10 − ( −3)
σ1 = = −3.5
3−1
3 2
Breakaway‐point Equation: 20 s + 190 s + 600 s + 870 = 0
7‐104
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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)
7‐105
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
K=10;
%b) Root Locus
8
num_G_b = (3*K+K*s);
den_G_b =
6
(s^3+K*s^2+K*3*s-s);
G_b = num_G_b/den_G_b; 4
figure(2);
rlocus(G_b) 2
Imaginary Axis
0
-2
-4
-6
-8
-25 -20 -15 -10 -5 0 5
Real Axis
Root Locus
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐106
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Angles of asymptotes:
breakaway points:
Ö Î
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)
1
Imaginary Axis
-1
-2
-3
-4
-5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
7‐107
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o o
Asymptotes: N > 0: 60 , 180 , 300
Intersect of Asymptotes:
0 − 12.5 − 1
σ1 = = −4.5
3
2
Breakaway‐point Equation: 3s + 27 s _12.5 = 0
2 2
7‐31 (b) P ( s ) = s + 12.5 s + 833.333 Q ( s ) = 0.02 s ( s + 12.5)
7‐108
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o
A > 0: 180
4 3 2
Breakaway‐point Equation: 0.02 s + 0.5 s + 53.125 s + 416.67 s = 0
7‐109
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Q( s ) = 0.02 s( s + 12.5)
o
Asymptotes: Ko > 0: 180
4 3 2
Breakaway‐point Equation: 0.02 s + 0.5 s + 3.125 s − 66.67 s − 416.67 = 0
7‐110
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
s = tf('s')
%a)
A=50;
K0=50;
num_G_a = 250;
den_G_a = 0.06*s*(s + 12.5)*(A*s+K0);
G_a = num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
N=10;
K0=50;
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=50;
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)
7‐111
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
30
20
10
Imaginary Axis
-10
-20
-30
-40 -30 -20 -10 0 10 20
Real Axis
Root Locus
30
20
10
Imaginary Axis
-10
-20
-30
-25 -20 -15 -10 -5 0 5
Real Axis
7‐112
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-35 -30 -25 -20 -15 -10 -5 0 5
Real Axis
o o o
Asymptotes: N > 0: 60 180 300
Intersect of Asymptotes:
0 − 1 − 12.5
σ1 = = −4.5
3
2
Breakaway‐point Equation: 3 s + 27 s + 12.5 = 0
7‐113
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐114
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o
Asymptotes: A > 0: 180
4 3 2
Breakaway‐point Equation: 0.02 s + 0.5 s + 103.13 s + 833.33 s = 0
7‐115
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Q ( s ) = 0.01s( s + 12.5)
o
Asymptotes: Ko > 0: 180
4 3 2
Breakaway‐point Equation: 0.01s + 0.15 s + 1.5625 s − 16.67 s − 104.17 = 0
7‐116
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
s = tf('s')
%a)
A=100;
K0=100;
num_G_a = 250;
den_G_a = 0.06*s*(s + 12.5)*(A*s+K0);
G_a = num_G_a/den_G_a;
figure(1);
rlocus(G_a)
%b)
N=20;
K0=50;
7‐117
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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)
20
10
Imaginary Axis
-10
-20
-30
-40 -30 -20 -10 0 10 20
Real Axis
7‐118
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
50
40
30
20
10
Imaginary Axis
-10
-20
-30
-40
-50
-30 -25 -20 -15 -10 -5 0 5 10
Real Axis
Root Locus
8
2
Imaginary Axis
-2
-4
-6
-8
-30 -25 -20 -15 -10 -5 0 5
Real Axis
7‐119
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Angle of asymptotes:
Breakaway points:
Ö Î
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)
2
Imaginary Axis
-2
-4
-6
-8
-10
-6 -5 -4 -3 -2 -1 0 1
Real Axis
7‐120
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2
7-36) (a) P ( s ) = s ( s + 1)( s + 5) Q( s ) = 1
o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315
Intersect of Asymptotes:
0 + 0 − 1− 5
σ1 = = −15
.
4
3 2
Breakaway‐point Equation: 4 s + 18 s + 10 s = 0 Breakaway point: (RL) 0, −3.851
2
(b) P ( s ) = s ( s + 1)( s + 5) Q( s ) = 5s + 1
o o o
Asymptotes: K > 0: 60 , 180 , 300
Intersect of Asymptotes:
0 + 0 − 1 − 5 − ( −0.2) 5.8
σ1 = =− = −193
.
4 −1 3
4 3 2
Breakaway‐point Equation: 15 s + 64 s + 43 s + 10 s = 0
7‐121
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
;
Imaginary Axis
figure(1); 0
rlocus(GH_a)
-5
%b)
num_GH_b= (5*s+1);
den_GH_b=s^2*(s+1)*(s+ -10
5);
GH_b=num_GH_b/den_GH_b
-15
; -15 -10 -5 0 5 10 15
rlocus(GH_b)
Root locus diagram, part (b):
7‐122
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
20
15
10
Imaginary Axis
0
-5
-10
-15
-20
-25 -20 -15 -10 -5 0 5 10
Real Axis
7-38) a) can be approximated by ( easy way to verify is to compare both funtions’ Taylor
series expansions)
Therefore:
Breakaway points:
Which means: Î
b) Î
S2 1 2+2k
7‐123
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
S 3-k 0
S0 (3-k)(2+2k)
As a result:
c) In this problem, e −Ts term is a time delay. Therefore, MATLB PADE command is used for pade
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)
7‐124
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
4
1
Imaginary Axis
-1
-2
-3
-4
-4 -2 0 2 4 6 8 10 12
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
o o o
Asymptotes: Td > 0: 60 , 180 , 300
−4.893 − 1896
. + 0.3944 + 0.3944
Intersection of Asymptotes: σ1 = = −2
4 −1
7‐125
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐126
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
15
10
5
Imaginary Axis
-5
-10
-15
-20 -15 -10 -5 0 5 10
Real Axis
o o
Asymptotes: K L > 0: 90 , 270
Intersect of Asymptotes:
7‐127
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
3
7‐40 (b) K = 1000: P ( s ) = s ( s + 117.23)( s + 4882.8 )
3 2 5
Q ( s ) = 1010( s + 5000 s + 5.6673 × 10 s + 891089110 )
= 1010( s + 4921.6 )( s + 39.18 + j 423.7 )( s + 39.18 − 423.7 )
o o
Asymptotes: K L > 0: 90 , 270
Intersect of Asymptotes:
Breakaway‐point Equation:
7 7 6 10 5 13 4 16 3 18 2
2020 s + 2.02 × 10 s + 5.279 × 10 s + 1.5977 × 10 s + 18655
. × 10 s + 1.54455 × 10 s = 0
7‐128
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐129
Automatic Control Systems, 9th Edition Chapter 7 Solutions 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)
800
600
400
200
Imaginary Axis
-200
-400
-600
-800
-1000
-3500 -3000 -2500 -2000 -1500 -1000 -500 0 500
Real Axis
7‐130
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
1000
800
600
400
200
Imaginary Axis
-200
-400
-600
-800
-1000
-4000 -3500 -3000 -2500 -2000 -1500 -1000 -500 0 500
Real Axis
7-42
(a) Characteristic Equation: (
s 3 + 5000 s 2 + 572,400 s + 900,000 + J L 10 s 3 + 50,000 s 2 = 0 )
3 2 2
P ( s ) = s + 5000 s + 572, 400 s + 900,000 = ( s + 1.5945)( s + 115.6 )( s + 4882.8 ) Q ( s ) = 10 s ( s + 5000 )
Since the pole at −5000 is very close to the zero at −4882.8, P ( s ) and Q( s ) can be approximated as:
2
P ( s ) ≅ ( s + 1.5945)( s + 115.6 ) Q ( s ) ≅ 10.24 s
2
Breakaway‐point Equation: 1200 s + 3775 s = 0 Breakaway Points: (RL): 0, −3.146
7‐131
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
num_G_a = (n^2*La*s^3+n^2*Ra*s^2);
den_G_a = (La*Jm*s^3+(Ra*Jm+Bm*La)*s^2+(Ra*Bm+Ki*Kb)*s+n*Ki*Ks*K);
G_a = num_G_a/den_G_a;
figure(1);
rlocus(G_a)
Root Locus
300
200
100
Imaginary Axis
-100
-200
-300
-6000 -5000 -4000 -3000 -2000 -1000 0 1000
Real Axis
7‐132
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
0 + 0 − 12 − ( −1)
σ1 = = −5.5
3−1
3 2
Breakaway‐point Equation: 2 s + 15 s + 24 s = 0 Breakaway Points: 0, −2.314, −5.186
2
7‐43 (b) α = 4: P( s) = s ( s + 4) Q( s ) = s + 1
o o o o
Asymptotes: K > 0: 90 , 270 K < 0: 0 , 180
Intersect of Asymptotes:
0 + 0 − 4 − ( −10
σ1 = = −15
.
3−1
3 2
Breakaway‐point Equation: 2 s + 7 s + 8 s = 0 Breakaway Points: K > 0 0. None for K < 0.
7‐133
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
2
2 α +3 (α + 3) − 16α
(c) Breakaway‐point Equation: 2 s + (α + 3) s + 2 s = 0 Solutions: s = − ± , s=0
4 4
For one nonzero breakaway point, the quantity under the square‐root sign must equal zero.
2
Thus, α − 10α + 9 = 0, α = 1 or α = 9. The answer is α = 9. The α = 1 solution represents pole‐zero
cancellation in the equivalent G ( s ). When α = 9, the nonzero breakaway point is at s = −3. σ 1 = −4.
7‐134
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7-44)
For part (c), after finding the expression for:
dk − 3 − α ± (α − 1)(α − 9)
= ,
ds 4
there is one acceptable value of alpha that makes the square root zero ( α = 9 ). Zero square root means
one answer to the breakaway point instead of 2 answers as a result of ± sign. α = 1 is not acceptable
dk 0
since it results in s = −1@ = 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)
7‐135
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-14 -12 -10 -8 -6 -4 -2 0 2
Real Axis
Root Locus
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
7‐136
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
Root Locus
8
2
Imaginary Axis
-2
-4
-6
-8
-10 -8 -6 -4 -2 0 2
Real Axis
7-45) (a) P ( s ) = s 2 ( s + 3) Q( s ) = s + α
3
Breakaway‐point Equation: 2 s + 3(1 + α ) s + 6α = 0
2
−3(1 + α ) 9(1 + α ) − 48α
s= ±
4 4
2
For no breakaway point other than at s = 0 , set 9(1 + α ) − 48α < 0 or ‐ 0.333 < α < 3
7‐137
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐45 (b) One breakaway point other than at s = 0: α = 0.333, Breakaway point at s = −1.
7‐138
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7‐139
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
H 1 (s) e − st
where
Now designing a controller is similar to the designing a controller for any unity feedback system.
7‐140
Automatic Control Systems, 9th Edition Chapter 7 Solutions Golnaraghi, Kuo
7-47) Let the angle of the vector drawn from the zero at s = j12 to a point s1 on the root locuss near the zero
be θ . Let
o
θ 1 = θ 2 = θ 3 = θ 4 = 90 θ =0
o
Thus,
6. (F) 7. (T) 8. (T) 9. (F) 10. (F) 11. (T) 12. (T) 13. (T) 14. (T)
7‐141
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Chapter 8
6.54
8‐1 (a) K = 5 ω n = 5 = 2.24 rad / sec ζ= = 1.46 Mr = 1 ω r = 0 rad / sec
4.48
6.54 1
(b) K = 21.39 ω n = 2139
. = 4.62 rad / sec ζ = = 0.707 M r = =1
9.24 2
2ζ 1 − ζ
2
ω r = ω n 1 − ς = 3.27 rad / sec
6.54
(c) K = 100 ω n = 10 rad / sec ζ = = 0.327 M r = 1618
. ω r = 9.45 rad / sec
20
8-2 Bode diagram (a) – k=5: data points from top to bottom indicate
MATLAB code: bandwidth BW, resonance peak Mr, and resonant frequency ωr.
% Question 8-2, System: CL_a
clear all; Frequency (rad/sec): 0.855
Bode Diagram Magnitude (dB): -3
close all; 0
s = tf('s') -10
System: CL_a
Magnitude (dB)
num_G_a= 5; -30
den_G_a=s*(s+6.54); -40
G_a=num_G_a/den_G_a;
-50
CL_a=G_a/(1+G_a)
0
BW = bandwidth(CL_a)
bode(CL_a)
-45
Phase (deg)
%b)
figure(2); -90
System: CL_a
num_G_b=21.38; Frequency (rad/sec): 2.25
den_G_b=s*(s+6.54); -135 Phase (deg): -90.2
-1 0
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) ωr.
figure(3);
num_G_c=100;
den_G_c=s*(s+6.54);
G_c=num_G_c/den_G_c;
8‐1
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
-60
-80
-100
0
-45
Phase (deg)
-90
System: CL_b
-135 Frequency (rad/sec): 4.62
Phase (deg): -89.9
-180
0 1 2
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 ωr.
Bode Diagram
20
0
System: CL_c
Magnitude (dB)
-60
-80
0
-45
Phase (deg)
-90
System: CL_c
-135 Frequency (rad/sec): 10
Phase (deg): -90
-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
8‐2
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
where
and
Therefore:
As a result:
8-4 (a) Mr = 2.944 ( 9.38 dB) ω r = 3 rad / sec BW = 4.495 rad / sec
(c) M r = 4.17 (12.4 dB) ω r = 6.25 rad / sec BW = 9.18 rad / sec
(e) M r = 157
. ( 3.918 dB) ω r = 0.82 rad / sec BW = 1.12 rad / sec
8‐3
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(f) Mr = ∞ ( unstable) ω r = 15
. rad / sec BW = 2.44 rad / sec
(g) M r = 3.09 ( 9.8 dB) ω r = 1.25 rad / sec BW = 2.07 rad / sec
(h) M r = 4.12 (12.3 dB) ω r = 3.5 rad / sec BW = 5.16 rad / sec
8‐5)
2
1 1 − 0.416ζ + 2.917ζ
Mr = = 105
. tr = = 0.1 sec
2ζ 1 − ζ
2 ωn
((1 − 2ζ )+ )
1/ 2
8‐6)
− πζ
2
1−ζ
Maximum overshoot = 0.2 Thus, 0.2 = e ζ = 0.456
2
1 1 − 0.416ζ + 2.917ζ
Mr = = 1.232 tr = = 0.2 Thus, minimum ω n = 14.168 rad/sec
2ζ 1 − ζ
2 ωn
((1 − 2ζ )+ )
1/ 2
− πζ
2
1−ζ
8-7) Maximum overshoot = 0.3 Thus, 0.3 = e ζ = 0.358
2
1 1 − 0.416ζ + 2.917ζ
Mr = = 1.496 tr = = 0.2 Thus, minimum ω n = 6.1246 rad/sec
2ζ 1 − ζ
2 ωn
8‐4
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
((1 − 2ζ ) + )
1/ 2
8-8) (a)
Therefore:
at ω = 1.5 Ö
(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
8‐5
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
0
System: CL_a
-20
Frequency (rad/sec): 1.5
Magnitude (dB): -3.01
Magnitude (dB) -40
-60
-80
-100
-120
0
-90
Phase (deg)
-180
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
8-9) θ=
α = 90 – θ = 63o
Therefore:
As a result:
8‐6
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Therefore:
8‐7
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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:
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
6 20
4 0
2 -20
0 -40
-2 -60
-4 -80
G.M.: 4.48 dB
-6 -100 Freq: 2 rad/sec
-8 -6 -4 -2 0 2 4
Stable loop
Bode Editor for Closed Loop 1 (CL1) -120
-90
6
4 -135
2
-180
0
-225
-180
P.M.: 59.1 deg
Freq: 1.11 rad/sec
-360 -270
-2 -1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8-10)
− πζ
1 1−ζ
2
M r = 1.4 = Thus, ζ = 0.387 Maximum overshoot = e = 0.2675 (26.75%)
2
2ζ 1 − ζ
2 3
ω r = 3 rad / sec = ω n 1 − 2ζ = 0.8367ω n rad/sec ωn = = 3.586 r ad/sec
0.8367
π π
t max = = = 0.95 sec At ω = 0, M = 0.9.
2 2
ω n 1− ζ 3.586 1 − ( 0.387 )
8‐8
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
This indicates that the steady‐state value of the unit‐step response is 0.9.
Unit‐step Response:
b)
As K = 0.1664, then
which means
Accordingly PM = 42o
As , then
8‐9
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8-12)
T BW (rad/sec) Mr
________________________________________________________________
0 1.14 1.54
_________________________________________________________________
8‐13)
T BW (rad/sec) Mr
_________________________________________________________________
0 1.14 1.54
_________________________________________________________________
8‐10
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
S3 0.25 1
S2 0.375 0.5K
S1 1-1/3 0
S0 0.5K
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;
8‐11
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
CL_a = G_a/(1+G_a)
bode(CL_a); Bode Diagram
0
System: CL_a
-20
Frequency (rad/sec): 1.5
Magnitude (dB): -3.01
Magnitude (dB)
Notes: -40
-60
8‐12
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐15 (a)
20
L( s ) = Pω = 1, P = 0
s(1 + 0.1s )(1 + 0.5s )
L ( jω ) =
20
=
20 ⎡⎣ −0.6ω − jω 1 − 0.05ω
2
( 2
)⎤⎦ Setting Im L( jω ) = 0
2
(
−0.6ω + jω 1 − 0.05ω
2
) 0.36ω + ω
4 2
(1 − 0.05ω )
2 2
2
1 − 0.05ω = 0 Thus, ω = ±4.47 rad / sec L( j 4.47 ) = −1667
.
360
o
180
o
The closed‐loop system is unstable. The characteristic equation has two roots in the right‐half
s‐plane.
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)
Nyquist Plot of L( jω ):
8‐13
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(b)
10
L( s ) = Based on the analysis conducted in part (a), the intersect of the negative
s(1 + 0.1s )(1 + 0.5s )
real axis by the L( jω ) plot is at −0.8333, and the corresponding ω is 4.47 rad/sec.
o
δ ι o
Φ 11 = −90 = Z − 0.5 Pω − P 180 = 180 Z − 90
o
Thus, Z = 0. The closed‐loop system is stable.
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)
Nyquist Plot of L( jω ):
8‐14
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(c)
100(1 + s )
L( s ) = Pω = 1, P = 0.
s(1 + 0.1s )(1 + 0.2 s )(1 + 0.5s )
L ( jω ) =
100(1 + jω )
=
(
100(1 + jω ) ⎡⎣ 0.01ω − 0.8ω
4 2
) − jω (1 − 0.17ω )⎤⎦ 2
( 0.01ω 4
− 0.8ω
2
) + jω (1 − 0.17ω ) 2
( 0.01ω 4
− 0.8ω
2
) + ω (1 − 0.17ω )
2 2 2 2
4 2 2 4 2
Setting Im L( jω ) = 0 0.01ω − 0.8ω − 1 + 0.17ω = 0 ω − 63ω − 100 = 0
2
Thus, ω = 64.55 ω = ±8.03 rad/sec
8‐15
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
unstable.
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)
Nyquist Plot of L( jω ):
8‐16
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(d)
10
L( s ) = 2
Pω = 2 P=0
s (1 + 0.2 s )(1 + 0.5s )
L( jω ) =
10
=
(
10 0.1ω − ω + j 0.7ω
4 2 3
)
( 0.1ω 4
−ω
2
) − j 0.7ω 3
( 0.1ω 4
−ω
2
)
2
+ 0.49ω
6
Setting Im L( jω ) = 0, ω = ∞. The Nyquist plot of L( jω ) does not intersect the real axis except at the
origin where ω = ∞.
The closed‐loop system is unstable. The characteristic equation has two roots in the right‐half s‐plane.
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)
Nyquist Plot of L( jω ):
8‐17
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐15 (e)
3( s + 2)
L( s ) = Pω = 1 P=2
(
s s + 3s + 1
3
)
L ( jω ) =
3( jω + 2)
=
3( jω + 2) ⎡⎣ ω − 3ω( 4 2
) − jω ⎤⎦ Setting Im L( jω ) = 0,
(ω 4
− 3ω
2
) + jω (4 4
− 3ω
2
)
2
+ω
2
4 2 2
ω − 3ω − 2 = 0 or ω = 3.56 ω = ±189
. rad/sec. . )=3
L( j189
The closed‐loop system is unstable. The characteristic equation has two roots in the right‐half s‐plane.
MATLAB code:
8‐18
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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)
Nyquist Plot of L( jω ):
8‐15 (f)
0.1
L( s ) = Pω = 1 P=0
(
s ( s + 1) s + s + 1
2
)
L ( jω ) =
0.1
=
(
0.1 ⎡⎣ ω − 2ω
4 2
) − jω (1 − 2ω )⎤⎦ 2
Settiing Im L( jω ) = 0
(ω 4
− 2ω
2
) + jω (1 − 2ω ) 2
(ω 4
− 2ω
2
) + ω (1 − 2ω )
2 2 2 2
2
ω = ∞ or ω = 0.5 ω = ±0.707 rad / sec L( j 0.707 ) = −0.1333
8‐19
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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)
Nyquist Plot of L( jω ):
8‐15 (g)
100
L( s ) = Pω = 3 P=0
(
s ( s + 1) s + 2
2
)
When ω = 0: ∠L( j 0) = −90 When ω = ∞: ∠L( j∞ ) = −360
o o
L( j 0 ) = ∞ L( j∞ ) = 0
o
o
(
Φ11 = 35.27 + 270 − 215.27
o o
) = 90
o
Φ11 = ( Z − 1.5 ) 180 = 90
o o
Thus, P11 =
360
o
=2
180
The closed‐loop system is unstable. The characteristic equation has two roots in the right‐half s‐plane.
8‐20
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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)
Nyquist Plot of L( jω ):
8‐15 (h)
10( s + 10)
L( s ) = Pω = 1 P=0
s( s + 1)( s + 100)
L ( jω ) =
10( jω + 10)
=
(
10( jω + 10) ⎡⎣ −101ω − jω 100 − ω
2 2
)⎤⎦
−101ω + jω (100 − ω ) (100 − ω )
2 2 2
10201ω + ω
4 2 2
8‐21
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Setting Im L( jω ) = 0, ω = 0 is the only solution. Thus, the Nyquist plot of L( jω ) does not intersect
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)
8‐22
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Plot of L( jω ):
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;
8‐23
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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)
Nyquist Diagram
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
8‐24
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
4
1
Imaginary Axis
-1
-2
-3
-4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis
Nyquist Diagram
0.5
0.4
0.3
0.2
0.1
Imaginary Axis
-0.1
-0.2
-0.3
-0.4
-0.5
-10 -8 -6 -4 -2 0 2
Real Axis
8‐25
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
0.04
0.03
0.02
0.01
Imaginary Axis
-0.01
-0.02
-0.03
-0.04
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis
Nyquist Diagram
0.01
0.008
0.006
0.004
0.002
Imaginary Axis
-0.002
-0.004
-0.006
-0.008
-0.01
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis
8‐26
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8-17 (a)
K
G( s) = 2
Pω = 0 P=0
( s + 5)
o K
∠G ( 0) = 180 ( K < 0) G ( j 0) =
o
∠G ( j 0 ) = 0 ( K > 0)
25
G ( j∞ ) = 0
o o
G ( j∞ ) = −180 (K > 0) ∠G ( j∞ ) = 0 (K < 0)
For stability, Z = 0.
Φ 11 = − ( 0.5 Pω + P ) 180 = 0
o o
o
0< K <∞ Φ11 = 0 Stable
o
K < −25 Φ11 = 180 Unstable
o
−25 < K < 0 Φ11 = 0 Stable
8‐17 (b)
K
G( s) = 3
Pω = 0 P=0
( s + 5)
o K
∠G ( 0) = 180 ( K < 0) G ( j 0) =
o
∠G ( j 0 ) = 0 ( K > 0)
125
(K < 0) G ( j∞ ) = 0
o o
G ( j∞ ) = −270 (K > 0) ∠G ( j∞ ) = 270
8‐27
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
For stability, Z = 0.
Φ 11 = − ( 0.5 Pω + P ) 180 = 0
o o
o
0 < K < 1000 Φ11 = 0 Stable
o
K > 1000 Φ11 = 360 Unstable
o
K < −125 Φ11 = 180 Unstable
o
−125 < K < 0 Φ11 = 0 Stable
8‐17 (c)
K
G( s) = 4
Pω = P = 0
( s + 5)
o K
∠G ( 0 ) = 180 ( K < 0) G ( j 0) =
o
∠G ( j 0 ) = 0 ( K > 0)
625
G ( j∞ ) = 0
o o
G ( j∞ ) = 0 (K > 0) ∠G ( j∞ ) = 180 (K < 0)
8‐28
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
For stability, Z = 0.
Φ 11 = − ( 0.5 Pω + P ) 180 = 0
o o
o
0 < K < 2500 Φ11 = 0 Stable
o
K > 2500 Φ11 = 360 Unstable
o
K < −625 Φ11 = 180 Unstable
o
−625 < K < 0 Φ11 = 0 Stable
or
if K < 0, the Nyquist cross the real axis at .So, for stability,
MATLAB code:
s = tf('s')
K=1
G= K/(s^2+2*s+2);
H=1/(s+1);
GH=G*H;
sisotool
8‐29
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
1
Imaginary Axis
-1
-2
-3
-4
-2 -1 0 1 2 3 4 5 6
Real Axis
8-19)
( )
s s + 2s + s + 1 + K s + s + 1 = 0
3 2
( 2
)
8‐30
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Leq ( s ) =
(
K s + s +1
2
) Pω = 1 P=0 Leq ( j 0 ) = ∞∠ − 90
o
Leq ( j∞ ) = 0∠180
o
(
s s + 2s + s + 1
3 2
)
Leq ( jω ) =
(
K ⎡⎣ 1 − ω ) + jω ⎤⎦ = K ⎡⎣− (ω
2 6
+ω
4
) − jω (ω − 2ω + 1)⎤⎦
4 2
(ω 4
−ω
2
) + jω (1 − 2ω ) 2
(ω 4
−ω
2
) + ω (1 − 2ω )
2 2 2 2
Setting Im Leq ( jω ) = 0
4 2
ω − 2ω + 1 = 0
Leq ( j1) = − K
For stability,
o o
Φ11 = − ( 0.5Pω + P )180 = −90
o
K>0 Φ11 = −90 Stable
o
K<0 Φ11 = +90 Unstable
8‐31
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Routh Tabulation
4
s 1 K +1 K
3
s 2 K +1
2 K +1
s K K > −1
2
2 2
1 K − 2K + 1 ( K − 1)
s =
K +1 K +1
0
s K K>0
1 2
When K = 1 the coefficients of the s row are all zero. The auxiliary equation is s + 1 = 0 The solutions
are ω = ±1 rad/sec. Thus the Nyquist plot of Leq ( jω ) intersects the −1 point when K = 1, when ω = ±1
8-20) Solution is similar to the previous problem. Let’s 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;
8‐32
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1
-1.5 -1 -0.5 0 0.5
Real Axis
8‐33
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
K+1>0 Æ K>-1
which is consistent with the results of the Nyquist diagrams.
8-21)
s →0 s →0
2
Characteristic Equation: s + 10 K D s + 100 = 0
10 KD s
Geq ( s ) = 2
Pω = 2 P=0
s + 100
For stability,
o o
Φ11 = − ( 0.5 Pω + P )180 = −180
8‐34
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
2
2 −2 K
Geq ( s ) = −2 G ( s ) = 2 2
Pω = 0 P=0
( s + 4 ) ( s + 5)
Geq ( jω ) =
−2 K
2
=
(
−2 K ⎡⎣ 400 − 120ω + ω
2 2 2
) − jω ( 360 − 18ω )⎤⎦2
( 400 − 120ω 2
+ω
4
) + jω ( 360 − 18ω ) 2
( 400 − 120ω 2
+ω
2
) + ω ( 360 − 18ω )
2 2 2
2
K
Setting Im Geq ( jω ) = 0
o o
Geq ( j 0 ) = ∠180 Geq ( j∞ ) = 0∠180
200
2
K
ω = 0 and ω = ±4.47 rad / sec Geq ( j 4.47 ) =
800
For stability,
Φ 11 = − ( 0.5 Pω + P ) 180 = 0
o o
2
The system is stable for K < 200
or K < 200
8‐35
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐22 (b)
4 3 2 2
Characteristic Equation: s + 18 s + 121s + 360 s + 400 − 2 K = 0
Routh Tabulation
4 2
s 1 121 400 − 2 K
3
s 18 360
2 2
s 101 400 − 2 K
2
1 29160 - 36 K 2
s 29160 + 36 K > 0
101
0 2 2
s 400 − 2 K K < 200
8‐23 (a)
Nyquist Plot
83.33N
G( s) =
s( s + 2)( s + 11767
. )
8‐36
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(b)
2500
G( s) =
s( 0.06 s + 0.706)( As + 100)
3 2
Characteristic Equation: 0.06 As + ( 6 + 0.706 A) s + 70.6 s + 2500 = 0
2
As ( 0.06 s + 0.706 )
Geq ( s ) = 2
Since Geq ( s ) has more zeros than poles, we should sketch the Nyquist
6 s + 70.6 s + 2500
1
=
( 2500 − 6ω ) + j 70.6ω = ⎡⎣( 2500 − 6ω ) + j 70.6ω ⎤⎦ ( −0.706ω + j 0.06ω )
2 2 2 3
⎡ 1 ⎤
⎥=0
o o
1 / Geq ( j 0 ) = ∞∠ − 180 1 / Geq ( j∞ ) = 0∠ − 90 Setting Im ⎢
⎣ Geq ( jω ) ⎦
2 1 −4.23
100.156 − 0.36ω = 0 ω = ±16.68 rad/sec =
Geq ( j16.68) A
For stability,
o
For A > 4.23 Φ11 = 180 Unstable
o
For 0 < A < 4.23 Φ11 = −180 Stable
(c)
8‐37
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
2500
G( s) =
s( 0.06 s + 0.706 )( 50 s + Ko )
Ko s( 0.06 s + 0.706)
Geq ( s ) = Pω = 0 P=0
o o
3 2
Geq ( j 0 ) = 0∠ 90 Geq ( j∞ ) = 0∠ − 90
3s + 35.3s + 2500
Geq ( jω ) =
K o ( −0.06ω + 0.706 jω )
3
=
( )(
K o −0.06ω + 0.706 jω ⎡⎣ 2500 − 35.5ω
2 2
) + j3ω 3
⎤⎦
( 2500 − 35.3ω ) − j3ω
2 3
( 2500 − 35.3ω )2 2
+ 9ω
6
4 2 2
Setting Im Geq ( jω ) = 0 ω + 138.45ω − 9805.55 = 0 ω = 516
. ω = ±7.18 rad/sec
8‐38
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐24 (a) Kt = 0:
(b) Kt = 0.01:
G(s) =
10000 K
G ( jω ) =
10000 K ⎣⎡ −10ω − jω 100 − ω
2
( 2
)⎦⎤
(
s s + 10 s + 100
2
) 100ω + ω
4 2
(100 − ω )
2 2
2
Setting Im G ( jω ) = 0 ω = 100
8‐39
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(c) Kt = 0.1:
G( s) =
10000 K
G ( jω ) =
10000 K ⎡⎣ −10ω − jω 1000 − ω
2
( 2
)⎤⎦
(
s s + 10 s + 1000
2
) 100ω + ω
4 2
(1000 − ω ) 2 2
2
Setting Im G ( jω ) = 0 ω = 100 ω = ±31.6 rad/sec . ) = −K
G ( j 316
3 2
s + 10 s + 10,000 Kt s + 100,000 = 0
10,000 Kt s
Geq ( s ) = 3 2
Pω = 0 P=2
s + 10 s + 100,000
Geq ( jω ) =
10, 000 K t jω
=
(
10, 000 K t ⎣⎡ −ω + jω 10, 000 − 10ω
4 2
)⎦⎤ Setting Im Geq ( jω ) = 0
100, 000 − 10ω − jω (10, 000 − 10ω )
2 3 2
+ω
2 6
8‐40
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
2
ω = 0, ω = 10,000
For stability,
8-26)
a) Ö
b) Ö
c) Ö
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
8‐41
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
5
Imaginary Axis
-5
-10
-15
-20
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
8‐42
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 40
20
0.5
0
0
-20
-0.5
-40
G.M.: Inf
-1 -60
Freq: Inf
-1 -0.8 -0.6 -0.4 -0.2 0
Stable loop
Bode Editor for Closed Loop 1 (CL1) -80
50
-90
-50
-100 -135
0
-90
P.M.: 54.9 deg
Freq: 0.704 rad/sec
-180 -180
-2 -1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
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
5
Imaginary Axis
-5
-10
-15
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
8‐43
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
5
Imaginary Axis
-5
-10
-15
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
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:
8‐44
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
25
20
15
10
5
Imaginary Axis
-5
-10
-15
-20
-25
-1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
Real Axis
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)
8‐45
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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).
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
2 10
1 5
0
0
-5
-1
0 -180
-50 -225
180
-270
0
-315
-180 -360
-2 -1 0 1 2 0
10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐46
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
2
1.5
-0.5
-1
-1.5
-2
-1.5 -1 -0.5 0 0.5 1 1.5 2 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) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 0
0.5
-5
0
-10
-0.5
-15
G.M.: -0.00236 dB
-1 Freq: 0 rad/sec
-5 -4 -3 -2 -1 0 1 2
Unstable loop
Bode Editor for Closed Loop 1 (CL1) -20
80
180
60
40
135
20
0 90
-20
-40 45
90
45 0
0
-45 P.M.: -4.01 deg
-45
Freq: 0.0233 rad/sec
-90 -90
-6 -4 -2 0 2 -2 -1 0 1
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐47
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
1
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real Axis
8-29) (a)
− Td s 100
Let G ( s ) = G1 ( s )e Then G1 ( s ) =
(
s s + 10 s + 100
2
)
100 100
Let =1 or =1
−10ω + jω 100 − ω
2
( 2
) ⎡100ω 4 + ω 2 (100 − ω 2 )2 ⎤
1/ 2
⎣ ⎦
(100 − ω )
2
100ω + ω = 10, 000 ω − 100ω + 10, 000ω − 10, 000 = 0
4 2 2 6 4 2
Thus
8‐48
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
⎡ 100 − ω 2 ⎤
−1
∠G1 ( j1) = − tan ⎢ = 264.23
o
⎥
⎣ −10ω ⎦ ω =1
Equating ωTd =
( 264.23 o
− 180 π
o
)
ω =1
180
84.23π
= = 1.47 rad
180
is
Td = 1.47 sec.
(b) Td = 1 sec.
−s − jω
100 Ke 100 Ke
G( s) = G ( jω ) =
(
s s + 10 s + 100
2
) (
−10ω + jω 100 − ω
2 2
)
At the intersect on the negative real axis, ω = 1.42 rad/sec.
G ( j1.42) = −0.7107 K .
8‐49
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
⎣ ⎦
⎡ 100 − ω 2 ⎤
−1
∠G1 ( j 0.1) = − tan ⎢ = 269.43
o
⎥
⎣ −10ω ⎦ ω = 0.1
Equate ωTd =
( 269.43 o
− 180 π
o
) = 1.56 rad We have Td = 15.6 sec.
ω = 0.1
180
o
−0.1 s −0.1 jω
100 Ke 100 Ke
G( s) = G ( jω ) =
(
s s + 10 s + 100
2
) (
−10ω + jω 100 − ω
2 2
)
At the intersect on the negative real axis,
8‐50
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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;
8‐51
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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) Open-Loop Bode Editor for Open Loop 1 (OL1)
3 30
2 20
10
1
0
0
-10
-1
-20
-2
-30
G.M.: -0.282 dB
-3 Freq: 1 rad/sec
-4 -3 -2 -1 0 1 -40
Unstable loop
Bode Editor for Closed Loop 1 (CL1) -50
100
-90
0
-135
-100
-200 -180
0
-180
-225
-360 P.M.: -0.925 deg
Freq: 1.02 rad/sec
-540 -270
-1 0 1 2 0
10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐52
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
3 10
2 0
-10
1
-20
0
-30
-1
-40
-2
-50
G.M.: 19.2 dB
-3 Freq: 1 rad/sec
-4 -3 -2 -1 0 1 -60
Stable loop
Bode Editor for Closed Loop 1 (CL1) -70
0
-90
-50
-135
-100
-150 -180
0
-225
-180
P.M.: 66.3 deg
Freq: 0.21 rad/sec
-360 -270
-2 -1 0 1 2 0
10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
Nyquist Diagram
10
2
Imaginary Axis
-2
-4
-6
-8
-10
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis
8‐53
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
3 50
40
2
30
1
20
0 10
-1 0
-10
-2
-20
G.M.: -20 dB
-3 Freq: 1 rad/sec
-4 -3 -2 -1 0 1 -30
Unstable loop
Bode Editor for Closed Loop 1 (CL1) -40
-90
0
-50 -135
-100 -180
0
-90
-180 -225
-270 P.M.: -47.8 deg
-360 Freq: 2.59 rad/sec
-450 -270
-1 0 1 2 0
10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
Nyquist Diagram
30
20
10
Imaginary Axis
-10
-20
-30
-15 -10 -5 0 5
Real Axis
8‐54
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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 twice in
CCW; which means two poles are in the right half s-plane.
8-32) (a) The transfer function (gain) for the sensor‐amplifier combination is 10 V/0.1 in = 100 V/in. The velocity
3
10 in / sec
v= = 100 in/sec
0.1 in
The time delay between the valve and the sensor is Td = D / v sec. The loop transfer function is
− Td s
100 Ke
G( s) = 2
s + 10 s + 100
8‐55
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐56
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8-33)
(a) The transfer function (gain) for the sensor‐amplifier combination is 1 V/0.1 in = 10 V/in. The velocity
3
10 in / sec
v= = 100 in / sec
0.1 in
The time delay between the valve and sensor is Td = D / v sec. The loop transfer function is
− Td s
10 Ke
G( s) = 2
s + 10 s + 100
(b) K = 10:
− jω Td
100e
G ( jω ) =
− Td s
G ( s ) = G1 ( s )e
(100 − ω ) + j10ω
2
100
(100 − ω )
2
=1 + 100ω = 10, 000
2 2
Setting
( 100 − ω
2
) + j10ω
4 2
Thus, ω − 100ω = 0 Real solutions: ω = 0, ω = ±10 rad / sec
⎝ 100 − ω ⎠ ω =10
Thus,
90 π π
o
10Td = o
= rad
180 2
Thus,
π
Td = = 0.157 sec
20
8‐57
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(c) D = 10 in.
−0.1s
D 10 10 Ke
Td = = = 0.1 sec G( s) = 2
v 100 s + 10 s + 100
The Nyquist plot of G ( jω ) intersects the negative real axis at ω = 12.09 rad/sec. G ( j ) = −0.0773K
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 ;
8‐58
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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)
figure(2);
K=-1
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;
%CL_a = G_a/(1 + G_a*H_a);
OL_a = G_a*H_a
nyquist(OL_a)
8‐59
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
figure(3);
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;
%CL_a = G_a/(1 + G_a*H_a);
OL_a = G_a*H_a
nyquist(OL_a)
8‐60
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Case 3) Nyquist graph, K=10: stable case, -1<K no CCW encirclement about -1+0j point
8‐61
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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 = K ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
8‐62
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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
8‐63
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(b)
1 4 2
Mr = = 2.06 ζ − ζ + 0.0589 = 0 The solution for ζ < 0.707 is ζ = 0.25.
2
2ζ 1 − ζ
2 9.33
ω r 1 − 2ζ = 9.33 rad / sec Thus ω n = = 9.974 rad / sec
0.9354
ωn
2
99.48 19.94
GL ( s ) = = = BW = 15.21 rad/sec
s ( s + 2ζω n ) s ( s + 4.987) s (1 + 0.2005 s )
8‐64
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
5
G( s) =
s(1 + 0.5s )(1 + 0.1s )
8‐65
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐36 (b)
10
G( s) =
s(1 + 0.5s )(1 + 0.1s )
(c)
500
G( s) =
( s + 1.2)( s + 4 )( s + 10 )
8‐66
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(d)
10( s + 1)
G( s) =
s( s + 2 )( s + 10 )
8‐36 (e)
0.5
G(s) =
(
s s + s +1
2
)
8‐67
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(f)
−s
100e
G(s) =
(
s s + 10 s + 50
2
)
8‐68
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(g)
−s
100e
G(s) =
(
s s + 10 s + 100
2
)
8‐36 (h)
10( s + 5)
G(s) =
(
s s + 5s + 5
2
)
(a)
8‐69
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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)
8‐70
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐71
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐72
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐73
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐74
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐75
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(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)
8‐76
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐77
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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)
8‐78
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = 3.91 dB (at 4.22 rad/sec) , Pm = 101 deg (at 1.08 rad/sec)
20
0
Magnitude (dB)
-20
-40
-60
-80
-100
-45
-90
Phase (deg)
-135
-180
-225
-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
s = tf('s')
%a)
figure(1);
num_G_a = 1 ;
den_G_a =(s+1);
num_H_a = (s+2);
den_H_a = (s^2+2*s+2);
8‐79
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
Bode Diagram
Gm = Inf , Pm = Inf
0
-10
Magnitude (dB)
-20
-30
-40
0
Phase (deg)
-45
-90
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
Using MATLAB sisotool, the transfer function gain can be iteratively changed in order to obtain different phase
margins. By changing the gain K between very small and very big numbers, it was found that the closed loop
system are stable (positive PM) for every positive K in this system.
K=0.034
8‐80
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
10 -20
5 -40
-60
0
-80
-5
-50 -45
-100 -90
0
-135
-45
P.M.: Inf
Freq: NaN
-90 -180
-2 -1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
K=59.9
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
10 40
5 20
0
0
-20
-5
20
-45
0
-20 -90
90
-135
0
P.M.: 7.67 deg
Freq: 7.89 rad/sec
-90 -180
-1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐81
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
In order to test the negative range of K, ‐1 was multiplied to the loop transfer function through the following
code, and sisotool was used again.
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
at K=‐1, margin of stability is observed as PM~=0:
K= ‐1
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 10
0.5 -10
-20
0 -30
-40
-0.5
-50
-60
G.M.: -0.0609 dB
-1 Freq: 0 rad/sec
-4 -2 0 2 4 -70
Unstable loop
Bode Editor for Closed Loop 1 (CL1) -80
40 180
20
0 135
-20
-40 90
135
90
45
45 P.M.: -11.8 deg
Freq: 0.137 rad/sec
0 0
-4 -2 0 2 -1 0 1 2
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐82
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 0
0.5 -20
-40
0
-60
-0.5
0 135
-50 90
180
45
90
P.M.: Inf
Freq: NaN
0 0
-2 -1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 20
0.5 0
-20
0
-40
-0.5
0
135
-20
-40 90
180
45
90
P.M.: -129 deg
Freq: 1.84 rad/sec
0 0
-2 -1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
*Combining the individual ranges for K, the system will be stable in the range of K> ‐1
8‐83
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐39 See sample MATLAB code in Part e. The MATLAB codes are identical to problem 8‐36.
(a)
K
G( s) =
s(1 + 0.1s )(1 + 0.5s )
Thus K = 0.8337
o o
PM = 60.42 . For PM = 45
Or, K = 1.91
(b)
K ( s + 1)
G( s) = The
s(1 + 0.1s )(1 + 0.2 s)(1 + 0.5s )
Bode plot is done with K = 1.
K ≅ 1.
o o
PM = 86.9 . For PM = 45
Or, K = 2.79.
8‐84
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
K
G( s) = 3
( s + 3)
GM = 46.69 dB
PM = infinity.
For GM = 20 dB K can be
K = 27.26.
K
G( s) = 4
( s + 3)
GM = 50.21 dB
PM = infinity.
For GM = 20 dB K can be
K = 81.66
8‐85
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
−s
Ke MATLAB code:
G(s) =
(
s 1 + 0.1s + 0.01s
2
) s = tf('s')
num_G_a= exp(-s);
GM=2.97 dB; PM = 26.58 deg
den_G_a=s*(0.01*s^2+0.1*s+1);
For GM = 20 dB K must be G_a=num_G_a/den_G_a
margin(G_a)
decreased by −17.03 dB or
K = 0.141.
8‐86
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐39 (f)
K (1 + 0.5s )
G(s) =
(
s s + s +1
2
)
The Bode plot is done with K = 1.
GM = 6.26 dB
PM = 22.24 deg
K = 0.2055.
K = 0.665.
8‐40 (a)
10 K
G( s) =
s(1 + 0.1s )(1 + 0.5s )
K = 1.
GM = 1.58 dB
PM = 3.95 deg.
8‐87
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(b)
8‐88
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
5K ( s + 1)
G( s) =
s(1 + 0.1s )(1 + 0.2 s)(1 + 0.5s )
K = 1.
GM = 6 dB
PM = 22.31 deg.
decrease by −5 dB.
8‐40 (c)
10 K
G(s) =
(
s 1 + 0.1s + 0.01s
2
)
The gain‐phase plot is done for
K = 1.
GM = 0 dB Mr = ∞
PM = 0 deg
K = 0.543.
(d)
8‐89
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
−s
Ke
G(s) =
(
s 1 + 0.1s + 0.01s
2
)
The gain‐phase plot is done for
K = 1.
GM = 2.97 dB M r = 3.09
PM = 26.58 deg
K = 0.71.
8‐90
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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
8‐91
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
50
0
Magnitude (dB)
-50
-100
-150
0
-90
Phase (deg)
-180
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Root Locus
30
20
10
Imaginary Axis
-10
-20
-30
-40 -30 -20 -10 0 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:
8‐92
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
1.5
System: GH_a
0.5
Real: -1
Imag: 0.0174
Imaginary Axis
Frequency (rad/sec): 4.98
0
-0.5
-1
-1.5
-2 -1.5 -1 -0.5 0 0.5 1
Real Axis
is K= 0.127.
8‐93
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(d) For GM = 40 dB, reduce gain by (40 − 21.13) dB = 18.7 dB, or gain = 0.116 × nominal value.
(e) For PM = 45 deg, the magntude curve reads −10 dB. This means that the loop gain can be increased by
(h) The gain crossover frequency is 2.09 rad/sec. The phase margin is 115.85 deg.
Set
115.85 π
o
ωTd = 2.09Td = o
= 2.022 rad
180
8‐94
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐43 (a) The gain is increased to four times its nominal value. The magnitude curve is raised by 12.04 dB.
(b) The GM that corresponds to the nominal gain is 21.13 dB. To change the GM to 20 dB we need to
increase the gain by 1.13 dB, or 1.139 times the nominal gain.
(c) The GM is 21.13 dB. The forward‐path gain for stability is 21.13 dB, or 11.39.
(d) The PM for the nominal gain is 115.85 deg. For PM = 60 deg, the gain crossover frequency must be
moved to approximately 8.5 rad/sec, at which point the gain is −10 dB. Thus, the gain must be increased
(e) With the gain at twice its nominal value, the system is stable. Since the system is type 1, the steady‐state
(f) With the gain at 20 times its nominal value, the system is unstable. Thus the steady‐state error would be
infinite.
(g) With a pure time delay of 0.1 sec, the magnitude curve is not changed, but the the phase curve is subject
The new phase crossover frequency is approximately 9 rad/sec, where the original phase curve is
reduced by −0.9 rad or −51.5 deg. The magnitude of the gain curve at this frequency is −10 dB.
(h) When the gain is set at 10 times its nominal value, the magnitude curve is raised by 20 dB. The new
gain crossover frequency is approximately 17 rad/sec. The phase at this frequency is −30 deg.
Thus, setting
30 π
o
ωTd = 17Td = o
= 0.5236 Thus Td = 0.0308 sec.
180
8‐95
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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)
Nyquist Diagram
8
2
Imaginary Axis
-2
-4
-6
-8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis
8‐96
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = 6.3 dB (at 4.02 rad/sec) , Pm = 42.6 deg (at 2.9 rad/sec)
50
0
Magnitude (dB)
-50
-100
-150
360
180
Phase (deg)
-180
-360
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
8‐97
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
For stability: 166 (44.4 dB) < K < 7079 (77 dB) Phase crossover frequencies: 7 rad/sec and 85 rad/sec
8‐98
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Plot:
8‐99
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐100
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Plot
8‐101
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus
8‐102
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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
8‐103
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
0
-50
Magnitude (dB)
-100
-150
-200
0
-90
Phase (deg)
-180
-270
-4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10
Frequency (rad/sec)
Nyquist Diagram
1
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1
-1.5 -1 -0.5 0 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:
8‐104
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Part (b), Root-locus diagram, K and ω at the points where the root loci cross the jω-axis:
As can be seen in the figure at K=8.13x104 and ω =33.8 rad/sec, the poles cross the jω axis. Both of
these values are consistent with the results of part(a) from sisotool.
8‐105
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Root Locus
150
System: CL
100 Gain: 8.13e+004
Pole: 0.0788 + 33.8i
Damping: -0.00233
Overshoot (%): 101
50 Frequency (rad/sec): 33.8
Imaginary Axis
-50 System: CL
Gain: 7.99e+004
Pole: -0.045 - 33.5i
Damping: 0.00134
-100 Overshoot (%): 99.6
Frequency (rad/sec): 33.5
-150
-200 -150 -100 -50 0 50 100
Real Axis
8‐106
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
When K = 1, GM = 68.75 dB, PM = 90 deg. The critical value of K for stability is 2738.
8‐107
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Θ L ( s) K a Ki ( Bs + K )
G( s) = = K aG p ( s ) =
E ( s) Δo
where
(
Δ o = 0.12 s ( s + 0.0325 ) s + 2.5675 s + 6667
2
)
(
= s 0.12 s + 0.312 s + 80.05 s + 26
3 2
)
43.33( s + 500)
G(s) =
(
s s + 2.6 s + 667.12 s + 216.67
3 2
)
(b) Bode Diagram:
8‐108
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐109
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐110
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8-50
(a)
(b)
(c) to (e)
MATLAB code:
s = tf('s')
m = 0.11;
r = 0.015;
d = 0.03;
g = 9.8;
L = 1.0;
J = 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.
8‐111
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Nyquist Diagram
1
0.8
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-1
-1.5 -1 -0.5 0 0.5
Real Axis
8‐112
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 0 deg (at 0.647 rad/sec)
150
System: CL
100 Frequency (rad/sec): 0.458
Magnitude (dB): 143
Magnitude (dB)
50
0
System: CL
-50 Frequency (rad/sec): 0.712
Magnitude (dB): -3.05
-100
-180
-225
Phase (deg)
-270
-315
-360
-2 -1 0 1
10 10 10 10
Frequency (rad/sec)
Part (e), Mr,= 143 dB, ωr = 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) When K = 1, the gain crossover frequency is 8 rad/sec.
(i) When K = 10 dB (3.16), the system is marginally stable. The frequency of oscillation is 20 rad/sec.
(j) The system is type 1, since the gain‐phase plot of G ( jω ) approaches infinity at −90 deg. Thus, the
8‐113
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(c) GM = 5 dB.
(f) ω r = 15 rad/sec
(g) BW = 30 rad/sec
(h) When K = −30 dB, the GM is 40 dB (shift the graph of K=1, 30 dbs down).
(c) GM = 0 dB.
(d) PM = 0 deg.
(f) ωr = 5 rad/sec
(h) When K = −30 dB, the GM is 40 dB (shift the graph of K=1, 30 dbs down).
8-53
Since the function has exponential term, PADE command has been used to obtain the transfer function.
80e −0.1s
G ( s) H ( s) =
s ( s + 4)( s + 10)
MATLAB code:
s = tf('s')
%a)
8‐114
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
-20
Open-Loop Gain (dB)
-40
-60
-80
-100
-120
-140
-270 -180 -90 0 90 180 270
Open-Loop Phase (deg)
8‐115
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
Bode Diagram
50
0
Magnitude (dB)
-50
-100
-150
360
180
Phase (deg)
-180
-360
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
G
8- 54) Note: GCL =
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)
8‐116
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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
8‐117
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐118
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8-55) (a) The phase margin with K = 1 and Td = 0 sec is approximately 57 deg. For a PM of 40 deg, the time delay
produces a phase lag of −17 deg. The gain crossover frequency is 8 rad/sec.
Thus,
17 π
o
ωTd = 17 = Thus ω = 8 rad / sec
o
o
= 0.2967 rad / sec
180
0.2967
Td = = 0.0371 sec
8
(b) With K = 1, for marginal stability, the time delay must produce a phase lag of −57 deg.
Thus, at ω = 8 rad/sec,
57 π
o
0.9948
ωTd = 57 =
o
o
= 0.9948 rad Td = = 0.1244 sec
180 8
8‐119
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐56 (a) The phase margin with K = 5 dB and Td = 0 is approximately 34.5 deg. For a PM of 30 deg, the time
delay must produce a phase lag of −4.5 deg. The gain crossover frequency is 10 rad/sec. Thus,
4.5 π
o
0.0785
ωTd = 4.5 =
o
o
= 0.0785 rad Thus Td = = 0.00785 sec
180 10
(b) With K = 5 dB, for marginal stability, the time delay must produce a phase lag of −34.5 deg.
Thus at ω = 10 rad/sec,
34.5 π
o
0.602
ωTd = 34.5 =
o
o
= 0.602 rad Thus Td = = 0.0602 sec
180 10
8‐57) For a GM of 5 dB, the time delay must produce a phase lag of −34.5 deg at ω = 10 rad/sec. Thus,
34.5 π
o
0.602
ωTd = 34.5 =
o
o
= 0.602 rad Thus Td = = 0.0602 sec
180 10
−2 s
Y ( s) e
G( s) = =
E ( s) (1 + 10 s )(1 + 25s )
From the Bode diagram, phase crossover frequency = 0.21 rad/sec GM = 21.55 dB
8‐120
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
(b)
1
G(s) =
(1 + 10 s )(1 + 25s ) (1 + 2 s + 2 s 2
)
(c)
1− s
G(s) =
(1 + s )(1 + 10 s )(1 + 2 s )
From the Bode diagram, phase crossover frequency = 0.26 rad/sec GM = 25.44 dB
8‐121
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐122
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
From the Bode diagram, phase crossover frequency = 0.37 rad/sec GM = 31.08 dB
(b)
1
G( s) =
(1 + 10s )(1 + 25s ) (1 + s + 0.5s 2
)
From the Bode diagram, phase crossover frequency = 0.367 rad/sec GM = 30.72 dB
(c)
(1 − 0.5s )
G( s) =
(1 + 10 s )(1 + 25s )(1 + 0.5 s )
From the Bode diagram, phase crossover frequency = 0.3731 rad/sec GM = 31.18 dB
8‐123
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐124
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
8‐125
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
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)
8‐126
Automatic Control Systems, 9th Edition Chapter 8 Solutions Golnaraghi, Kuo
4
Root
x 10 Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
3 200
2
180
1
160
0
-1
140
-2
120 G.M.: Inf
-3 Freq: Inf
-0.4 -0.3 -0.2 -0.1 0
Stable loop
Bode Editor for Closed Loop 1 (CL1) 100
100
0
0 -45
-100 -90
0
-135
-90
P.M.: 0.00149 deg
Freq: 2.26e+004 rad/sec
-180 -180
-2 0 2 4 6 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
8‐127
Automatic Control Systems, 9th Edition Chapter 8 Solutions 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
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
8‐128
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Chapter 9
M ( s) K
G( s) = = 3 2
1− M ( s) s + ( 20 + a ) s + ( 200 + 20a ) s + 200a − K
Ramp‐error constant:
K 200 a
K v = lim sG ( s ) = = =5 Thus a = 10 K = 2000
s→ 0 200 + 20a 200 + 20 a
G(s) =
2000
Gc ( s ) =
G(s)
=
(
20 s + 10 s + 100
2
)
(
s s + 30 s + 400
2
) Gp (s) (s 2
+ 30 s + 400 )
M ( s) K
G( s) = = 3 2
1− M ( s) s + ( 20 + a ) s + ( 200 + 20a ) s + 200a − K
Ramp‐error constant:
K 200 a
K v = lim sG ( s ) = = =9 Thus a = 90 K = 18000
s→ 0 200 + 20a 200 + 20 a
9‐1
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
G(s) =
18000
Gc ( s ) =
G(s)
=
(
180 s + 10 s + 100
2
)
(
s s + 110 s + 2000
2
) G p ( s) ( s + 110s + 2000 )
2
From the expression for the ramp‐error constant, we see that as a or K goes to infinity, Kv approaches 10.
Thus the maximum value of Kv that can be realized is 10. The difficulties with very large values of K and
a are that a high‐gain amplifier is needed and unrealistic circuit parameters are needed for the controller.
and 2
3 Ö ωn = 1.14
Ö τ = 1.09
Ö K = 1.42
24
G ( s) H ( s) =
s ( s + 1)( s + 6)
1. The steady state error is less than to π/10 when the input is a ramp with a slope of 2π rad/sec
9‐2
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
2 2
lim lim
10 24 4K
s ( s + 1)( s + 6)
As a result K 0.2
In this part of the solution, MATLAB sisotool can be very helpful. More detailed instructions
on using MATLAB sisotool is presented in the solutions for this particular problem. Similar
Once opening the sisotool by typing sisotool in MATLAB the command window (or in the “m” code), the
Where you can insert transfer functions for C, G, H, and F, or you can leave some of them as default value (1), by
clicking on “System Data”. Once you substitute transfer functions, you will see a graph including the root‐locus
diagram, a closed loop Bode diagram, and an open loop Bode diagram indicating the Gain Margin and Phase
Margin as well.
** You can drag the open‐loop bode magnitude diagram up and down to see the effect of gain change on all of
the graphs. Sisotool updates all these graph instantly. You can also drag the poles and zeros on the root locus
9‐3
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
You can also open “Analysis Plots” tab to add other graphs such as Nyquist diagram as shown in the following
figure:
9‐4
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
In this particular question, you need to add a zero to include the effect of K d . You can add a zero by using the
“Compensator Editor” tab, as shown in the following graph. The last thing you need to do for this problem, is to
drag the location of zero and gain in the following diagram (or edit these locations by assigning C gain and Zero
location in the “Compensator Editor” tab), so it satisfies the PM of 40 to 50 deg; while gain of C is kept above
In the following snapshot of “Compensator Editor”, C gain or K p is set to 1, and the zero location is set to ‐2.7,
9‐5
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
60
2000
40
1000
20
Imag Axis
Magnitude (dB)
0
0
-1000
-20
-2000
-40 G.M.: Inf
-6 -5 -4 -3 -2 -1 0 Freq: Inf
Stable loop
Bode Editor for Closed Loop 1 (CL1)
-60
20
-90
Magnitude (dB)
-20
-40 -120
Phase (deg)
-60
0
Phase (deg)
-45 -150
-90
P.M.: 44.2 deg
-135
Freq: 2.07 rad/sec
-180 -180
-1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
9‐6
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
%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))
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);
sisotool;
9‐7
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
K p = 1, K d = 0.3704
9‐8
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐9
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
1000 ( K P + K D s ) 1000 K P
K v = lim s = = 100 K P = 1000 Thus K P = 10
s →0 s ( s + 10) 10
90
Thus KD = = 0.09
1000
9‐10
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐5 (b) For K v = 1000 and ζ = 0.707 , and from part (a), ω n = 100 rad/sec,
131.4
2ζω n = 10 + 1000 K D = 2 × 0.707 × 100 = 141.4 Thus KD = = 0.1314
1000
(c) For K v = 1000 and ζ = 1.0 , and from part (a), ω n = 100 rad/sec,
190
2ζω n = 10 + 1000 K D = 2 × 1 × 100 = 200 Thus KD = = 0.19
1000
1000 ( K P + K D s )
K v = lim s = 100 K P = 10, 000 Thus K P = 100
s →0 s ( s + 10)
1000 (100 + K D s )
The forward‐path transfer function is: G(s) =
s ( s + 10)
The phase margin increases and the maximum overshoot decreases monotonically as K D increases.
9‐11
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Zero/pole/gain:
1000 (s+100)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
(s+111.3) (s+898.7)
Gm=∞
9‐12
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐13
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐14
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-7)
PD controller design
1
G(s) H (s) =
(2 s + 1)( s + 1)(0.5s + 1)
The solution is very similar to 9‐4. The transfer functions are inserted into sisotool, where another real zero is
compensator transfer function in sisotool. The place of real zero is Z = − K p / K d , and the gain of the
9‐15
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
By fixing the gain to 9, and starting to change the zero location, PM can be adjusted to above 25 [deg] as
required by the question. The current setting has a zero at ‐3.5, which resulted in 30 [deg] phase margin and
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
15 20
10
10
5
0
0
-10
-5
-20
-10
G.M.: 33.1 dB
-15 -30
Freq: 10.8 rad/sec
-4 -3 -2 -1 0 1
Stable loop
Bode Editor for Closed Loop 1 (CL1) -40
50
0
0
-45
-50
-90
-100
0 -135
-90
-180
-180 P.M.: 29.8 deg
Freq: 1.77 rad/sec
-270 -225
-1 0 1 2 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
s = tf('s')
Kp = 1
num_GH= Kp*1;
den_GH=(2*s+1)*(s+1)*(0.5*s+1);
9‐16
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
GH=num_GH/den_GH;
CL = GH/(1+GH)
Sisotool
60
G ( s) H ( s) =
s (0.4 s + 1)( s + 1)( s + 6)
(i) Kv =10
60
lim lim 10 10
0.4 1 1 6
As a result: 1
The rest of the procedure is similar to 9‐7:
9‐17
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The transfer functions are inserted into sisotool, where another real zero is added to represent the effect of K d
The place of real zero is Z = − K p / K d , and the gain of the compensator is equal to K p , as noted in the
sisotool window:
K p = 1 fixed to 1, and zero location was changed in the entire real axis. However, 2 of the closed loop poles
remained in the right hand side of S plane in the root locus diagram, indicating instability for all Kd values.
Solution for K v = 10 with PD controller and PM=45 [deg] does not exist. Unstable close loop poles are
9‐18
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐8)
Preliminary MATLAB code for 9‐8:
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
9‐19
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
4500 K ( K D + K P s )
G ( s ) = Gc ( s )G p ( s ) =
s ( s + 361.2)
4500 KK P
Ramp Error Constant: K v = lim sG ( s ) = = 12.458 KK P
s→ 0 361.2
1 0.0802
e ss = = ≤ 0.001 Thus KK P ≥ 80.2 Let K P = 1 and K = 80.2
Kv KK P
Select K D ≥ 0.0017
9‐20
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
KD GM PM (deg) Mr BW (rad/sec)
9‐21
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-10)
The forward‐path Transfer Function: N = 20
200 ( K P + K D s )
G(s) =
s ( s + 1)( s + 10)
To stabilize the system, we can reduce the forward‐path gain. Since the system is type 1, reducing the
gain does not affect the steady‐state liquid level to a step input. Let K P = 0.05
200 ( 0.05 + K D s )
G(s) =
s ( s + 1)( s + 10)
0.05 2.721 0
0.06 3.039 0
0.10 4.317 0
When K D = 0.05 the rise time is 2.721 sec, and the step response has no oversho
9‐22
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-11)
(a) For e ss = 1,
200 ( K P + K D s )
K v = lim sG ( s ) = lim s = 20 K P = 1 Thus K P = 0.05
s →0 s →0 s ( s + 1)( s + 10)
200 ( 0.05 + K D s )
G(s) =
s ( s + 1)( s + 10)
9‐23
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
M
The PD control reduces the peak value of the sensitivity function SG ( jω )
9‐24
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-12)
PD controller design: The open loop transfer function of a system is:
100
G ( s) H ( s) =
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.
MATLAB code:
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
Following similar steps in 9‐4, the loop transfer functions are inserted into sisotool. Another real zero is added to
transfer function in sisotool. The place of real zero is Z = − K p / K d , and the gain of the compensator is equal
to K p . The zero location and K p gain were changed interactively in sisotool until the desired PM (59.5 [deg])
and BW is achieved. Following figures shows this PM at cross over frequency of 38.6 rad/sec, which insures BW
9‐25
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
of higher than 38.6 rad/sec (as the bandwidth is @ ‐3dB rather than 0 DB, i.e. bandwidth occurs at higher
9‐26
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐27
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-13)
Lead compensator design:
1000 K
G(s) H (s) =
s (0.2 s + 1)(0.005s + 1)
Design a compensator such that the steady state error to the unit step input is less than 0.01 and the closed loop
1
e ss = < 0.01 ⇒ 1000 K p > 101 ⇒ Therefore, K p is selected as 150: ( K p =0.11)
1 + 1000 K p
To achieve the required damping ratio, the poles of the closed loop system are placed with an angle of less than
ArcCos(ζ=0.4), in the root locus diagram of sisotool. This is done by iteratively change the location of poles and
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 9‐4. The lead
compensator will introduce some phase lead at lower frequencies about the zero location which improves the
closed loop response in terms of damping and phase margin. Following is the chosen location for lead
Which resulted in smallest angles of dominant pole locations (the ones closer to imaginary axis) with the real
axis. This small angle means higher damping of the poles as ζ=ArcCos(pole’s angle with real axis).
9‐28
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
50
2
0
1
-50
0
-100
-1
-150
-2
G.M.: 17.3 dB
-200
Freq: 3.64 rad/sec
-2 -1 0 1
Stable loop
Bode Editor for Closed Loop 1 (CL1) -250
-90
0
-135
-100
-180
-200
-225
0
-90 -270
-180
-315 P.M.: 56.7 deg
-270
Freq: 0.975 rad/sec
-360 -360
-2 0 2 4 -2 0 2 4
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
9‐29
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
In this particular case, closed loop complex poles can be observed in the shown root locus diagram at about ‐
cos(atan(1.2/0.8))=0.554 Æ ζ 0.55
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
9‐30
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-14)
PD controller designed for a maximum overshoot and a maximum steady state error
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:
πξ
M p = exp( − ) < 0.20 ⇒ ξ > 0.45
2
1− ξ
250 1 1250 1
0.2 250 1 250 1250 5 1250
9‐31
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
1 110
100
0.5
90
0
80
-0.5
70
G.M.: Inf
-1 60
Freq: NaN
-4 -3 -2 -1 0
Stable loop
Bode Editor for Closed Loop 1 (CL1) x 104 50
0
0
P.M.: 90 deg
-10 Freq: 3.68e+004 rad/sec
-20 -45
-30
0
-90
-45
-90 -135
-2 0 2 4 6 -4 -2 0 2
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
9-15)
Lead compensator controller design
The bode diagram of the system without lead compensator is shown below:
9‐32
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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
-45
Phase (deg)
-90
-135
-180
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
Indicating a PM of 32.7 [deg]. To reach 45 [deg] phase margin, additional 12.3 [deg] phase lead is
1 sin Φ
r 0.6488
1 sin Φ
1
1
9‐33
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
then from trial and error we found τ = 0.014088 and required gain would be 9.7185
MATLAB CODE:
s = tf('s')
Kp = 1
num_GH= Kp*100;
den_GH=s*(0.2*s+1)*(0.05*s+1);
GH=num_GH/den_GH
lag_tf=(s/2+1)/(s/0.2+1)
lead_tf=(s/4+1)/(s/50+1)
LL=lag_tf*lead_tf
OL=GH*LL
CL =OL/(1+OL);
figure(1)
margin(GH)
figure(2)
margin(OL)
figure(3)
bode(CL)
grid on;
9‐34
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = -12 dB (at 10 rad/sec) , Pm = -28.3 deg (at 18.8 rad/sec)
100
50
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
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 or 250 for 0.2 / and
.
must be less than or 0.01 for 200 /
Using a lag compensator will allow lower gain at frequencies less then ω1 and using a lead
compensator will allow to increase phase margin
For the lag compensator, 1/10 is chosen to boost the low frequency amplitude
1 /2 1
1 /0.2 1
In order to introduce some phase lead to obtain the require PM, a lead compensator is also
designed as:
1 1
0.0112
√10 28.3√10
9‐35
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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:
1 /5 1
1 /50 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 /4 1
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
50
Magnitude (dB)
-50
-100
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
9‐36
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Bode Diagram
20
-40
-60
-80
-100
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
9-18) See Chapter 5 solutions for MATLAB codes for this problem.
100 ⎜ K P +
⎛ KI ⎞
⎟ 100 ( K P s + K I )
G(s) =
⎝ s ⎠
For K v = 10, K v = lim sG ( s ) = lim s = K I = 10
s + 10 s + 100
2
s →0 s →0
(
s s + 10 s + 100
2
)
Thus K I = 10.
(b) Let the complex roots of the characteristic equation be written as s = −σ + j15 and s = −σ − j15.
9‐37
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The quadratic equation must satisfy the characteristic equation. Using long division and solve for zero
remainder condition.
s + (10 − 2σ )
s + 2σ s + σ + 225 s
3 2
( 2
)
(
(10 − 2σ ) s + 100 K P − σ − 125 s + 1000
2
) 2
(100 K P
2
)
+ 3σ − 20σ − 125 s + 2σ − 10σ + 450σ − 1250
3 2
3 2
For zero remainder, 2σ − 10σ + 450σ − 1250 = 0 (1)
2
and 100 K P + 3σ − 20σ − 125 = 0 (2)
2
125 + 20σ − 3σ
KP = = 15765
.
100
The characteristic equation roots are: s = −2.8555 + j15, − 2.8555 − j15, and s = −10 + 2σ = −4.289
9‐38
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
100 K P s 100 K P s
Geq ( s ) = =
s + 10 s + 100 s + 1000
3 2
( s + 10 ) ( s 2
+ 100 )
Root Contours:
9‐39
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-19)
⎛
100 ⎜ K P +
KI ⎞
⎟ 100 ( K P s + K I )
G(s) =
⎝ s ⎠ For K v = 10, K v = lim sG ( s ) = lim s = K I = 10
s + 10 s + 100
2
s →0 s →0
(
s s + 10 s + 100
2
)
10 (1 + 0.1K P s )
G(s) =
(
s 1 + 0.1s + 0.01s
2
)
9‐40
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
When K P = 11
. and K I = 10, K v = 10, the phase margin is 31.51 deg., and is maximum.
Referring these roots to the root contours in Problem 10‐8(c), the complex roots corresponds to
9‐41
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
In the present case, the system with the PI controller has a higher maximum value for the sensitivity
function.
9‐42
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-20)
100 ( K P s + K I )
G(s) =
(
s s + 10 s + 100
2
)
For K v = 100,
100 ( K P s + K I )
K v = lim sG ( s ) = lim s = K I = 100 Thus K I = 100.
s →0 s →0
(
s s + 10 s + 100
2
)
s + 10 s + (100 + 100 K P ) s + 100 K I = 0
3 2
(b) The characteristic equation is
Routh Tabulation:
3
s 1 100 + 100 K P
2
s 10 10,000
For stability, 100 K P − 900 > 0 Thus KP > 9
1
s 100 K P − 900 0
0
s 10,000
Root Contours:
100 K P s 100 K P s
Geq ( s ) = 3 2
=
s + 10 s + 100 s + 10,000 ( s + 23.65)( s − 6.825 + j19.4)( s − 6.825 − j19.4)
9‐43
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
(c) K I = 100
100 ( K P s + 100 )
G(s) =
(
s s + 10 s + 100
2
)
The following maximum overshoots of the system are computed for various values of K P .
KP 15 20 22 24 25 26 30 40 100 1000
ymax 1.794 1.779 1.7788 1.7785 1.7756 1.779 1.782 1.795 1.844 1.859
9‐44
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-21)
100 ( K P s + K I ) 100 K I
G(s) = For Kv = = 10, K I = 10
(
s s + 10 s + 100
2
) 100
Routh Tabulation:
3
s 1 100 + 100 K P
2
s 10 1000
For stability, KP > 0
1
s 100 K P 0
0
s 1000
Root Contours:
100 K P s
Geq ( s ) = 3 2
s + 10 s + 100 s + 1000
9‐45
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
(c) The maximum overshoots of the system for different values of K P ranging from 0.5 to 20 are
ymax 1.393 1.275 1.2317 1.2416 1.2424 1.2441 1.246 1.28 1.372 1.514 1.642
K
9-22) K lim sG s G s 20 Ö 20 Ö K 5
9‐46
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = -12.6 dB (at 2.2 rad/sec) , Pm = -25.2 deg (at 4.35 rad/sec)
100
50
Magnitude (dB)
-50
-100
-150
-135
-180
Phase (deg)
-225
-270
-2 -1 0 1 2 3
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 sin Φ 1 sin 55 1 1
α 10.0590, 0.0210
1 sin Φ 1 sin 55 √10.059 15√10.0590
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 @ ω = 0
rad/sec.
The gain crossover frequency is ω 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:
9‐47
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
Correspondingly, the Bode diagram of closed loop system can be shown as:
Bode Diagram
20
0
Magnitude (dB)
-20
-40
-60
-80
-100
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
9‐48
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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)
1
e 0.05
K
40 K s K I
K lim s G s G s lim KI 20
s 2 s 20
Let’s consider 21
Let’s 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.
9‐49
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = -Inf dB (at 0 rad/sec) , Pm = -57.1 deg (at 3.31 rad/sec)
100
50
Magnitude (dB)
-50
-100
-180
Phase (deg)
-225
-270
-1 0 1 2
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 sin Φ 1 sin 53 1 1
α 8.9322, 0.0446
1 sin Φ 1 sin 53 √8.9322 7.5√8.9322
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 @ ω = 0 rad/sec.
Then the gain crossover frequency is ω 6.8 rad/sec. Bode diagram of compensated loop can be
observed in the following figure, showing a PM pf 35.4 deg:
9‐50
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Magnitude (dB)
den_GH=s*(s+2)*(s+20); 0
GH=num_GH/den_GH;
CL = GH/(1+GH);
-50
%lead design
PL=53
-100
CRover=7.5
alpha=(1+sin(PL/180*pi))/(1
-150
-sin(PL/180*pi)) -135
T=1/alpha^0.5/CRover
lead=(1+T*alpha*s)/(1+T*s)
LT=GH*lead*lead -180
Phase (deg)
CL = LT/(1+LT);
figure(1) -225
Margin(GH)
figure(2)
Margin(LT) -270
-1 0 1 2 3
figure(3) 10 10 10 10 10
Bode(CL) Frequency (rad/sec)
grid on;
Correspondingly, the Bode diagram of closed loop system can be shown as:
Bode Diagram
50
0
Magnitude (dB)
-50
-100
-150
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
9‐51
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-24)
In order to add some integral action, 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
50
Magnitude (dB)
-50
-100
-135
-180
Phase (deg)
-225
-270
-2 -1 0 1 2
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 sin Φ 1 sin 48 1 1
α 6.7865, 0.0427
1 sin Φ 1 sin 48 √6.7865 9√8.9322
9‐52
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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 @ ω = 0 rad/sec.
Then the gain crossover frequency is ω 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
50
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2 3
10 10 10 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);
9‐53
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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
0
Magnitude (dB)
System: CL
Frequency (rad/sec): 7.44
-50
Magnitude (dB): -3.08
-100
-150
0
-90
Phase (deg)
-180
-270
-1 0 1 2 3
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
9‐54
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-25) 2 , therefore, 2
Bode Diagram
Gm = -25.9 dB (at 0.0576 rad/sec) , Pm = -111 deg (at 0.363 rad/sec)
100
50
Magnitude (dB)
-50
-100
270
180
Phase (deg)
90
0
-3 -2 -1 0 1
10 10 10 10 10
Frequency (rad/sec)
K
A PI controller can be expressed as PI K sK . The effect is similar to adding a Zero at . Let’s
K
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)
9‐55
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
10 50
0
5
-50
0 -100
-150
-5
-200
G.M.: 10.5 dB
-10 -250 Freq: 0.0343 rad/sec
-10 -5 0 5 10
Stable loop
Bode Editor for Closed Loop 1 (CL1) -300
200
270
0
180
-200
90
-400
360 0
0 -90
P.M.: 50.5 deg
Freq: 0.0137 rad/sec
-360 -180
-4 -2 0 2 4 -4 -2 0 2 4
10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
Considering the slow dynamic of the ship, and the RHS zero, the crossover frequency is relatively low.
Zoom in
9‐56
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus
0.06
0.04
0.02
Imaginary Axis
-0.02
-0.04
-0.06
-0.08
-0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2
Real Axis
Zoom out
Root Locus
0.6
0.4
0.2
Imaginary Axis
-0.2
-0.4
-0.6
-0.8
-8 -7 -6 -5 -4 -3 -2 -1 0
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
9‐57
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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:
9‐58
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
300 50
200
0
100
0
-50
-100
-200
-100
G.M.: 5.26 dB
-300 Freq: 81.6 rad/sec
-300 -200 -100 0 100 200
Stable loop
Bode Editor for Closed Loop 1 (CL1) -150
50
-90
-50 -180
-100
0
-270
-180
P.M.: 62.5 deg
Freq: 31.6 rad/sec
-360 -360
0 1 2 3 0 1 2 3 4
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
9‐59
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
. K
b) K lim sG s G s ÆK Lim s K 30.3 , then
.
K 30.3
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 (τs + 1)
Considering the structure of the PI controller given in the question, H ( s ) = , the corresponding
(rτs + 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.
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:
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
300 150
200 100
100 50
0 0
-100 -50
-200 -100
G.M.: 6.61 dB
-300 -150 Freq: 53.2 rad/sec
-300 -200 -100 0 100 200
Stable loop
Bode Editor for Closed Loop 1 (CL1) -200
100
-90
-100 -180
-200
0
-270
-180
P.M.: 21.9 deg
Freq: 31.6 rad/sec
-360 -360
-2 0 2 4 -4 -2 0 2 4
10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
9‐60
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
e) the presented sisotool figure shows the compensated bode diagram and 21.9 deg of PM.
9‐61
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-27)
KDs + KPs + KI ⎛ KI 2 ⎞
2
KI
Gc ( s ) = K P + K D s + = = (1 + K D 1 s ) ⎜ K P 2 + ⎟
s s ⎝ s ⎠
where
K P = K P 2 + K D1 K I 2 K D = K D1 K P 2 KI = KI 2
100 (1 + K D1 s )( K P 2 s + K I 2 )
G ( s ) = Gc ( s )G p ( s ) = K v = lim sG ( s ) = K I 2 = 100
(
s s + 10 s + 100
2
) s→ 0
Thus
K I = K I 2 = 100
100 ( K P 2 s + 100 )
G(s) = s + 10 s + (100 + 100 K P 2 ) s + 10, 000 = 0
3 2
(
s s + 10 s + 100
2
)
1000 (1 + K D1 s )( s + 10 )
G(s) =
(
s s + 10 s + 100
2
)
9‐62
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
K P = K P 2 + K D1 K I 2 = 10 + 0.2 × 100 = 30
100
Gc ( s ) = 30 + 2 s +
s
Unit‐step Response
9‐63
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-28)
Process Transfer Function:
−0.2 s
Y (s) e 1
Gp (s) = = ≅
U (s) 1 + 0.25s (1 + 0.25s ) (1 + 0.2 s + 0.02 s 2
)
(a) PI Controller:
KI
KP +
s 200 ( K P s + K I )
G ( s ) = Gc ( s )G p ( s ) ≅ =
(1 + 0.25s ) ( 1 + 0.2 s + 0.02 s
2
) (
s ( s + 4 ) s + 10 s + 50
2
)
200 K I
For K v = 2, K v = lim sG ( s ) = = KI = 2 Thus KI = 2
s→ 0 4 × 50
200 ( 2 + K P s )
Thus G(s) =
(
s ( s + 4 ) s + 10 s + 50
2
)
The following values of the attributes of the unit‐step response are computed for the system with various
values for K P .
Max overshoot ts ts
KP
(%) (sec) (sec)
9‐64
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐65
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐66
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐67
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-29)
9‐68
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
0.9 2
2
Let’s consider PID controller as:
1 1 1/
If τD is sufficiently smaller than τI then the τI has minor effect in PID controller. Let’s examine
PID controller when τD is varied.
0.5 180
100 90
If 10 65 0.5
20 1
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 1
The crossover frequency is 12.3 rad/sec as can be seen in the uncompensated bode diagram. The
lag compensator must positionω 5rad/sec, where its gain is 17.5 dB. Therefore the ratio of
lag compensator can be chosen for this purpose as 3 10
9‐69
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 22.6 deg (at 12.3 rad/sec)
40
20
Magnitude (dB)
-20
-40
0
-45
Phase (deg)
-90
-135
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
Now the gain, which is obtained from combination of lead and lag compensator, is
1 5 1 5
·
1 5 1 5
or
1 5 1 5
20 20
1 5 1 5
where 1 for α1 < 1. Since it is required that the final gain is increased by 17.5 dB,
let’s choose .
1 5
20 23.5
1 5
9‐70
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
1 5
20 23.5 17.5 6
1 5
By trial and error, we can find 0.068 and 0.35. Therefore 147 where
9‐71
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-32)
9‐72
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step Response.
The unit‐step response shows a maximum overshoot of 26%. Although the relative damping ratio of the
complex roots is 0.707, the real pole of the third‐order system transfer function is at −0.667 which adds
to the overshoot.
(c)
0.00667 (1 + K D1 s )( K P 2 s + K I 2 )
G ( s ) = Gc ( s )G p ( s ) =
(
s s + 0.00667
2
)
For K v = 100, K I 2 = K I = 100. Let us select K P 2 = 50. Then
0.00667 (1 + K D1 s )( 50 s + 100 )
G(s) =
(
s s + 0.00667
2
)
For a small overshoot, K D1 must be relatively large. When K D1 = 100, the maximum overshoot is
9‐73
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
K D = K D1 K P 2 = 100 × 50 = 5000
K I = 100
3 2
System Characteristic Equation: s + 33.35 s + 67.04 s + 0.667 = 0
Unit‐step Response.
9‐74
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-33)(a)
Z ( s) 1 1 0.00667
G p ( s) = = 2
= 2
= 2
F ( s) Ms + K s 150 s + 1 s + 0.00667
The transfer function G p ( s ) has poles on the jω axis. The natural undamped frequency is
ω n = 0.0816 rad/sec.
G ( s ) = Gc ( s )G p ( s ) =
(
0.00667 K D s + K P s + K I
2
)
(
s s + 0.00667
2
)
K v = lim sG ( s ) = K I = 100 Thus K I = 100
s→ 0
2
For ζ = 1 and ω n = 1 rad/sec, the second‐order term of the characteristic equation is s + 2 s + 1.
s + ( 0.00667 K D − 2 )
s + 2s + s
3 2
( 0.00667 K D
− 2 ) s + ( 0.00667 K P − 0.99333 ) s + 0.00667 K I
2
( 0.00667 K D
− 2 ) s + ( 0.01334 K D − 4 ) s + 0.00667 K D − 2
2
( 0.00667 K P
− 0.01334 K D + 3.00667 ) s + 0.00667 K I − 0.00667 K D + 2
9‐75
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
G(s) =
(
0.00667 399.85s + 348.93s + 100
2
)
(
s s + 0.00667
2
)
Characteristic Equation:
Unit‐step Response.
9‐76
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-34) a) As , therefore, or
b)
1.8 1.8
0.36
5
0.6
1
Let's first add a PD controller with G s 1 K D s, and find KD which satisfy the maximum
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:
KI
Now let’s add a PI controller with G s K , and find Kp and KI by using following table.
KI
Now, for the PI part, K I should be selected so that the additional pole at does not interfere
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 0.05, let’s have
KI
0.005, resulting in K I K 0.005 129.6 0.005 0.648
K
The step response is obtained through the following MATLAB code, showing the rise time of
less than 5 sec, and almost no overshoot
9‐77
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Step Response
1
0.99
0.98
0.97
0.96
Amplitude
0.95
0.94
0.93
0.92
0.91
0.9
0 5 10 15 20 25 30 35 40 45 50
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])
9‐78
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
4 4 ( KP + KD s)
G p ( s) = 2
G ( s ) = Gc ( s )G p ( s ) = 2
s s
2 2
Characteristic Equation: s + 4 K D s + 4 K P = s + 1.414 s + 1 = 0 for ζ = 0.707, ω n = 1 rad/sec
Unit‐step Response.
(b) Select a relatively large value for K D and a small value for K P so that the closed‐loop poles are real.
The closed‐loop zero at s = − K P / K D is very close to one of the closed‐loop poles, and the system
dynamics are governed by the other closed‐loop poles. Let K D = 10 and use small values of K P .
The following results show that the value of K P is not critical as long as it is small.
9‐79
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Kp Max overshoot tr ts
(c) For BW ≤ 40 rad/sec and M r = 1, we can again select K D = 10 and a small value for K P .
Kp PM Mr BW
(deg) (rad/sec)
0.1 89.99 1 40
0.05 89.99 1 40
0.2 89.99 1 40
9‐80
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
10, 000 ( K P + K D s ) 3 2
G ( s ) = Gc ( s )G p ( s ) = s + 10 s + 10,000 K D s + 10,000 K P = 0
s
2
( s + 10 )
Routh Tabulation:
3
s 1 10,000 K D
2
s 10 10,000 K P
The system is stable for K P > 0 and K D > 0.1K P
1
s 10,000 K D − 1000 K P 0
0
s 10,000 K P
10, 000 K P
G(s) =
s
2
( s + 10 )
9‐81
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Root Contours:
10,000 K D s
Geq ( s ) = 3 2
s + 10 s + 10,000 K P
(c) The root contours show that for small values of K P the design is insensitive to the variation of K P . This
means that if we choose K P to be between 0.001 and 0.005, the value of K D can be chosen to be 0.005
for a relative damping ratio of 0.707. Let K P = 0.001 and K D = 0.005. Gc ( s ) = 0.001 + 0.005 s.
The forward‐path transfer function becomes
9‐82
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
10 (1 + 5 s )
G(s) =
s
2
( s + 10 )
Since the zero of G ( s ) is at s = −0.2, which is very close to s = 0, G(s) can be approximated as:
50
G(s) ≅
s ( s + 10 )
For the second‐order system, ζ = 0.707. Using Eq. (7‐104), the rise time is obtained as
2
1 − 0.4167ζ + 2.917ζ
tr = = 0.306 sec
ωn
Unit‐step Response:
10 (1 + 5 s )
G(s) =
s
2
( s + 10 )
PM GM Mr BW
63 ∞ 1.041 7.156
9‐83
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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 G
Θin _ Va Θ
Where:
Θ(s) Kt
G (s) = =
Va ( s ) s ( La Js + ( La B + Ra J ) s + Ra B + K t K b )
2
KI KDs + K ps + KI
2
Gc ( s ) = K p + K D s + =
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 Ω
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):
KK m K s
Θm ( s ) Ra
= (5-125)
Θin ( s ) ⎧ ⎛ KK ⎞ KK K ⎫
(τ e s + 1) ⎪⎨J m s 2 + ⎜ B + b m ⎟ s + m s ⎪⎬
⎪⎩ ⎝ Ra ⎠ Ra ⎪⎭
9‐84
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Where Ks is the sensor gain, and, as before, τe = (La/Ra) may be neglected for small La.
KK t K s
Θm ( s ) Ra J
=
Θin ( s ) ⎛ R B + Kt Kb ⎞ KK t K s
s2 + ⎜ a ⎟ s+
⎝ Ra J ⎠ Ra J
KK t K s
Θm ( s ) Ra J
=
Θin ( s ) ⎛ R B + Kt Kb ⎞ KK t K s
s2 + ⎜ a ⎟ s+ (5-126)
⎝ Ra J ⎠ Ra J
K p 0.1
Θm ( s ) 0.01
=
Θin ( s ) ⎛ 0.1 + (0.01)(0.01) ⎞ K p 0.1
s2 + ⎜ ⎟ s+
⎝ 0.01 ⎠ 0.01
Θm ( s ) 10 K p
=
Θin ( s ) s 2 + 12 s + 10 K p
Where Ks=0.
3 .2
Using ts ≅ ; for a less than 2 sec settling time ζωn ≤ 1.6
ζωn
Then a standard 2nd order prototype system that will have the desired response, with zero steady state
error, takes the following form
Θm ( s ) 5.12
= 2
Θin ( s ) s + 3.2 s + 5.12
Θm ( s ) 10 K p 5.12
= 2 ≠ 2
Θin ( s ) s + 12 s + 10 K p s + 3.2 s + 5.12
Gc ( s ) = K p + K D s
9‐85
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Θm ( s ) 10 ( K D s + K p ) 5.12
= 2 ≠ 2
Θin ( 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.
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.
9‐86
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Done!
9‐87
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-39)
⎡ 0 1 0 0⎤ ⎡ s −1 0 0⎤
⎢ 25.92 0 0 0⎥ ⎢ −25.92 s 0 0⎥
A =⎢ ⎥ sI − A = ⎢ ⎥
∗ ∗
⎢ 0 0 0 1⎥ ⎢ 0 0 s −1⎥
⎢ ⎥ ⎢ ⎥
⎣ −2.36 0 0 0⎦ ⎣ 2.36 0 0 s⎦
s 0 0 −25.92 0 0
Δ = sI − A = s 0 s∗
−1 + 0 s −1 = s
2
(s 2
− 25.92 )
0 0 s 2.36 0 s
⎡ s3 s
2
0 ⎤ 0
⎢ 2 3 ⎥
1 ⎢ 25.92 s s 0 0
( sI − A ) ⎥
∗ −1
=
Δ ⎢ −2.36 s −2.36 s − 25.92 s s − 25.92 ⎥
3 2
⎢ ⎥
⎣ −2.36 s −2.36 s s − 25.92 s ⎦
2 3
0
⎡ 0 ⎤ ⎡ −0.0732 s 2 ⎤
⎢ −0.0732 ⎥ 1 ⎢ −0.0732 s 3 ⎥
( s I − A )
∗ −1
B = ( s I − A ) ⎢ 0 ⎥ = Δ ⎢⎢
∗ −1
⎥
⎢ ⎥ 0.0976 s − 2.357 ⎥
2
⎢ ⎥ ⎢ ⎥
⎣ 0.0976 ⎦ ⎣ 0.0976 s − 2.357 s ⎦
3
0.0976 s − 24.15 ( 2
)
( ) B = [0 (
0 ] sI − A )
∗ −1 ∗ −1
Y ( s ) = D sI − A 0 1 B=
s
2
(s 2
− 25.92 )
s + 0.0976 s + ( 0.0976 K P − 25.92 ) s − 2.357 K D s − 2.357 K P = 0
4 3 2
Characteristic Equation:
3 1
The system cannot be stabilized by the PD controller, since the s and the s terms involve K D which
9‐88
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-40)
KI 100 ( K P s + K I )
Gc ( s ) = K P + Then G ( s ) = Gc ( s )G p ( s ) =
s (
s s + 10 s + 100
2
)
Since the system with the PI controller is now a type 1 system, the steady‐state error of the system due to a
step input will be zero as long as the values of K P and K I are chosen so that the system is stable.
Let us choose the ramp‐error constant K v = 100 . Then, K I = 100. The following frequency‐domain
performance characteristics are obtained with K I = 100 and various value of K P ranging from 10 to 100.
KP PM GM Mr BW
The maximum phase margin that can be achieved with the PI controller is only 7.15 deg when K P = 30.
Thus, the overshoot requirement cannot be satisfied with the PI controller alone.
9‐89
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
KI (1 + K s )( K s + KI 2 ) (1 + K s )( K s + 100 )
Gc ( s ) = K P + K D s + = D1 P2
= D1 P2
s s s
Based on the PI‐controller design, let us select K P 2 = 30. Then the forward‐path transfer function
becomes
KD1 PM GM Mr BW
We see that for values of K D1 greater than 0.2, the phase margin no longer increases, but the
K P = K P 2 + K D1 K I 2 = 30 + 0.2 × 100 = 50
100
The transfer function of the PID controller is Gc ( s ) = 50 + 6 s +
s
The unit‐step response is show below. The maximum overshoot is zero, and the rise time is 0.0172 sec.
9‐90
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐91
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-41)
3.6 9 1 1
3.6 9
3.6 9 2
Therefore we can choose 0.5 and 4 where 2 3. Now, we can choose pole p
far enough from pole dominant of second order. Let p = 10, then the characteristic equation
would be:
36 9 14 56 160
9‐92
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-42)
(a)
4 4 (1 + aTs ) 4 aTs
Gp (s) = G ( s ) = Gc ( s )G p ( s ) = Geq ( s ) =
s (1 + Ts )
3 2
Ts + s + 4
2 2
s
Select a small value for T and a large value for a. Let T = 0.02 and a = 100.
1+ 2s 400 ( s + 0.5 )
Gc ( s ) = G(s) =
1 + 0.02 s s
2
( s + 50 )
3 2
The characteristic equation is s + 50 s + 400 s + 200 = 0
9‐93
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Since the zero at −0.5 is very close to the pole at −0.5355, the system can be approximated by a second‐
order system,
Y (s) 373.48
=
R(s) ( s + 9.3 )( s + 40.17 )
The unit‐step response is shown below. The attributes of the response are:
Unit‐step Response.
The following attributes of the frequency‐domain performance are obtained for the system with the
phase‐lead controller.
(b) The Bode plot of the uncompensated forward‐path transfer function is shown below. The diagram
shows that the uncompensated system is marginally stable. The phase of G ( jω ) is −180 deg at all
9‐94
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
frequencies. For the phase‐lead controller we need to place ω m at the new gain crossover frequency
to realize the desired phase margin which has a theoretical maximum of 90 deg.
o
1 + sin 80
a= o
= 130
1 − sin 80
The gain of the controller is 20 log10 a = 42 dB. The new gain crossover frequency is at
42
G ( jω ) = − = −21 dB
2
4 2
Or G ( jω ) = 2
= 0.0877 Thus ω = 45.61 ω = 6.75 rad/sec
ω
1
= aω m = 130 × 6.75 = 77 Thus T = 0.013
T
1
= 0.592 Thus aT = 169
.
aT
Bode Plot.
9‐95
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐96
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
⎛
1000a ⎜ s +
1 ⎞
1000 (1 + aTs )
⎟
G ( s ) = Gc ( s )GP ( s ) = =
⎝ aT ⎠
s ( s + 10 )(1 + Ts ) ⎛ 1⎞
s ( s + 10 ) ⎜ s + ⎟
⎝ T⎠
Set 1/aT = 10 so that the pole of G ( s ) at s = −10 is cancelled. The characteristic equation of the system
becomes
2 1
s + s + 1000 a = 0
T
1
ω n = 1000 a 2ζω n = = 2 1000 a Thus a = 40 and T = 0.0025
T
The Bode plot of the uncompensated forward‐path transfer function is made below.
1000
G(s) = The attributes of the system are PM = 17.96 deg, GM = infinite.
s ( s + 10 )
9‐97
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
To realize a phase margin of 75 deg, we need more than 57 deg of additional phase. Let us add an
additional 10 deg for safety. Thus, the value of φ m for the phase‐lead controller is chosen to be
o
1 + sin 67
a= o
= 24.16
1 − sin 67
The gain of the controller is 20 log10 a = 20 log10 24.16 = 27.66 dB. The new gain crossover frequency
is at
' 27.66
G ( jω m ) = − = −13.83 dB
2
'
From the Bode plot ω m is found to be 70 rad/sec. Thus,
1
= aT = 24.16 × 70 = 344 or T = 0.0029 aT = 0.0702
T
1 + aTs 1 + 0.0702 s
Thus Gc ( s ) = =
1 + Ts 1 + 0.0029 s
Rise time tr = 0.02278 sec Settling time ts = 0.02828 sec Maximum overshoot = 3.3%
9‐98
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐99
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Mathematical Model:
Draw free body diagrams (Assume both xc and xw are positive and are measured from
equilibrium). Refer to Chapter 4 problems for derivation details.
kc ( xc − xw ) cc ( x&c − x&w )
mw mc
⎡ mw xw ⎤ ⎡cw + cc
0 ⎤ ⎡ && −cc ⎤ ⎡ x&w ⎤ ⎡ kw + kc −kc ⎤ ⎡ xw ⎤ ⎡cw 0 ⎤ ⎡ y& ⎤ ⎡ kw 0⎤ ⎡ y ⎤
⎢0 ⎥ ⎢ + + = +
⎣ xc ⎥⎦ ⎢⎣ cc
mc ⎦ ⎣ && cc ⎥⎦ ⎢⎣ x&c ⎥⎦ ⎢⎣ kc kc ⎥⎦ ⎢⎣ xc ⎥⎦ ⎢⎣ 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ 0 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
Assume the wheel is very stiff; hence k w = ∞ , which implies xw=y. Then
xc + cc x&c + kc xc = cc y& + kc y
mc &&
or
xc + 2ζωn x&c + ωn2 xc = 2ζωn y& + ωn2 y
&&
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&
9‐100
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Xc ( 2ζωn + K D ) s + (ωn2 + K P )
= 2
Y s + ( 2ζωn + K D ) s + ( 2ζωn + K D )
9‐101
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
200 (1 + aTs )
G ( s ) = Gc ( s )G p ( s ) =
s ( s + 1)( s + 10 )(1 + Ts )
Starting with a = 1000, we vary T first to stabilize the system. The following time‐domain attributes
T Max Overshoot tr ts
(%)
The maximum overshoot is at a minimum when T = 0.0007 or T = 0.0008. The maximum overshoot
is 15.4%.
9‐102
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The phase margin is at a maximum of 54.69 deg when T = 0.0006. The performance worsens if the value of a is less than
1000.
9‐103
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
6 (1 + aTs )
G(s) =
s (1 + 0.2 s )(1 + 0.5 s )(1 + Ts )
We first set a = 1000, and vary T. The following attributes of the frequency‐domain characteristics
are obtained.
T PM Mr
(deg)
9‐104
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Next, we set T = 0.0006 and reduce a from 1000. We can show that the phase margin is not very
sensitive to the variation of a when a is near 1000. The optimal value of a is around 980, and the
With a = 980 and T = 0.0006, the attributes of the unit‐step response are:
G(s) =
(
6 (1 + 0.588s ) 1 + bT s
2 )
(
s (1 + 0.2 s )(1 + 0.5s )(1 + 0.0006 s ) 1 + T s
2 )
Again, let b = 1000, and vary T2 . The following results are obtained in the frequency domain.
PM Mr
T2
(deg)
Reducing the value of b from 1000 reduces the phase margin. Thus, the maximum phase margin of
100.4 deg is obtained with b = 1000 and T2 = 0.0004. The transfer function of the two‐stage phase‐
lead controller is
9‐105
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐106
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
x(t)
F
L
M
Here is an alternative representation including friction (damping) μ. In this case the angle θ is
measured differently.
1)
2)
which gives:
Φ s
F s
Ignoring friction 0.
Φ s
F s
where
Ignoring actuator dynamics (DC motor equations), we can incorporate feedback control using a
series PD compensator and unity feedback. Hence,
9‐107
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
KP+KDs
R _ F Φ
F ( s) = K p ( R ( s ) − Φ ) − K D s ( R ( s ) − Φ )
Φ A( K p + KDs)
= 2
R (s + K D s + A ( K p − B )
Transfer function:
50 s + 100
--------------
s^2 + 5 s + 20
9‐108
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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.
Φ 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
9‐109
Automatic Control Systems, 9th Edition Chapter 9 Solutions 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 =
9‐110
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
-0.4025 + 0.5814i
-0.4025 - 0.5814i
ans =
-10
For a better design, and to meet rise time criterion, use Example 5-
11-1 and Chapter 9 PD design examples.
9‐111
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
−6
10 K p K a K e 1 + R2 Cs 68.76 1 + R2 × 10 s
G(s) H (s) = =
Ns (1 + 0.05 s ) R1Cs s (1 + 0.05 s ) 2s
3 2 −4
The characteristic equation is s + 20 s + 6.876 × 10 R2 s + 687.6 = 0
−4 −4
6.876 × 10 R2 s 6.876 × 10 R2 s
Geq ( s ) = =
s + 20 s + 687.6
3 2
( s + 21.5 )( s − 0.745 + j 5.61)( s − 0.745 − j 5.61)
9‐112
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
5
When R2 = 2.65 × 10 , the roots are at −6.02 ± j 7.08 , and the relative damping ratio is 0.65 which is
maximum. The unit‐step response is plotted at the end together with those of parts (b) and (c).
68.76 (1 + aTs )
G(s) H (s) =
s (1 + 0.05 s )(1 + Ts )
3 2
s + 120 s + ( 2000 + 1375.2a ) s + 137520 = 0
The last equation is conditioned for a root contour plot with a as the variable parameter.
Thus
1375.2as
Geq ( s ) = 3 2
s + 120 s + 2000 s + 137,520
From the root contour plot on the next page we see that when a = 3.4 the characteristic equation roots
are at −39.2, − 40.4 + j 43.3, and − 40.4 − j 43.3, and the relative damping ratio is maximum and is
0.682.
9‐113
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step Responses.
9‐114
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
For a phase margin of 60 deg, a = 4.373 and T = 0.00923. The transfer function of the controller is
1 + aTs 1 + 0.04036 s
Gc ( s ) = =
1 + Ts 1 + 0.00923 s
200
Gp (s) =
s ( s + 1)( s + 10 )
For the uncompensated system, the two complex characteristic equation roots are at s = −0.475 + j 0.471
and −0.475 − j 0.471 which correspond to a relative damping ratio of 0.707, when the forward path gain
is 4.5 (as against 200). Thus, the value of a of the phase‐lag controller is chosen to be
4.5
a= = 0.0225 Select T = 1000 which is a large number.
200
Then
Unit‐step Response.
9‐115
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐116
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
For PM = 60 deg, we choose a = 0.02178 and T = 1130.55. The transfer function of the phase‐lag
controller is
1 + 24.62 s
Gc ( s ) = GM = 27.66 dB Mr = 1.093 BW = 0.619 rad/sec
1 + 1130.55s
9‐117
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
K (1 + aTs ) K
G ( s ) = Gc ( s )G p ( s ) = K v = lim sG ( s ) = = 10 Thus K = 250
s ( s + 5 ) (1 + Ts )
2
s→ 0 25
With K = 250, the system without compensation is marginally stable. For a > 1, select a small value for
T and a large value for a. Let a = 1000. The following results are obtained for various values of T
ranging from 0.0001 to 0.001. When T = 0.0004, the maximum overshoot is near minimum at 23%.
T Max Overshoot tr ts
9‐118
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
As it turns out a = 1000 is near optimal. A higher or lower value for a will give larger overshoot.
Unit‐step Response.
250 (1 + aTs )
G(s) =
s
2
( s + 5 ) (1 + Ts )
2
9‐119
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
T PM Mr BW
(deg) (rad/sec)
When a = 1000, the best value of T for a maximum phase margin is 0.00035, and PM = 43.3 deg.
As it turns out varying the value of a from 1000 does not improve the phase margin. Thus the
Without compensation, the relative damping is critical when K = 18.5. Then, the value of a is
chosen to be
18.5
a= = 0.074
250
We can use this value of a as a reference, and conduct the design around this point. The value of
T is preferrably to be large. However, if T is too large, rise and settling times will suffer.
The following performance attributes of the unit‐step response are obtained for various values of
a and T.
9‐120
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
a T Max Overshoot tr ts
(%)
As seen from the results, when a = 0.09 and for T ≥ 2000, the maximum overshoot is less
than 1% and the settling time is less than 2.5 sec. We choose T = 2000 and a = 0.09.
9‐121
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
250 (1 + aTs )
G(s) = a <1
s ( s + 5 ) (1 + Ts )
2
The Bode plot of the uncompensated system is shown below. Let us add a safety factor by
requiring that the desired phase margin is 75 degrees. We see that a phase margin of 75 degrees
can be realized if the gain crossover is moved to 0.64 rad/sec. The magnitude of G ( jω ) at this
frequency is 23.7 dB. Thus the phase‐lag controller must provide an attenuation of −23.7 dB at
We can set the value of 1/aT to be at least one decade below 0.64 rad/sec, or 0.064 rad/sec. Thus,
we get T = 236. Let us choose T = 300. The transfer function of the phase‐lag controller becomes
1 + aTs 1 + 19.5s
Gc ( s ) = =
1 + Ts 1 + 300 s
9‐122
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐123
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Comparing with the phase‐lag controller designed in part (a) which has a = 0.09 and T = 2000,
The main difference is in the large value of T used in part (c) which resulted in less overshoot,
9‐124
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9-51)
6.087 × 10
7
G(s) = Gp (s) =
(
s s + 423.42 s + 2.6667 × 10 s + 4.2342 × 10
3 2 6 8
)
The uncompensated system has a maximum overshoot of 14.6%. The unit‐step response is shown
below.
1 + aTs
Gc ( s ) = (a > 1)
1 + Ts
By selecting a small value for T, the value of a becomes the critical design parameter in this case.
If a is too small, the overshoot will be excessive. If the value of a is too large, the oscillation in
the step response will be objectionable. By trial and error, the best value of a is selected to be 6,
and T = 0.001. The following performance attributes are obtained for the unit‐step response.
However, the step response still has oscillations due to the compliance in the motor shaft. The unit‐
step response of the phase‐lead compensated system is shown below, together with that of the
uncompensated system.
9‐125
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The poles of the process G p ( s ) are at −161.3, −131+ j1614.7 and −131 − j1614.7. The second‐
2
order term is s + 262 s + 2,624, 417.1. Let the second‐order controller transfer function be
2
s + 262 s + 2,624,417.1
Gc1 ( s ) = 2 2
s + 2ζ pω n s + ω n
The value of ω n is set to 2,624, 417.1 = 1620 rad/sec, so that the steady‐state error is not affected.
Let the two poles of Gc1 ( s ) be at s = −1620 and − 1620. Then, ζ p = 405 .
2
s + 262 s + 2,624,417.1
Gc1 ( s ) = 2
s + 3240 s + 2,624,417.1
6.087 × 10
10
(1 + 0.006 s )
G ( s ) = Gc ( s )Gc1 ( s )G p ( s ) =
( )
s ( s + 161.3 ) s + 3240 s + 2, 624, 417.1 (1 + 0.001s )
2
Unit‐step Responses
9‐126
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
dω m
ea = Ra ia + Kbω m Tm = Ki ia Tm = J m + Bmω m + K L (θ m − θ L ) + BL (ω m − ω L )
dt
dω L
K L (θ m − θ L ) + BL (ω m − ω L ) = J L
dt
9‐127
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
⎡ dθ L ⎤
⎢ dt ⎥ ⎡ 0 1 0 0 ⎤
⎢ ⎥ ⎢ K BL KL BL ⎥ ⎡θ ⎤ ⎡ 0 ⎤
⎢ dω L ⎥ ⎢ − L − ⎥⎢ L ⎥ ⎢ 0 ⎥
⎢ dt ⎥ ⎢ J L JL JL JL ⎥ ⎢ω L ⎥ ⎢ ⎥
⎢ dθ ⎥ = ⎢ 0 ⎥ + ⎢ 0 ⎥ ea
⎥ ⎢⎢ m ⎥⎥ ⎢ K ⎥
0 0 1 θ
⎢ m⎥ ⎢
B + Bl K i K b ⎥ ⎣ω m ⎦ ⎢
a ⎥
⎢ dt ⎥ ⎢ K L BL KL
⎢ dω m ⎥ ⎢ J − − m − ⎥ ⎢
⎣ a m ⎥⎦
R J
⎢ ⎥ ⎣ m Jm Jm Jm J m Ra ⎦
⎣ dt ⎦
State Diagram:
Transfer Functions:
Ωm (s)
=
( 2
)
K i s + BL s + K L / Ra
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 2
Ea ( s )
Ω L (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 2
Ea ( s )
9‐128
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Ωm (s)
=
(
133.33 s + 10 s + 3000
2
) =
(
133.33 s + 10 s + 3000
2
)
Ea ( s ) s + 318.15 s + 60694.13s + 58240
3 2
( s + 0.9644 )( s + 158.59 + j187.71)( s + 158.59 − j187.71)
⎛ KI ⎞
Ω L (s)
1333.33 K P ⎜ s + ⎟ ( s + 300 )
G(s) = =
⎝ KP ⎠
E (s) s ( s + 0.9644 ) ( s + 317.186 s + 60388.23
2
)
1333.33 × 300 K I
K v = lim sG ( s ) = = 6.87 K I = 100 Thus K I = 14.56
s→ 0 0.9644 × 60388.23
With K I = 14.56 , we study the effects of varying K P . The following results are obtained.
KP tr ts Max Overshoot
17 0.01113 0.01515 0
16 0.01184 0.01515 0
15 0.01303 0.01768 0
With K I = 14.56 and K P ranging from 15 to 17, the design specifications are satisfied.
9‐129
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step Response:
9‐130
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The following results are obtained by setting K I = 14.56 and varying the value of K P .
KP PM GM Mr BW Max Overshoot tr ts
From these results we see that the phase margin is at a maximum of 83.29 degrees when K P = 6 .
However, the maximum overshoot of the unit‐step response is 2.7%, and M r is slightly greater than
one. In part (b), the optimal value of K P from the standpoint of minimum value of the maximum
overshoot is between 15 and 17. Thus, the phase margin criterion is not a good indicator in the present
case.
9‐131
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Gp (s) =
K Θm (s)
=
(
100 K s + 10 s + 100
2
) =
(10, 000 s + 10 s + 100
2
)
Tm ( s ) (
s s + 20 s
3 2
+ 2100 s + 10, 000 ) s ( s + 4.937 ) ( s
2
+ 15.06 s + 2025.6 )
The unit‐step response is plotted as shown below. The attributes of the response are:
The complex zeros of the notch controller are to cancel the complex poles of the process transfer
function. Thus
Gc ( s ) =
2
s + 15.06 s + 2025.6
and G ( s ) = G ( s )G ( s ) =
(
10, 000 s + 10 s + 100
2
)
2
s ( s + 4.937 ) ( s )
c p
s + 90ζ p s + 2025.6 + 90ζ p s + 2025.6
2
The following results are obtained for the unit‐step response when various values of ζ p are used.
The maximum overshoot is at a minimum of 4.1% when ζ p = 1.222 . The unit‐step response is
(%)
9‐132
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
1.000 90 9.8
Unit‐step Response
9‐133
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
G ( s) =
(
10000 s + 10 s + 100
2
)
s ( s + 4.937 ) ( s + 15.06 s + 2025.6 )
2
The Bode plot of G ( jω ) is constructed in the following. We see that the peak value of G ( jω ) is
approximately 22 dB. Thus, the notch controller should provide an attentuation of −22 dB or 0.0794
ζz 0.167
Gc ( j 45) = = = 0.0794 Thus ζ p = 2.1024
ζp ζp
Gc ( s ) =
2
s + 15.06 s + 2025.6
G(s) =
(
10, 000 s + 10 s + 100
2
)
s ( s + 4.937 ) ( s )
2
s + 189.216 s + 2025.6 + 189.22 s + 2025.6
2
Bode Plots
9‐134
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐135
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
500 ( s + 10 )
Gp ( s) =
(
s s + 10 s + 1000
2
)
The Bode plot is constructed below. The frequency‐domain attributes of the uncompensated
system are:
For the uncompensated process, the complex poles have the following constants:
ω n = 1000 = 316
. rad / sec 2ζω n = 10 Thus ζ = 0.158
2 2
s + 2ζ zω n s + ω n
Gc ( s ) = 2 2
s + 2ζ p s + ω n
From the Bode plot, we see that to bring down the peak resonance of G ( jω n ) in order
to smooth out the magnitude curve, the notch controller should provide approximately
9‐136
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
−26
ζz 0.158
= 10 20
= 0.05 Thus ζp = = 31525
.
ζp 0.05
2
s + 10 s + 1000 500 ( s + 10 )
Gc ( s ) = G ( s ) = Gc ( s )G p ( s ) =
2
s + 199.08 s + 1000 (
s s + 199.08s + 1000
2
)
Bode Plots
9‐137
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Step Responses
9‐138
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
500 ( s + 10 )
G ( s ) = Gc ( s )G p ( s ) =
(
s s + 63.2ζ p s + 1000
2
)
The following attributes of the unit‐step response are obtained by varying the value of ζ p .
When ζ p = 2.5 the maximum overshoot is 0.9%, the rise time is 0.3879 sec and the setting
time is 0.4840 sec. These performance attributes are within the required specifications.
9‐139
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Gc ( s ) =
(
20, 000 s + 10 s + 50
2
)
( s + 1000 ) 2
G ( s ) = Gc ( s )G p ( s ) =
(
20, 000 K s + 10 s + 50
2
)
(
s s + 10 s + 100
2
) ( s + 1000 ) 2
6
10 K
For Gcf ( s ) = 1, K v = lim sG ( s ) = 8
= 50 Thus the nominal K = 5000
s→ 0 10
For ± 20% variation in K, K min = 4000 and K max = 6000. To cancel the complex closed‐loop poles,
we let
50 ( s + 1)
Gcf ( s ) = where the (s + 1) term is added to reduce the rise time.
s + 10 s + 50
2
10 K ( s + 1)
6
Y (s)
=
R(s) (
s s + 10 s + 100
2
)( s + 1000 ) + 20, 000 K ( s
2 2
+ 10 s + 50 )
Characteristic Equation:
5 4 3 7 2 8 9
K = 4000: s + 2010 s + 1,020,100 s + 9.02 × 10 s + 9 × 10 + 4 × 10 = 0
9‐140
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
5 4 3 8 2 9 9
K = 5000: s + 2010 s + 1,020100 s + 11
. × 10 s + 11
. × 10 s + 5 × 10 = 0
5 4 3 8 2 9 9
K = 6000 s + 2010 s + 1,020,100 s + 13
. × 10 s + 13
. × 10 s + 6 × 10 = 0
Thus all the required specifications stay within the required tolerances when the value of K varies by
Unit‐step Responses
9‐141
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Gc ( s ) =
(
200 s + 10 s + 50
2
)
( s + 100 ) 2
G ( s ) = Gc ( s )G p ( s ) =
(
200, 000 K s + 10 s + 50
2
)
s ( s + a )( s + 100 )
2
For a = 10,
7
10 K
K v = lim sG ( s ) = 5
= 100 K = 100 Thus K =1
s→ 0 10
Characteristic Equations: (K = 1)
4 3 5 2 6 7
a = 10: s + 210 s + 2.12 × 10 s + 2.1 × 10 s + 10 = 0
4 3 5 2 6 7
a = 8: s + 208 s + 2.116 × 10 s + 2.08 × 10 s + 10 = 0
4 3 5 6 7
a = 12: s + 212 s + 2.124 × 10 + 2.12 × 10 s + 10 = 0
9‐142
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step Responses: All three responses for a = 8, a = 10, and 12 are similar.
Y ( s) K K
G (s) = = K v = lim sG ( s ) = =1
E (s) s ( s + 1)( s + 10 ) + KK t s s →0 10 + KK t
K ( s + 1)
For root loci, Geq ( s ) =
s
2
( s + 11)
9‐143
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The root loci show that a relative damping ratio of 0.707 can be realized by two values of K. K = 22
9‐144
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
10 K 10 K K
G(s) = K v = lim sG ( s ) = = =1 Thus Kt = K − 1
s ( s + 1)( s + 10 ) + 10 K t s s→ 0 10 + 10 Kt 1 + Kt
s ( s + 1)( s + 10 ) + 10 K t + 10 K = s + 11s + 10 Ks + 10 K = 0
3 2
Characteristic Equation:
3 2
s + 11s + 10.046 s + 4.6 = 0
K (1 + aTs ) 1
G(s) = K v = lim sG ( s ) = = 100 Thus Kt = 0.01
(
s ( (1 + Ts ) s + 10 s + KK t
2
) s→ 0 Kt
Let T = 0.01 and a = 100. The characteristic equation of the system is written:
4 3 2
(
s + 110 s + 1000 s + K 0.001s + 101s + 100 = 0
2
)
To construct the root contours as K varies, we form the following equivalent forward‐path transfer
function:
Geq ( s ) =
(
0.001K s + 101, 000 s + 100, 000
2
) = 0.001K ( s + 1)( s + 50499 )
s
2
( s + 10 )( s + 100 ) s
2
( s + 10 )( s + 100 )
9‐145
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
From the root contour diagram we see that two sets of solutions exist for a damping ratio of 0.707.
These are:
The unit‐step responses of the system for K = 20 and 44.6 are shown below.
Unit‐step Responses:
9‐146
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
K s KK1 K i N
G(s) =
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) =
(
s s + 3408.33s + 1, 204, 000 + 1.5 × 10 KK t
2 8
)
15 K
Ramp Error Constant: K v = lim sG ( s ) = = 100
s→ 0 1.204 + 150 KKt
9‐147
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
1.5 × 10 K
7
G(s) =
(
s s + 3408.33s + 150, 000 K
2
)
3 7
Characteristic Equation: s + 3408.33 s + 150,000 Ks + 15
. × 10 K = 0
−0.1065, − 1651
. + j165
. , − 1651
. − j165
. (ζ ≅ 0.707 for the complex roots)
5.8 × 10
8
G(s) =
(
s s + 3408.33s + 5.8 × 10
2 6
)
Unit‐step Response
9‐148
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step response attributes: Maximum overshoot = 0 Rise time = 0.0208 sec Settling time = 0.0283 sec
Y (s) 2 (1 + 0.1s )
== Gc ( s ) = 1
TL ( s ) r =0
s (1 + 0.01s )(1 + 0.1s ) + 20 K
For TL ( s ) = 1 / s
1
lim y ( t ) = lim sY ( s ) = ≤ 0.01 Thus K ≥ 10
t →∞ s→ 0 10 K
9‐149
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
200
G(s) =
s (1 + 0.01s )(1 + 0.1s )
The Bode diagram of G ( jω ) is shown below. The system is unstable. The attributes of the
1 + aTs 1 + 0.0487 s
Gc ( s ) = =
1 + Ts 1 + 0.00348 s
The Bode diagram of the phase‐lead compensated system is shown below. The performance
200 (1 + 0.0487 s )
Starting with the forward‐path transfer function G ( s ) =
s (1 + 0.1s )(1 + 0.01s )(1 + 0.00348 s )
The problem becomes that of designing a single‐stage phase‐lead controller. For a phase margin
or 55 degrees, a = 7.385 and T = 0.00263. The transfer function of the second‐stage controller is
1 + aTs 1 + 0.01845 s
Gc1 ( s ) = =
1 + Ts 1 + 0.00263 s
9‐150
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
The Bode diagram is shown on the following page. The following frequency‐response attributes
are obtained:
9‐151
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐152
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
With a single‐stage phase‐lead controller, the maximum phase margin that can be realized affectively
is 12 degrees. Setting the desired PM at 11 deg, we have the parameters of the single‐stage phase‐
lead controller as a = 128.2 and T1 = 0.00472 . The transfer function of the single‐stage controller
1 + aT1 s 1 + 0.6057 s
is Gc1 ( s ) = =
1 + T1 s 1 + 0.00472 s
Starting with the single‐stage‐controller compensated system, the second stage of the phase‐lead
controller is designed to realize a phase margin of 60 degrees. The parameters of the second‐stage
1 + bT2 s 1 + 0.106 s
Gc 2 ( s ) = =
1 + T2 s 1 + 0.0066 s
1 + 0.6057 s 1 + 0.106 s
Gc ( s ) = Gc1 ( s )Gc 2 ( s ) =
1 + 0.00472 s 1 + 0.0066 s
9‐153
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
With a single‐stage phase‐lag controller, for a phase margin of 60 degrees, a = 0.0108 and T = 1483.8.
1 + 16.08 s
Gc ( s ) =
1 + 1483.8 s
G ( s ) = Gc ( s )G p ( s ) =
β γ
6.5 s + 0.0662
sβ
s + 2γ
βs + 5γβs + 0.000674γ
From the Bode plot, the following frequency‐response attributes are obtained:
The unit‐step response has a long rise time and settling time. The attributes are:
For the lead‐lag controller, we first design the phase‐lag portion for a 40‐degree phase margin.
The result is a = 0.0238 and T1 = 350 . The transfer function of the controller is
1 + 8.333 s
Gc1 ( s ) =
1 + 350 s
The phase‐lead portion is designed to yield a total phase margin of 60 degrees. The result is
1 + 1076
. s
Gc 2 ( s ) =
1 + 0.2245s
9‐154
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
Unit‐step Responses.
9‐64 (a) The uncompensated system has the following frequency‐domain attributes:
The Bode plot of G p ( jω ) shows that the phase curve drops off sharply, so that the phase‐lead
controller would not be very effective. Consider a single‐stage phase‐lag controller. The phase
9‐155
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
margin of 60 degrees is realized if the gain crossover is moved from 2.8 rad/sec to 0.8 rad/sec.
The attenuation of the phase‐lag controller at high frequencies is approximately −15 dB.
The upper corner frequency of the phase‐lag controller is chosen to be at 1/aT = 0.064 rad/sec.
Thus, 1/T = 0.00854 or T = 117.13. The transfer function of the phase‐lag controller is
1 + 15.63 s
Gc ( s ) =
1 + 117.13
From the Bode plot of G ( jω ) , the following frequency‐domain attributes are obtained:
Bode Plots
9‐156
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐157
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐64 (b) Using the exact expression of the time delay, the same design holds. The time and frequency domain
10
Forward‐path Transfer Function: G(s) =
(1 + s )(1 + 10 s )(1 + 2 s )(1 + 5s )
The Bode plot of G ( jω ) is shown below.
10 ( K p s + K I )
Forward‐path Transfer Function: G (s) =
s (1 + s )(1 + 10 s )(1 + 2 s )(1 + 5 s )
0.1 (1 + 100 K P s )
G ( s) =
s (1 + s )(1 + 10 s )(1 + 2 s )(1 + 5 s )
KP PM GM Mr BW
9‐158
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
0.1 (1 + 15 s )
G ( s) =
s (1 + s )(1 + 10 s )(1 + 5 s )(1 + 2 s )
Bode Plots
9‐159
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
9‐160
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
By setting K I = 0.01 and varying K P we found that the value of K P that minimizes the maximum
overshoot of the unit‐step response is also 0.15. Thus, the unit‐step response obtained in part (b)
Y (s) 1
=
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3 2
R(s)
For zero steady‐state error to a step input, k1 = 1. For the complex roots to be located at −1 +j and −1 − j,
2
we divide the characteristic polynomial by s + 2 s + 2 and solve for zero remainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2 3 2
s + + 2s
3 2
2s
(2 + k ) s
3
2
+ (1 + k 2 + k 3 ) s + 1
(2 + k ) s
3
2
+ ( 4 + 2 k3 ) s + 4 + 2 k3
( -3+k 2
− k3 ) s − 3 − 2k3
−3 + k 2 − k3 = 0 Thus k 2 = 15
.
The third root is at −0.5. Not all the roots can be arbitrarily assigned, due to the requirement on the
steady‐state error.
9‐161
Automatic Control Systems, 9th Edition Chapter 9 Solutions Golnaraghi, Kuo
X 1 (s) k3
G ( s) = =
s ⎡⎣ s + ( 4 + k 2 ) s + 3 + k1 + k 2 ⎤⎦
2
E (s)
Since the system is type 1, the steady‐state error due to a step input is zero for all values of k1 , k 2 , and k3
that correspond to a stable system. The characteristic equation of the closed‐loop system is
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k 3 = 0
3 2
3 2
s + 12 s + 22 s + 20 = 0
4 + k 2 = 12 Thus k2 = 8
3 + k1 + k 2 = 22 Thus k1 = 11
k3 = 20 Thus k3 = 20
Y (s) Gc ( s ) 20 20 ( s + 1)( s + 3 )
= = Thus Gc ( s ) =
E ( s) ( s + 1)( s + 3 ) (
s s + 12 s + 22
2
) (
s s + 12 s + 22
2
)
9‐162
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Chapter 10_________________________________________________________________________
dy
10-1) (a) State variables: x1 = y, x 2 =
dt
⎡ dx1 ⎤
⎢ dt ⎥ ⎡ 0 1 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤ ⎡ x1 ⎤
⎢ ⎥=⎢ ⎥ ⎢ x ⎥ + ⎢5 ⎥ r y = [1 0] ⎢ ⎥ = x1
⎢ 2⎥
dx ⎣ − 1 − 4 ⎦⎣ 2⎦ ⎣ ⎦ ⎣ x2 ⎦
⎢⎣ dt ⎥⎦
2
dy d y
(b) State variables: x1 = y, x 2 = , x3 = 2
dt dt
⎡ dx1 ⎤
⎢ dt ⎥
⎢ ⎥ ⎡0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤ ⎡ x1 ⎤
⎢ ⎥= 0 ⎢ 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥ r y = [1 0 0 ] ⎢ x2 ⎥ = x1
dx 2
0
⎢ dt ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ dx ⎥ ⎣ ⎢ −1 −2.5 − 1.5 ⎥⎦ ⎢⎣ x3 ⎥⎦ ⎢⎣ 0.5⎥⎦ ⎢⎣ x3 ⎥⎦
⎢ 3⎥
⎣⎢ dt ⎦⎥
2
dx1 dy d y
(c) State variables: x1 = ∫0 y (τ ) dτ , x2 =
t
, x3 = , x4 = 2
dt dt dt
⎡ x&1 ⎤ ⎡ 0 1 0 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤ ⎡ x1 ⎤
⎢ x& ⎥ ⎢ 0 0 1 0 ⎥ ⎢ x ⎥ ⎢ 0 ⎥ ⎢x ⎥
⎢ 2⎥ = ⎢ ⎥⎢ 2⎥+ ⎢ ⎥r y = [1 0 0 0 ] ⎢ ⎥ = x1
2
⎢ x&3 ⎥ ⎢ 0 0 0 1 ⎥ ⎢ x3 ⎥ ⎢ 0 ⎥ ⎢ x3 ⎥
⎢& ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ x4 ⎦ ⎣ −1 −1 −3 −5⎦ ⎣ x4 ⎦ ⎣1 ⎦ ⎣ x4 ⎦
2 3
dy d y d y
(d) State variables: x1 = y, x 2 = , x3 = 2
, x4 = 3
dt dt dt
⎡ x&1 ⎤ ⎡ 0 1 0 0 ⎤ ⎡ x1 ⎤⎡0 ⎤ ⎡ x1 ⎤
⎢ x& ⎥ ⎢ 0 0 1 0 ⎥ ⎢ x ⎥ ⎢0 ⎥ ⎢x ⎥
⎢ 2⎥ = ⎢ ⎥⎢ 2⎥+ ⎢ ⎥r y = [1 0 0 0 ] ⎢ ⎥ = x1
2
⎢ x&3 ⎥ ⎢ 0 0 0 1 ⎥ ⎢ x3 ⎥ ⎢ 0 ⎥ ⎢ x3 ⎥
⎢& ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ x4 ⎦ ⎣ −1 −2.5 0 −1.5 ⎦ ⎣ x4 ⎦ ⎣ 1 ⎦ ⎣ x4 ⎦
10‐1
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10-2) a)
Ö 3 2 3
Ö 3
Let
3 3
Then Ö
2 3 2 3
If and , then
3
2 3
or
3 1 1
2 0 3
1 0
b)
Ö 6 11 6 6
Ö 6
Let X s , therefore 11
and Let , then 6 6 . As a result:
6
11
6 6
or
6
11
6 6
If , , then
6 1 0 0
11 0 1 0 u
6 0 0 6
10‐2
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
1 0 0
c)
Ö 7 12 2
Ö 7
Let , then 12 2 . As a result:
7
12 2
Let and , then
7 1 1
12 0 2
1 0
d)
Ö 4 39 108 11
Ö 4
Let X s , then
39
Now, let , therefore
sX s 39Y s X s U s
11 35 250
sX s 108Y s U s
s s
Let X s U s , then 11
Let X s , or 35
Let , then 250 . If , then:
4
39
108
11
35 36
250
10‐3
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
or
4 1 0 0 0 0 0
39 0 1 0 0 0 1
108 0 0 1 0 0 0
0 0 0 0 1 0 11
0 0 0 0 0 1 35
0 0 0 0 0 0 250
3
3 2
x1 ( t ) = y ( t )
dy ( t )
x2 ( t ) =
dt
dx ( t )
= Ax ( t ) + Bu ( t )
dt
where x(t) is the 2 × 1 state vector, u(t) the scalar input, and
⎡0 1⎤ ⎡ 3⎤
A=⎢ ⎥ B=⎢ ⎥
⎣ −2 −3⎦ ⎣1⎦ (Also see section 2‐3‐3 or 10‐6)
C = [1 0] D=0
G ( s ) = C ( sI − A ) B + D
−1
10‐4
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
MATLAB
>> syms s
>> A=[0,1;-2,-3]
A=
0 1
-2 -3
>> B=[0;1]
B=
>> C=[3,1]
C=
3 1
>> s*eye(2)-A
ans =
[ s, -1]
[ 2, s+3]
>> inv(ans)
ans =
[ (s+3)/(s^2+3*s+2), 1/(s^2+3*s+2)]
[ -2/(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)
10‐5
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
1) Activate MATLAB
2) Go to the folder containing ACSYS
3) Type in Acsys
4) Click the “Transfer Function Symbolic” pushbutton
5) Enter the transfer function
6) Use the “State Space” option as shown below:
You get the next window. Enter the A,B,C, and D values.
10‐6
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
-------------------------------------------------------------
-------------------------------------------------------------
Inputs:
A=| 0 1| B=|0|
C=|3 1| D=|0|
Dx = | 0 1|x + |0|u
10‐7
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
y = |3 1|x + |0|u
Determinant of (s*I-A):
s +3s+2
s +3s+2
-1
-2
[ s+3 1 ]
[ ------------ ------------]
[ 2 2 ]
[s +3s+2 s + 3 s + 2]
[ ]
[ 2 s ]
[- ------------ ------------]
[ 2 2 ]
[ s +3s+2 s + 3 s + 2]
[ ]
s+3
------------
s +3s+2
[ 1 ]
[---------------]
[(s + 2) (s + 1)]
[ ]
[ s ]
[---------------]
[(s + 2) (s + 1)]
[ exp(-t) - exp(-2 t) ]
[ ]
Output Y(s):
s+3
---------------
(s + 2) (s + 1)
2 exp(-t) - exp(-2 t)
10‐9
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10-4) a) x Î 2 ,Î 2
Î Î
.
Î 0.5 Î 0.5
Î Î
As a result:
2 0 0 1 1
0.5 0 0 0 0
0 1 0 0 0
1 0 1 0 0
1 1 1 0
b) Î 2 Î 2
Î 4 3 Î 4 3 2 3
Î 6 Î
As a result:
2 0 0 1
2 3 0 1
1 1 6 0
1 0 1
c) Î 5 Î 5
Î 2 Î 2
Î 4 Î 4
10‐10
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Î 2 Î 2
As a result:
5 0 0 0 1
1 2 1 0 1 u
0 1 4 0 0
0 0 2 0 0
0 1 0 1
We multiply both sides of the equation by ( sI − A ) , and we get I = I. Taking the inverse Laplace transform
10-6)
0 1
10‐11
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
‐2 ‐1
Characteristic Polynomial:
ans =
s^2+s+2
Abar =
‐0.5000 + 1.3229i 0
0 ‐0.5000 ‐ 1.3229i
T=
0.8165 0.8165
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))]
% use vpa to convert to digital format. Use digit(#) to adjust level of precision if necessary.
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),
10‐12
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
.1428571*exp(‐.5000000*t)*(7.*cos(1.322876*t)‐2.645751*sin(1.322876*t))]
ANALYTICAL SOLUTION:
2
Characteristic equation: Δ( s ) = sI − A = s + s + 2 = 0
Alternatively
10‐13
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Amat =
0 1
‐2 ‐1
10‐14
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Characteristic Polynomial:
ans =
s^2+s+2
Abar =
‐0.5000 + 1.3229i 0
0 ‐0.5000 ‐ 1.3229i
T=
0.8165 0.8165
⎡ 1.333e − t − 0.333e −4 t −t
0.333e − 0.333e ⎤−4 t
φ (t ) = ⎢ −t −4 t −t ⎥ −4 t
⎣ −1.333e − 1.333e −0.333e + 1.333e ⎦
⎡ e −3t 0 ⎤
φ (t ) = ⎢ −3 t ⎥
⎣0 e ⎦
⎡ e3t 0 ⎤
φ (t ) = ⎢ −3 t ⎥
⎣0 e ⎦
10‐15
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ cos 2t sin 2t ⎤
φ (t ) = ⎢ ⎥
⎣ − sin 2t cos 2t ⎦
⎡e − t 0 0 ⎤
⎢ ⎥
φ (t ) = 0
−2 t −2 t
e te
⎢ ⎥
⎢⎣ 0 0 e ⎥⎦
−2 t
⎡ e −5 t te
−5 t
0 ⎤
⎢ ⎥
φ (t ) = 0
−5 t −5 t
e te
⎢ ⎥
⎢⎣ 0 0 e ⎥⎦
−5 t
10-7)In MATLAB USE ilaplace to find L−1 ⎡⎣( sI − A ) BR ( s ) ⎤⎦ see previous problem for codes.
−1
(a)
⎧ 1 ⎡ s + 1 1 ⎤ ⎡ 0 1 ⎤ ⎡1⎤ 1 ⎫
∫ φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR ( s ) ⎤⎦ = L ⎨
t −1
−1 −1
⎢ ⎥⎢ ⎥⎢ ⎥ ⎬
0
⎩ Δ ( s ) ⎣ −2 s ⎦ ⎣1 0 ⎦ ⎣1⎦ s ⎭
⎡ s+2 ⎤
⎢ s ( s2 + s + 2) ⎥
⎥=⎡
1 + 0.378 sin 1.323t − cos1.323t ⎤
=L ⎢
−1
t≥0
⎢ s−2 ⎥ ⎢⎣ −1 + 1.134 sin 1.323t + cos1.323t ⎥⎦
⎢ s s2 + s + 2 ⎥
⎣ ( )⎦
10‐16
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
(b)
⎧ 1 ⎡ s + 5 1 ⎤ ⎡1⎤ ⎡1⎤ 1 ⎫
∫ φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR ( s ) ⎤⎦ = L ⎨
t −1
−1 −1
⎢ ⎥⎢ ⎥⎢ ⎥ ⎬
0
⎩ Δ ( s ) ⎣ −4 s ⎦ ⎣1⎦ ⎣1⎦ s ⎭
⎡ s+6 ⎤ ⎡ 1.5 − 1.67 + 0.167 ⎤
⎢ s ( s + 1)( s + 2) ⎥ ⎢ ⎥ ⎡ 1.5 − 1.67e − t + 0.167e −4 t ⎤
=L ⎢
−1
⎥ = L−1 ⎢ s s + 1 s + 4 ⎥ = ⎢ ⎥ t≥0
⎢ s−4 ⎥ ⎢ −1 + 1.67 − 0.667 ⎥ ⎣ −1 + 1.67e − 0.667e − 4t ⎦
−t
⎢⎣ s ( s + 1)( s + 4) ⎥⎦ ⎢⎣ s s + 1 s + 4 ⎥⎦
(c)
⎧⎡ 1 0
⎤ ⎫
⎪⎢
−1 ⎪ s + 3
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR( s) ⎤⎦ = L ⎨ ⎢
t −1
−1
⎥ ⎬
⎪⎢ 0 1 ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
⎪⎩⎣⎢ s + 3 ⎦⎥ ⎭⎪
⎡ 0 ⎤
=L ⎢
−1 ⎥=⎡ 0 ⎤
t≥0
⎢
1 ⎢ −3 t ⎥
⎥ 0.333 (1 − e ) ⎦
⎢⎣ s ( s + 3 ) ⎥⎦ ⎣
(d)
⎧⎡ 1 0
⎤ ⎫
⎪⎢
−1 ⎪ s − 3
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 ⎡ ( ) ⎤
t −1
φ τ τ τ L L
−1
− = ⎣ − ⎦ = ⎨⎢ ⎥ ⎬
1 ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
( t ) B r ( ) d s I A B R ( s )
⎪⎢ 0
⎪⎢
⎩⎣ s + 3 ⎦⎥ ⎭⎪
⎡ 0 ⎤
=L ⎢
−1 ⎥=⎡ 0 ⎤
t≥0
⎥ ⎣ 0.333 (1 − e −3t ) ⎥⎦
⎢
1
⎢
⎣⎢ s ( s + 3 ) ⎦⎥
(e)
⎧⎡ 1 2
⎤ ⎫
⎪⎢ 2
−1 ⎪ s + 4
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 ⎡ ( ) ⎤
t −1
φ τ τ τ
−1
− = L ⎣ − ⎦ = L ⎨⎢ ⎥ ⎬
s ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
( t ) B r ( ) d s I A B R ( s )
⎪ ⎢ −2
⎪⎢ s 2 + 4
⎩⎣ s + 4 ⎦⎥
2
⎪⎭
⎡ 2 ⎤
⎢ s ⎥ ⎡ 2 ⎤
=L ⎢ ⎥=⎢
−1
t ≥0
⎥
⎢ 1 ⎥ ⎣ 0.5 sin 2t ⎦
⎢⎣ ( s 2 + 4 ) ⎥⎦
(f)
10‐17
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎧⎡ 1 ⎤ ⎫
⎪⎢ 0 0 ⎥ ⎪
⎪⎢ s + 1 ⎥ ⎡0 ⎤ ⎪
−1 ⎪ ⎢ 1 1 ⎥ ⎢1 ⎥ 1 ⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR( s ) ⎤⎦ = L ⎨ ⎢ 0
t −1
−1
2 ⎥ ⎬
⎪⎢ s+2 ( s + 2) ⎥ ⎢ ⎥ s ⎪
⎪⎢ ⎣⎢ 0 ⎦⎥ ⎪
1 ⎥
⎪ 0 ⎪
⎩⎣⎢ ⎥
0
s+2 ⎦ ⎭
⎡ 0 ⎤
⎢ ⎥ ⎡ 0 ⎤
=L ⎢
−1 1 ⎢ −2 t ⎥
⎥ = 0.5 (1 − e ) t≥0
⎢ s ( s + 2) ⎥ ⎢ ⎥
⎢ ⎥ ⎣⎢ 0 ⎦⎥
⎣ 0 ⎦
(g)
⎧⎡ 1 1
0
⎤ ⎫
⎪⎢ s + 5 ( s + 5) 2 ⎥ ⎪
⎪⎢ ⎥ ⎡0⎤ ⎪
−1 ⎪⎢ 1 1 ⎥ ⎢ ⎥ 1⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR( s ) ⎤⎦ = L ⎨ ⎢ 0
t −1
−1
2 ⎥
0 ⎬
⎪⎢ s+5 ( s + 5) ⎥ ⎢ ⎥ s ⎪
⎢⎣1 ⎥⎦
⎪⎢ 1 ⎥ ⎪
⎪⎢ 0 0 ⎥ ⎪
⎩⎣ s+5 ⎦ ⎭
⎡ ⎤ ⎡ ⎤
⎢ ⎥ ⎢ ⎥
⎢ 0
⎥ ⎢
0
⎥ ⎡ 0 ⎤
−1
⎢ 1 ⎥ −1 ⎢ 0.04 0.04 0.2 ⎥ ⎢ −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) ⎥ ⎢ ⎥ ⎢⎣ 0.2 − 0.2e
−5 t
⎥⎦
⎢ 1 ⎥ ⎢ 0.2 0.2 ⎥
⎢ ⎥ ⎢⎣ − ⎥⎦
⎢⎣ s ( s + 5 ) ⎥⎦ s s+5
10-8) State transition equation: x(t ) = φ (t ) x(t ) + ∫0 φ (t − τ )Br (τ ) dτ φ (t ) for each part is given in Problem 5‐3.
t
(a)
10‐18
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎧ 1 ⎡ s + 1 1 ⎤ ⎡ 0 1 ⎤ ⎡1⎤ 1 ⎫
∫ φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR ( s ) ⎤⎦ = L ⎨
t −1
−1 −1
⎢ ⎥⎢ ⎥⎢ ⎥ ⎬
0
⎩ Δ ( s ) ⎣ −2 s ⎦ ⎣1 0 ⎦ ⎣1⎦ s ⎭
⎡ s+2 ⎤
⎢ s ( s + s + 2) ⎥
2
⎥=⎡
1 + 0.378 sin 1.323t − cos1.323t ⎤
=L ⎢
−1
t≥0
⎢ s−2 ⎥ ⎣ −1 + 1.134 sin1.323t + cos1.323t ⎥⎦
⎢
⎢ s s2 + s + 2 ⎥
⎣ ( )⎦
(b)
⎧ 1 ⎡ s + 5 1 ⎤ ⎡1⎤ ⎡1⎤ 1 ⎫
∫ φ (t − τ )Br (τ ) dτ = L ⎡⎣( sI − A ) BR ( s ) ⎤⎦ = L ⎨
t −1
−1 −1
⎢ ⎥⎢ ⎥⎢ ⎥ ⎬
0
⎩ Δ ( s ) ⎣ −4 s ⎦ ⎣1⎦ ⎣1⎦ s ⎭
⎡ s+6 ⎤ ⎡ 1.5 − 1.67 + 0.167 ⎤
⎢ s ( s + 1)( s + 2) ⎥ ⎢ s s + 1 s + 4 ⎥ ⎡ 1.5 − 1.67e − t + 0.167e −4 t ⎤
=L ⎢ ⎥=L ⎢
−1 −1
⎥=⎢ ⎥ t≥0
⎢ s−4 ⎥ ⎢ −1 + 1.67 − 0.667 ⎥ ⎣ −1 + 1.67e − 0.667e − 4t ⎦
−t
⎢⎣ s ( s + 1)( s + 4) ⎥⎦ ⎣⎢ s s + 1 s + 4 ⎦⎥
(c)
⎧⎡ 1 0
⎤ ⎫
⎪⎢
−1 ⎪ s + 3
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 ⎡ ( ) ⎤
t −1
φ τ τ τ L L
−1
− = ⎣ − ⎦ = ⎨⎢ ⎥ ⎬
1 ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
( t ) B r ( ) d s I A B R ( s )
⎪⎢ 0
⎪⎢
⎩⎣ s + 3 ⎦⎥ ⎭⎪
⎡ 0 ⎤
=L ⎢
−1 ⎥=⎡ 0 ⎤
t≥0
⎢
1 ⎢ −3 t ⎥
⎥ ⎣ 0.333 (1 − e ) ⎦
⎣⎢ s ( s + 3 ) ⎦⎥
(d)
⎧⎡ 1 0
⎤ ⎫
⎪⎢
−1 ⎪ s − 3
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎣⎡( sI − A ) BR( s ) ⎦⎤ = L ⎨ ⎢
t −1
−1
⎥ ⎬
⎪⎢ 0 1 ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
⎪⎢
⎩⎣ s + 3 ⎦⎥ ⎭⎪
⎡ 0 ⎤
=L ⎢
−1 ⎥=⎡ 0 ⎤
t≥0
⎢
1 ⎢ −3 t ⎥
⎥ 0.333 (1 − e ) ⎦
⎢⎣ s ( s + 3 ) ⎥⎦ ⎣
(e)
10‐19
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎧⎡ 1 2
⎤ ⎫
⎪⎢ 2
−1 ⎪ s + 4
⎥ ⎡ 0 ⎤ 1 ⎪⎪
∫0 ⎡ ( ) ⎤
t −1
φ τ τ τ
−1
− = L ⎣ − ⎦ = L ⎨⎢ ⎥ ⎬
s ⎥ ⎢⎣ 1 ⎥⎦ s ⎪
( t ) B r ( ) d s I A B R ( s )
⎪ ⎢ −2
⎪⎢ s 2 + 4
⎩⎣ s + 4 ⎦⎥
2
⎪⎭
⎡ 2 ⎤
⎢ s ⎥ ⎡ 2 ⎤
=L ⎢ ⎥=⎢
−1
t ≥0
⎥
⎢ 1 ⎥ ⎣ 0.5 sin 2t ⎦
⎢⎣ ( s + 4 ) ⎥⎦
2
(f)
⎧⎡ 1 ⎤ ⎫
⎪⎢ 0 0 ⎥ ⎪
⎪⎢ s + 1 ⎥ ⎡0 ⎤ ⎪
−1 ⎪ ⎢ 1 1 ⎥ ⎢1 ⎥ 1 ⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR( s ) ⎤⎦ = L ⎨ ⎢ 0
t −1
−1
2 ⎥ ⎬
⎪⎢ s+2 ( s + 2) ⎥ ⎢ ⎥ s ⎪
⎢⎣ 0 ⎥⎦
⎪⎢ 1 ⎥ ⎪
⎪ 0 ⎪
⎩⎣⎢ ⎥
0
s+2 ⎦ ⎭
⎡ 0 ⎤
⎢ ⎥ ⎡ 0 ⎤
=L
−1
⎢ 1
⎥ ⎢ −2 t ⎥
= 0.5 (1 − e ) t≥0
⎢ s ( s + 2) ⎥ ⎢ ⎥
⎢ ⎥ ⎣⎢ 0 ⎥⎦
⎣ 0 ⎦
(g)
⎧⎡ 1 1
0
⎤ ⎫
⎪⎢ s + 5 ( s + 5) 2 ⎥ ⎪
⎪⎢ ⎥ ⎡0⎤ ⎪
−1 ⎪⎢ 1 1 ⎥ ⎢ ⎥ 1⎪
∫0 φ (t − τ )Br (τ )dτ = L ⎡⎣( sI − A ) BR( s ) ⎤⎦ = L ⎨ ⎢ 0
t −1
−1
2 ⎥
0 ⎬
⎪⎢ s+5 ( s + 5) ⎥ ⎢ ⎥ s ⎪
⎪⎢ ⎣⎢1 ⎦⎥ ⎪
1 ⎥
⎪⎢ 0 0 ⎥ ⎪
⎩⎣ s+5 ⎦ ⎭
⎡ ⎤ ⎡ ⎤
⎢ ⎥ ⎢ ⎥
⎢ 0 ⎥ ⎢
0
⎥ ⎡ 0 ⎤
−1
⎢ 1 ⎥ −1 ⎢ 0.04 0.04 0.2 ⎥ ⎢ −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
⎢ 1 ⎥ ⎢ 0.2 0.2 ⎥
⎢ ⎥ ⎢⎣ − ⎥⎦
⎣⎢ s ( s + 5 ) ⎦⎥ s s+5
10‐20
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
−t ⎥
=⎢ ⎥ = φ ( −t )
⎣1 − e e ⎦ ⎣1 − e ⎦
t t
e
⎡e2t −te
2t
t e / 2⎤
2 2t
[φ (t ) ]−1 = ⎢⎢ 0 e
2t
−te
2t ⎥
⎥ = φ ( −t )
⎢⎣ 0 0 e
2t
⎥⎦
1 3 1
10-10) a) Î and
2 3 2
Therefore:
2
2 2 2
b)
0.5
. 1 1
. .
0.5 0.5 0.5
. .
2 0.5 5 0.5
If x 0 0, then
.
0 1 0.5 0.5 – 0.5 0.5
2 2 .
0.5
.
5
.
0.5 0.5 1
and
x .
y t 1 0 x x e sin 0.5t
⎡ s 2 + 3s + 2 1 ⎤ ⎡0⎤
−1
⎡ s −1 0 ⎤ ⎡0 ⎤ s+3 ⎡1⎤
X( s ) = ( sI − A ) BU ( s ) =
−1 1 ⎢
0 s −1 ⎥ ⎢ 0 ⎥ U ( s ) = 1 ⎢ −1 ⎥ ⎢ ⎥
s ( s + 3) s 0 U (s) =
1 ⎢ ⎥
s U (s)
Δ( s) ⎢ ⎥ ⎢ ⎥ Δ(s) ⎢ ⎥⎢ ⎥ Δ(s) ⎢ 2 ⎥
⎣⎢ 1 2 s + 3⎦⎥ ⎣⎢ 1 ⎦⎥ ⎢
⎣ −s ⎥
−2 s − 1 s ⎦ ⎣⎢ 1 ⎦⎥
2
⎣⎢ s ⎦⎥
3 2
Δ( s ) = s + 3 s + 2 s + 1
⎡1⎤
Y ( s) 1 ⎢ ⎥ 1
= C( s ) ( sI − A ) B = [1 0]
−1
0 s = 3
Δ ( s ) ⎢ 2 ⎥ s + 3s + 2 s + 1
2
U (s)
⎣⎢ s ⎦⎥
10‐22
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Amat =
0 1 0
0 0 1
‐1 ‐2 ‐3
10‐23
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Characteristic Polynomial:
ans =
s^3+3*s^2+2*s+1
Abar =
‐2.3247 0 0
0 ‐0.3376 + 0.5623i 0
0 0 ‐0.3376 ‐ 0.5623i
T=
a=
x1 x2 x3
x1 0 1 0
x2 0 0 1
x3 ‐1 ‐2 ‐3
b=
u1
x1 0
x2 0
x3 1
10‐24
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
c=
x1 x2 x3
y1 1 0 0
d=
u1
y1 0
Continuous‐time model.
Characteristic Polynomial:
ans =
s^3+3*s^2+2*s+1
Transfer function:
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^3 + 3 s^2 + 2 s + 1
Zero/pole/gain:
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
⎡ 1 ⎤
1 ⎡s + 1 1 ⎤ ⎡0 ⎤ ⎢ ( s + 1)2 ⎥
X ( s ) = ( sI − A ) B U ( s ) =
−1
= ⎢ ⎥ U (s) Δ( s) = s + 2s + 1
2
Δ ( s ) ⎢⎣ 0 s + 1⎥⎦ ⎢⎣1 ⎥⎦
U ( s )
⎢ 1 ⎥
⎢ ( s + 1) ⎥
⎣ ⎦
⎡ 1 ⎤
Y ( s) ⎢ ( s + 1)2 ⎥ 1 1 s+2
= C( s ) ( sI − A ) B = [1 1] ⎢ ⎥=
−1
+ =
⎢ 1 ⎥ ( s + 1) s + 1 ( s + 1)
2 2
U (s)
⎢⎣ s + 1 ⎥⎦
Δ( s) ⎢
0 s ( s + 2) ) s 0 U ( s ) =
⎥⎢ ⎥ s U (s)
Δ( s) ⎢ 2 ⎥
( 2
)
Δ(s ) = s s + 2s + 1
⎢⎣ 0 −s s ⎥⎦ ⎣⎢1 ⎦⎥
2
⎢⎣ s ⎥⎦
⎡1⎤
s +1
= C( s ) ( sI − A ) B = [1 1 0 ] ⎢ s ⎥ =
Y (s) −1 1
=
U (s) ⎢ 2 ⎥ s ( s + 1) s ( s + 1)
2
⎣⎢ s ⎦⎥
2
dy dx1 dx 2 d y dx 2 dx3
10-12) We write = + = x 2 + x3 = + = − x1 − 2 x 2 − 2 x3 + u
dt dt dt dt dt dt
10‐26
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ dx1 ⎤
⎢ dt ⎥
⎢ ⎥ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
d x ⎢ dy ⎥ ⎢
= = 0 1 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥ u (1)
dt ⎢ dt ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢ 2 ⎥ ⎢⎣ −1 −2 −2 ⎥⎦ ⎢⎣ x3 ⎥⎦ ⎢⎣1 ⎥⎦
⎢d y ⎥
⎣⎢ dt 2 ⎦⎥
⎡ x1 ⎤ ⎡1 0 0 ⎤ ⎡ 1 0 0⎤
x = ⎢ y ⎥ = ⎢1 1 0 ⎥ x x = ⎢ −1 1 0 ⎥ x (2)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ y& ⎦⎥ ⎣⎢ 0 1 1 ⎥⎦ ⎣⎢ 1 −1 1 ⎥⎦
⎡ −1 1 0 ⎤ ⎡0 ⎤
= A 1 x + B 1u = 0 0 1 x = ⎢ 0 ⎥ u
⎢ ⎥
dx
dt ⎢ ⎥ ⎢ ⎥
⎣⎢ −1 0 −2 ⎦⎥ ⎢⎣1 ⎦⎥
(a)
s −2 0
3 2 3 2
sI − A = − 1 s−2 0 = s − 3 s + 2 = s + a2 s + a1 s + a0 a0 = 2, a1 = 0, a2 = −3
1 0 s −1
⎡ a1 a2 1⎤ ⎡ 0 −3 1 ⎤ ⎡0 2 4 ⎤
M = ⎢ a2 0 = ⎢ −3 1 0 ⎥
⎥ S = ⎡⎣ B AB A B ⎤⎦ = ⎢ 1 2 6 ⎥
2
1
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ 1 0 0 ⎦⎥ ⎣⎢ 1 0 0 ⎥⎦ ⎣⎢1 1 −1⎦⎥
⎡ −2 2 0 ⎤
P = SM = ⎢ 0 −1 1 ⎥
⎢ ⎥
⎣⎢ −4 −2 1 ⎥⎦
10‐27
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
(b)
s −2 0
3 2 3 2
sI − A = −1 s −1 0 = s − 3s + 2 = s + a2 s + a1 s + a0 a0 = 2, a1 = 0, a2 = −3
1 −1 s −1
⎡ a1 a2 1⎤ ⎡ 0 −3 1 ⎤ ⎡1 2 6 ⎤
M = ⎢ a2 0 = ⎢ −3 1 0 ⎥
⎥ S = ⎡⎣ B AB A B ⎤⎦ = ⎢1 3 8 ⎥
2
1
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ 1 0 0 ⎦⎥ ⎣⎢ 1 0 0 ⎥⎦ ⎣⎢ 0 0 1 ⎥⎦
⎡ 0 −1 1 ⎤
P = SM = ⎢ −1 0 1 ⎥
⎢ ⎥
⎣⎢ 1 0 0 ⎥⎦
(c)
s+2 −1 0
3 2 3 2
sI − A = 0 s+2 0 = s + 7 s + 16 s + 12 = s + a2 s + a1 s + a0 a0 = 12, a1 = 16, a2 = 7
1 2 s+3
⎡ a1 a2 1⎤ ⎡16 7 1 ⎤ ⎡1 −1 0 ⎤
M = ⎢ a2 0 = ⎢ 7 1 0⎥
⎥ S = ⎡⎣ B AB A B ⎤⎦ = ⎢1 −2 4 ⎥
2
1
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ 1 0 0 ⎥⎦ ⎢⎣ 1 0 0 ⎥⎦ ⎢⎣1 −6 23⎥⎦
⎡ 9 6 1⎤
P = SM = ⎢ 6 5 1⎥
⎢ ⎥
⎢⎣ −3 1 1⎥⎦
(d)
s +1 −1 0
3 2 3 2
sI − A = 0 s =1 −1 = s + 3 s + 3s + 1 = s + a2 s + a1 s + a0 a0 = 1, a1 = 3, a2 = 3
0 0 s +1
10‐28
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ a1 a2 1⎤ ⎡3 3 1 ⎤ ⎡ 0 1 −1⎤
M = ⎢ a2 0 ⎥ = ⎢3 1 0 ⎥ S = ⎡⎣ B AB A B ⎤⎦ = ⎢ 1 0 −1⎥
2
1
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢ 1 0 0 ⎦⎥ ⎣⎢1 0 0 ⎥⎦ ⎣⎢1 −1 1 ⎥⎦
⎡2 1 0⎤
P = SM = ⎢ 2 3 1 ⎥
⎢ ⎥
⎣⎢ 1 2 1 ⎥⎦
(e)
s −1 −1
2 2
sI − A = = s + 2 s − 1 = s + a1 s + a0 a0 = −1, a1 = 2
2 s+3
⎡ a1 1⎤ ⎡2 1⎤ ⎡0 1⎤
M=⎢ =⎢ S = [B AB ] = ⎢
⎣1 0 ⎦ ⎣ 1 0 ⎥⎦
⎥
⎣1 −3⎥⎦
⎡1 0⎤
P = SM = ⎢
⎣ −1 1 ⎥⎦
⎡ 0 −3 1 ⎤
M = ⎢ −3 1 0 ⎥
⎢ ⎥
⎢⎣ 1 0 0 ⎥⎦
Then,
⎡ C ⎤ ⎡ 1 0 1⎤ ⎡ 0.5 1 3 ⎤
V = ⎢ CA ⎥ = ⎢ −1 2 1⎥ Q = ( MV ) = ⎢ 0.5 1.5 4 ⎥
−1
⎢ 2⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣CA ⎥⎦ ⎢⎣ 1 2 1⎥⎦ ⎢⎣ −0.5 −1 −2 ⎥⎦
⎡16 7 1 ⎤
M = ⎢ 7 1 0⎥
⎢ ⎥
⎢⎣ 1 0 0 ⎥⎦
10‐29
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ C ⎤ ⎡ 1 0 0⎤
V = ⎢ CA ⎥ = ⎢ −2 1 0 ⎥
⎢ 2⎥ ⎢ ⎥
⎣⎢CA ⎦⎥ ⎣⎢ 4 −4 0 ⎥⎦
⎡3 3 1 ⎤
M = ⎢3 1 0 ⎥
⎢ ⎥
⎣⎢1 0 0 ⎥⎦
Then,
⎡ C ⎤ ⎡1 0 1⎤ ⎡ −1 1 0 ⎤
V = ⎢ CA ⎥ = ⎢ −1 1 −1⎥ Q = ( MV ) = ⎢ 0 1 −2 ⎥
−1
⎢ 2⎥ ⎢ ⎥ ⎢ ⎥
⎣⎢CA ⎦⎥ ⎣⎢ 1 −2 2 ⎥⎦ ⎣⎢ 1 −1 1 ⎥⎦
⎡2 1⎤ ⎡ C ⎤ ⎡1 0⎤ ⎡0 1⎤
Q = ( MV ) = ⎢
−1
M=⎢ Then, V=⎢ =⎢
0 ⎥⎦
2⎥
⎣1 ⎣CA ⎦ ⎣1 1 ⎥⎦ ⎣1 −3⎥⎦
⎡ 0 0.5591 0.8255 ⎤
T = [ p1 p2 p 3 ] = ⎢ 0 0.7637 −0.3022 ⎥
⎢ ⎥
⎣⎢1 −0.3228 0.4766 ⎦⎥
10‐30
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ 0 0.5861 0.7546 ⎤
T = [ p1 p2 p 3 ] = ⎢ 0 0.8007 −0.2762 ⎥
⎢ ⎥
⎣⎢1 0.1239 0.5952 ⎦⎥
(c) Eigenvalues of A: ‐3, ‐2, ‐2. A nonsingular DF transformation matrix T cannot be found.
The matrix A is already in Jordan canonical form. Thus, the DF transformation matrix T is the identity
matrix I.
⎡ 0.8629 −0.2811⎤
T = [p 2 p2 ] = ⎢
⎣ −0.5054 0.9597 ⎥⎦
NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.
10‐31
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10‐32
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Amat =
0 2 0
1 2 0
-1 0 1
Characteristic Polynomial:
ans =
s^3-3*s^2+2
Abar =
1.0000 0 0
0 2.7321 0
0 0 -0.7321
10‐33
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
T=
0 0.5591 0.8255
0 0.7637 -0.3022
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
10‐34
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
d=
u1
y1 0
Continuous-time model.
Characteristic Polynomial:
ans =
s^3-3*s^2+2
Transfer function:
2 s^2 - 3 s - 4
------------------------------
Zero/pole/gain:
2 (s-2.351) (s+0.8508)
--------------------------
10‐35
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Smat =
0 2 4
1 2 6
1 1 -1
rankS =
Mmat =
0 -3 1
-3 1 0
1 0 0
10‐36
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Ptran =
-2 2 0
0 -1 1
-4 -2 1
Abar =
0 1.0000 0.0000
0 -0.0000 1.0000
Bbar =
Cbar =
-4 -3 2
Dbar =
0
10‐37
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10-16) a)
Consider:
—2 2
Therefore:
0 1 0 0
0 0 1 0 0
0
0 0 0 1
1
0 0 2 0
1 0 1 0
U U
As , therefore sY s Y s
U U
Let X s Y s . If y x , then sY s sX s X , or x x . As a
result:
Therefore:
0 1 0 0 0
2 0 1 0 1 u
0 0 0 1 0
0 0 0 0 1
b)
Consider:
2
10‐38
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
4 4
Therefore:
0 1 0
4 4 1
1 2
As , therefore 4 2 . As a result:
4 2
21
4 4
(a)
⎡1 −2 ⎤
S = [B AB ] = ⎢ S is singular.
⎣0 0 ⎥⎦
(b)
⎡ 1 −1 1 ⎤
S = ⎡⎣ B AB A B ⎤⎦ = ⎢ 2 −2 2 ⎥
2
S is singular.
⎢ ⎥
⎢⎣ 3 −3 3 ⎥⎦
(c)
⎡ 2 2 + 2 2⎤
S = [B AB ] = ⎢ ⎥ S is singular.
⎢⎣ 2 2+ 2 ⎥⎦
(d)
⎡ 1 −2 4 ⎤
S = ⎡⎣ B AB A B ⎤⎦ = ⎢ 0 0 0⎥
2
S is singular.
⎢ ⎥
⎣⎢1 −4 14 ⎦⎥
10‐39
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.
10‐40
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
For part b, the system is not Controllable because [B AB] is singular (rank is less than 2):
Amat =
-1 0
0 -2
Characteristic Polynomial:
ans =
s^2+3*s+2
Abar =
-2 0
0 -1
T=
0 1
1 0
Characteristic Polynomial:
ans =
s^2+3*s+2
Transfer function:
-----
s+1
Zero/pole/gain:
-----
(s+1)
Smat =
2 -2
rankS =
Mmat =
3 1
1 0
Ptran =
4 2
0 0
Using ACSYS (also see the previous problem for more details):
10‐42
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
For part b, the system is not observable. Note: you must choose a B matrix arbitrarily.
Amat =
-1 0
0 -2
Characteristic Polynomial:
ans =
s^2+3*s+2
10‐43
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Abar =
-2 0
0 -1
T=
0 1
1 0
Characteristic Polynomial:
ans =
s^2+3*s+2
Transfer function:
Zero/pole/gain:
Vmat =
0 1
0 -2
rankV =
1
10‐44
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Mmat =
3 1
1 0
d θm B d θm K b dθ m
2 2
K Ki dia Ra Ka Ks
2
=− 2
− θm + ia =− − ia + (θ r
−θm )
dt J dt J J dt La dt La La
dθ m
State variables: x1 = θ m , x 2 = , x3 = ia
dt
⎡ dx1 ⎤ ⎡ ⎤
⎡ ⎤
⎢ dt ⎥ ⎢ 0 0 ⎥ ⎢ 0 ⎥
1
⎢ ⎥ ⎢ ⎥ ⎡ x1 ⎤
⎢ dx2 ⎥ = ⎢ − K B Ki ⎥ ⎢ ⎥ ⎢ ⎥
− x2 + ⎢ 0 ⎥ θ r y= 1 0 0 x = x1
⎢ dt ⎥ ⎢ J J ⎥⎢ ⎥ ⎢
⎥ ⎢x ⎥ K K ⎥
J
⎢ dx ⎥ ⎢ K K Ra ⎥ ⎣ 3 ⎦ ⎢ a s ⎥
⎢ 3 ⎥ ⎢− a s
Kb
− − ⎣⎢ La ⎦⎥
⎣⎢ dt ⎦⎥ ⎢⎣ La La La ⎥⎦
10‐45
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
−1
⎡ ⎤
⎢ s ⎡ ⎤
−1 0 ⎥ ⎢ 0 ⎥
⎢ ⎥
Θm (s) ⎢ K B Ki ⎥ ⎢ ⎥ K sG(s)
M (s) = = [1 0 0 ] s+ − ⎢ 0 ⎥=
Θr (s) ⎢ J J ⎥
⎢
J
⎥ ⎢ K K ⎥ 1 + K s (s)
⎢ Ka Ks ⎢ a s⎥
s+ a⎥
Kb R
⎢⎣ La ⎥⎦
⎣⎢ La La La ⎦⎥
Ki K a K s
=
JLa s + ( BLa + Ra J ) s + ( KLa + K i K b + Ra B ) s + K i K a K s + KRa
3 2
10-21) (a)
⎡0 1⎤ ⎡ −1 0⎤ ⎡0 −1⎤ ⎡1 0⎤
A=⎢ A =⎢ A =⎢ A =⎢
2 3 4
⎣ −1 0 ⎥⎦ ⎣0 −1⎥⎦ ⎣1 0 ⎥⎦ ⎣0 1 ⎥⎦
⎡ t2 t4 t
3
t
5
⎤
⎢ 1 − + − L t − + − L⎥
1 2 2 2! 4! 3! 5! ⎡ cos t sin t ⎤
φ (t ) = I + At + A t + L = ⎢ ⎥=⎢ ⎥
⎢ ⎥ ⎣ − sin t cos t ⎦
3 5 2 4
2! t t t t
⎢⎣ −t + 3! − 5! + L 1 − 2! + 4! L ⎥⎦
⎥ = 2 φ (t ) = ⎢
⎣1 s ⎦ s + 1 ⎢⎣ −1 s ⎥⎦ ⎣ − sin t cos t ⎥⎦
(b)
⎡ −1 0⎤ ⎡1 0⎤ ⎡ −1 0⎤ ⎡ −1 0 ⎤
A=⎢ A =⎢ A =⎢ A =⎢
2 3 4
⎣0 −2 ⎥⎦ ⎣0 4 ⎥⎦ ⎣0 −8 ⎥⎦ ⎥
⎣ 0 16 ⎦
⎡ t
2
t
3
t
4
⎤
⎢ 1 − t + − + +L 0 ⎥ ⎡e− t
1 2 2 2! 3! 4! 0 ⎤
φ (t ) = I + At + A t + L = ⎢ ⎥=⎢ −2 t ⎥
⎢ ⎥ ⎣0 e ⎦
2 3
2! 4t 8t
1 − 2t + − +L
⎣⎢ ⎦⎥
0
2! 3!
10‐46
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ 1 0
⎤
⎡s + 1 0 ⎤ ⎢ s +1 −1
⎥ ⎡e−t 0 ⎤
Φ ( s ) = ( sI − A ) = ⎢
−1
⎥ =⎢ ⎥ φ (t ) = ⎢ ⎥
⎣ 0 s + 2⎦
−2 t
⎢ 0 1 ⎥ ⎣0 e ⎦
⎢⎣ s + 2 ⎥⎦
(c)
⎡0 1⎤ ⎡1 0⎤ ⎡0 1⎤ ⎡1 0⎤
A=⎢ A =⎢ A =⎢ A =⎢
2 3 4
⎣1 0 ⎥⎦ ⎣0 1 ⎥⎦ ⎣1 0 ⎥⎦ ⎣0 1 ⎥⎦
⎡ t2 t4 t
3
t
5
⎤
⎢ 1 + + + L t + + L ⎥
1 2 2 2! 4! 3! 5! ⎡ e − t + et −e + e ⎤
−t t
φ (t ) = I + At + A t + L = ⎢ ⎥ = ⎢ −t −t ⎥
⎢ ⎥ ⎣ −e + e e +e ⎦
3 5 2 4 t t
2! t t t t
t + + L 1+ + + L
⎢⎣ 3! 5! 2! 4! ⎥⎦
⎢ −1 = = ⎢ ⎥
⎣ s ⎥⎦ s − 1 ⎢⎣1 s ⎥⎦ ⎢ −0.5 0.5
2
0.5 0.5 ⎥
+ +
⎢⎣ s + 1 s − 1 s + 1 s − 1 ⎥⎦
⎡ e − t + et −e + e ⎤
−t t
φ (t ) = 0.5 ⎢ − t −t ⎥
⎣ −e + e e +e ⎦
t t
eu − eb dθ y d θy
2
ia = eb = K b Tm = K i ia = ( J m + J L )
Ra + Rs
2
dt dt
dθ y
Solve for i a in terms of θ y and , we have
dt
dθ y
KK s (θ r − θ y ) − K b
ia = dt
Rs + Rs + KRs
10‐47
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Differential equation:
d θy ⎛ dθ y ⎞
2
K i ia Ki
= = ⎜ − Kb − KK sθ y + KK sθ y ⎟
dt
2
Jm + JL ( J m + J L )( Ra + Rs + KRs ) ⎝ dt ⎠
dθ y
State variables: x1 = θ y , x 2 =
dt
State equations:
⎡ dx1 ⎤ ⎡ 0 1 ⎤ ⎡ 0 ⎤
⎢ dt ⎥ ⎢ ⎥ ⎡ x1 ⎤ ⎢ ⎥θ
⎢ ⎥= − KK s K i − Kb Ki +
⎥ ⎣⎢ x2 ⎦⎥ ⎢
− KK s K i
⎢ dx2 ⎥ ⎢⎢ ( J + J )( R + R + KR ) ( J m + J L )( Ra + Rs + KRs ) ⎦⎥
⎥ r
⎢⎣ ( J m + J L )( Ra + Rs + KRs ) ⎦⎥
⎣⎢ ⎦⎥ ⎣ m L
dt
a s s
⎡ 0 1 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
=⎢ + θr
⎣ −322.58 −80.65 ⎥⎦ ⎢⎣ x2 ⎥⎦ ⎢⎣322.58 ⎥⎦
We can let v ( t ) = 322.58θ r , then the state equations are in the form of CCF.
(b)
−1
⎡ s −1 ⎤ 1 ⎡ s + 80.65 1 ⎤
( sI − A ) = ⎢ −1
⎥ = 2
⎣322.58 s + 80.65 ⎦ s + 80.65 s + 322.58 ⎢⎣ −322.58 s ⎥⎦
10‐48
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
(d) From the state equations we see that whenever there is Ra there is (1 + K ) Rs . Thus, the purpose of Rs is
to increase the effective value of Ra by (1 + K ) Rs . This improves the time constant of the system.
⎡ dx1 ⎤ ⎡ 0 1 ⎤ ⎡ 0 ⎤
⎢ dt ⎥ ⎢ ⎥ ⎡ x1 ⎤ ⎢ ⎥θ
⎢ ⎥=⎢ − KK s K i − Kb Ki +
⎥ ⎢⎣ x2 ⎥⎦ ⎢
KK s K i
⎥ r
⎢ dx2 ⎥ ⎢ J ( R + R + KR ) J ( R + Rs + KRs ) ⎥⎦ ⎢⎣ J ( R + Rs + KRs ) ⎥⎦
⎣⎢ ⎦⎥ ⎣
dt
s s
⎡ 0 1 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
=⎢ + θr
⎣ −818.18 −90.91⎥⎦ ⎢⎣ x2 ⎥⎦ ⎢⎣818.18 ⎥⎦
Let v = 818.18θ r . The equations are in the form of CCF with v as the input.
−1
⎡ s −1 ⎤ 1 ⎡ s + 90.91 1⎤
(b) ( sI − A ) = ⎢
−1
⎥ =
⎣818.18 s + 90.91⎦ ( s + 10.128 )( s + 80.782 ) ⎢⎣ −818.18 s ⎥⎦
⎡ 11.58e −10.128 t
− 11.58e ⎤
−80.78 t
+⎢ −10.128 t −80.78 t ⎥
t≥0
⎣1 − 1.1434e + 0.1433e ⎦
0 1
10‐49
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
0 2
From
m equation (1
1) and (2):
1
10-25) Consider and . If , then or
The solution
s for x is 0 , theerefore:
0 (1))
0 2
From
m equation (1
1) and (2):
1
10‐26 (a) Foorward‐path trransfer functioon: C
Closed‐loop trransfer functio
on:
⎡ x&1 ⎤ ⎡ 0 1 0 0 ⎤ ⎡ x1 ⎤
⎡0 ⎤
⎢ x& ⎥ ⎢ 0 0 1 0 ⎥ ⎢ x ⎥ ⎢0 ⎥
⎢ 2⎥ = ⎢ ⎥⎢ 2⎥+ ⎢ ⎥r y = 5 K1 5K2 0x
⎢ x&3 ⎥ ⎢ 0 0 0 1 ⎥ ⎢ x3 ⎥ ⎢ 0 ⎥
⎢ & ⎥ ⎢− K − (10
⎥⎢ ⎥ ⎢ ⎥
1 + 5 K 2 ) −220 −9 ⎦ ⎣ x4 ⎦ ⎣ 1 ⎦
⎣ x4 ⎦ ⎣ 5
10‐50
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
1
(c) Final value: r ( t ) = u s ( t ), R( s ) = .
s
5 ( K1 + K 2 s )
lim y (t ) = lim sY ( s ) = lim =1
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4 3 2
t →∞ s→0 s →0
⎡ 0 1 0 0 L 0 ⎤ ⎡0⎤
⎢ 0 0 1 0 L 0 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
A=⎢ M M M M O M ⎥ B = ⎢M ⎥
⎢ ⎥ ⎢ ⎥
L
⎢ 0 0 0 0 1
⎥ ⎢0⎥
⎢⎣ − a0 − a1 − a2 − a3 L − an −1 ⎥⎦ ⎢⎣1 ⎥⎦
⎡s −1 0 0 L 0 ⎤
⎢0 s −1 0 L 0 ⎥
⎢ ⎥
sI − A = ⎢ M M M M O ⎥ M
⎢ ⎥
−1
⎢0 0 0 0 0
⎥
⎢⎣ a0 a1 a2 a3 L s + an ⎥⎦
n n −1 n− 2
sI − A = s + an−1 s + an− 2 s + L + a1 s + a0
Since B has only one nonzero element which is in the last row, only the last column of adj ( sI − A ) is
going to contribute to adj ( sI − A ) B . The last column of adj ( sI − A ) is obtained from the cofactors of
'
the last row of ( sI − A ) . Thus, the last column of adj ( sI − A ) B is 1
2 n −1
s s L s .
2
dy d y
10‐28 (a) State variables: x1 = y, x 2 = , x3 = 2
dt dt
10‐51
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡0 1 0⎤ ⎡0 ⎤
A=⎢0 0 1⎥ B = ⎢0 ⎥
⎢ ⎥ ⎢ ⎥
⎣⎢ −1 −3 −3⎥⎦ ⎣⎢1 ⎦⎥
⎡ s 2 + 3s + 3 s + 3 1 ⎤
−1
⎡ s −1 0 ⎤
1 ⎢ ⎥
Φ ( s ) = ( sI − A ) = ⎢ 0 s −1 ⎥ =
−1
−1 s + 3s s
2
⎢ ⎥ Δ(s) ⎢ ⎥
⎢⎣1 3 s + 3⎥⎦ ⎢⎣ − s −3s − 1 s ⎥⎦
2
⎡ 1 1 1 1 2 1 ⎤
⎢ + + + ⎥
⎢ s + 1 ( s + 1) ( s + 1) ( s + 1) ( s + 1) ( s + 1) ⎥
2 3 2 3 3
⎢ −1 1 1 2 s ⎥
=⎢ + − ⎥
⎢ ( s + 1)3 s +1 ( s + 1) 2
( s + 1) 3
( s + 1)3 ⎥
⎢ ⎥
−s −3
2
⎢ +
2 s
⎥
⎣⎢ ( s + 1)3 ( s + 1) 2
( s + 1) 3
( s + 1)3 ⎦⎥
Δ ( s ) = s + 3s + 3s + 1 = ( s + 1)
3 2 3
⎡(1 + t + t 2 / 2 ) e − t (t + t ) e 2 −t 2
t e /2
−t
⎤
⎢
φ (t ) =
2 −t
⎢ −t e / 2 (1 + t − t ) e 2 −t
( t − t / 2 ) e ⎥⎥
2 −t
⎢⎣ ( −t + t 2 / 2 ) e − t 2
t e
−t
(1 − 2t + t 2 / 2 ) e − t ⎥⎦
(c) Use ACSYS or MATLAB and follow the procedure shown in solution to 10‐3.
10‐52
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
State Space Analysis
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
Inputs:
A=| 0 1 0| B=|0|
| 0 0 1| |0|
|‐1 ‐3 ‐3| |1|
C=|1 0 0| D=|0|
y = |1 0 0|x + |0|u
Determinant of (s*I‐A):
3 2
s +3s +3s+1
Characteristic Equation of the Transfer Function:
3 2
10‐53
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
s +3s +3s+1
The eigen values of A and poles of the Transfer Function are:
‐1
‐1
‐1
Inverse of (s*I‐A) is:
[2 ]
[s + 3 s + 3 s + 3 1 ]
[‐‐‐‐‐‐‐‐‐‐‐‐ ‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
[ ]
[ 1 s (s + 3) s ]
[ ‐ ‐‐‐‐ ‐‐‐‐‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
[ ]
[ 2]
[ s 3s+1 s ]
[ ‐ ‐‐‐‐ ‐ ‐‐‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
3 2
%1 := s + 3 s + 3 s + 1
State transition matrix (phi) of A:
[ 2 2 2 ]
[1/2 exp(‐t) (2 + 2 t + t ) , (t + t ) exp(‐t) , 1/2 t exp(‐t)]
[ 2 2 2
[‐ 1/2 t exp(‐t) , ‐(‐t ‐ 1 + t ) exp(‐t) , ‐ 1/2 exp(‐t) (‐2 t + t )
]
]
[ 2 2
[1/2 exp(‐t) (‐2 t + t ) , exp(‐t) (‐3 t + t ) ,
2]
1/2 exp(‐t) (2 ‐ 4 t + t )]
Transfer function between u(t)and y(t) is:
1
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
3 2
s +3s +3s+1
No Initial Conditions Specified
States (X) in Laplace Domain:
10‐54
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
[ 1 ]
[‐‐‐‐‐‐‐‐]
[ 3]
[(s + 1) ]
[ ]
[ s ]
[‐‐‐‐‐‐‐‐]
[ 3]
[(s + 1) ]
[ ]
[ 2 ]
[ s ]
[‐‐‐‐‐‐‐‐]
[ 3]
[(s + 1) ]
Inverse Laplace x(t):
[ 2 ]
[ 1/2 t exp(‐t) ]
[ ]
[ 2 ]
[‐ 1/2 exp(‐t) (‐2 t + t ) ]
[ ]
[ 2]
[1/2 exp(‐t) (2 ‐ 4 t + t )]
Output Y(s):
1
‐‐‐‐‐‐‐‐
3
(s + 1)
Inverse Laplace y(t):
2
1/2 t exp(‐t)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
State Space Analysis
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
Inputs:
A=| 0 1 0| B=|0|
| 0 0 1| |0|
|‐1 ‐3 ‐3| |1|
C=|1 0 0| D=|0|
10‐55
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
| 0 1 0| |0|
Dx = | 0 0 1|x + |0|u
|‐1 ‐3 ‐3| |1|
y = |1 0 0|x + |0|u
Determinant of (s*I‐A):
3 2
s +3s +3s+1
Characteristic Equation of the Transfer Function:
3 2
s +3s +3s+1
The eigen values of A and poles of the Transfer Function are:
‐1
‐1
‐1
Inverse of (s*I‐A) is:
[2 ]
[s + 3 s + 3 s + 3 1 ]
[‐‐‐‐‐‐‐‐‐‐‐‐ ‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
[ ]
[ 1 s (s + 3) s ]
[ ‐ ‐‐‐‐ ‐‐‐‐‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
[ ]
[ 2]
[ s 3s+1 s ]
[ ‐ ‐‐‐‐ ‐ ‐‐‐‐‐‐‐ ‐‐‐‐]
[ %1 %1 %1 ]
3 2
%1 := s + 3 s + 3 s + 1
State transition matrix (phi) of A:
[ 2 2 2 ]
[1/2 exp(‐t) (2 + 2 t + t ) , (t + t ) exp(‐t) , 1/2 t exp(‐t)]
[ 2 2 2
[‐ 1/2 t exp(‐t) , ‐(‐t ‐ 1 + t ) exp(‐t) , ‐ 1/2 exp(‐t) (‐2 t + t )
]
]
10‐56
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
[ 2 2
[1/2 exp(‐t) (‐2 t + t ) , exp(‐t) (‐3 t + t ) ,
2]
1/2 exp(‐t) (2 ‐ 4 t + t )]
Transfer function between u(t)and y(t) is:
1
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
3 2
s +3s +3s+1
Initial Conditions:
x(0)= 1
0
0
States (X) in Laplace Domain:
[2 ]
[s + 3 s + 4]
[‐‐‐‐‐‐‐‐‐‐‐‐]
[ 3 ]
[ (s + 1) ]
[ ]
[ s‐1 ]
[ ‐‐‐‐‐‐‐‐ ]
[ 3 ]
[ (s + 1) ]
[ ]
[ s (s ‐ 1) ]
[ ‐‐‐‐‐‐‐‐‐ ]
[ 3 ]
[ (s + 1) ]
Inverse Laplace x(t):
[ 2 ]
[ (t + 1 + t ) exp(‐t) ]
[ ]
[ 2 ]
[ ‐(‐t + t ) exp(‐t) ]
[ ]
[ 2 ]
[(‐3 t + 1 + t ) exp(‐t)]
Output Y(s) (with initial conditions):
2
s +3s+4
‐‐‐‐‐‐‐‐‐‐‐‐
10‐57
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
3
(s + 1)
Inverse Laplace y(t):
2
(t + 1 + t ) exp(‐t)
dy
10‐29 (a) State variables: x1 = y, x 2 =
dt
State equations:
⎡ dx1 (t ) ⎤
⎢ dt ⎥ ⎡ 0 1 ⎤ ⎡ x1 (t ) ⎤ ⎡ 0 ⎤
⎢ ⎥=⎢ ⎥⎢ ⎥ + ⎢ ⎥ r (t )
⎢ dx2 (t ) ⎥ ⎣ −1 −2 ⎦ ⎣ x2 (t ) ⎦ ⎣1 ⎦
⎢⎣ dt ⎥⎦
⎡ s+2 1 ⎤
⎢ ( s + 1)2
−1
( s + 1) ⎥ ⎡ (1 + t )e − t ⎤
⎡ s −1 ⎤
2 −t
te
Φ ( s ) = ( sI − A ) = ⎢
−1
⎢ ⎥ φ (t ) = ⎢
⎥ = ⎢ −1 ⎥ ⎥
⎣ + ⎦
−t −t
1 s 2 s ⎣ −te (1 − t ) e ⎦
⎢ s +1 2 2 ⎥
⎣( ) ( s + 1) ⎦
Δ ( s ) = ( s + 1) = 0
2
Characteristic equation:
dy
(b) State variables: x1 = y, x 2 = y +
dt
State equations:
2
dx1 dy dx 2 d y dy dy
= = x 2 − y = x 2 − x1 = 2
+ = −y − + r = − x2 + r
dt dt dt dt dt dt
⎡ dx1 ⎤
⎢ dt ⎥ ⎡ −1 2 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ ⎥=⎢ ⎥⎢ ⎥+⎢ ⎥r
⎢ dx2 ⎥ ⎣ 0 −1⎦ ⎣ x2 ⎦ ⎣1 ⎦
⎣⎢ dt ⎦⎥
10‐58
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ 1 −2 ⎤
⎡ s + 1 −2 ⎤ ⎢ s + 1 ( s + 1) ⎥
−1 2
⎡e − t ⎤
−te
−t
Φ(s) = ⎢ ⎥ =⎢ ⎥ φ (t ) = ⎢ ⎥
⎣ 0 s + 1⎦ ⎢ 1 ⎥
−t
⎣0 e ⎦
⎢⎣ 0 s +1 ⎦
⎥
⎡s − σ ω ⎤ 1 ⎡s − σ −ω ⎤
sI − A = ⎢ −ω s − σ ⎥⎦
( sI − A ) −1
=
Δ ( s ) ⎢⎣ ω s − σ ⎥⎦
2
(
Δ ( s ) = s − 2σ + σ + ω
2 2
)
⎣
⎡ cos ω t − sin ω t ⎤
φ (t ) = L ⎡⎣( sI − A ) ⎤⎦ = ⎢
−1 −1 σt
cos ω t ⎥⎦
e
⎣ sin ω t
(b) Eigenvalues of A: σ + jω , σ − jω
10‐31 (a)
−3
Y1 ( s ) s 1
= −1 −2 −3
= 3 2
U1 ( s ) 1+ s + 2s + 3s s + s + 2s + 3
−3
Y2 ( s ) s 1 Y1 ( s )
= −1 −2 −3
= 3 2
=
U 2 ( s) 1+ s + 2s + 3s s + s + 2s + 3 U1 ( s )
(b) State equations [Fig. 5‐21(a)]: x& = A1x + B1u1 Output equation: y1 = C1x
⎡0 1 0⎤ ⎡0 ⎤
A1 = ⎢ 0 0 1⎥ B1 = ⎢ 0 ⎥ C1 = [1 0 0]
⎢ ⎥ ⎢ ⎥
⎢⎣ −3 −2 −1⎥⎦ ⎢⎣1 ⎥⎦
⎡ 0 0 −3 ⎤ ⎡1 ⎤
A 2 = ⎢ 1 0 −2 ⎥ B 2 = ⎢0 ⎥ C2 = [ 0 0 1]
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 1 −1⎥⎦ ⎢⎣ 0 ⎥⎦
'
Thus, A 2 = A1
10‐59
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
1
10‐32 (a) State diagram:
1
10‐33 (a)
−3
Y ( s) 10 s X ( s)
G( s) = = −1 −2 −3
Y ( s ) = 100 X ( s )
U ( s) 1 + 8.5 s + 20.5s + 15s X ( s)
−1 −2 −3
X ( s ) = U ( s ) − 8.5 s X ( s ) − 20.5 s X ( s ) − 15 s X ( s )
State diagraam:
10‐60
Automatic Control Systems, 9th Edition
A Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡ 0 1 0 ⎤ ⎡0⎤
⎢
A= 0 0 1 ⎥ B = ⎢0⎥ A and B are in CCF
⎢ ⎥ ⎢ ⎥
⎢⎣ −15 −20.5 −8.55 ⎥⎦ ⎣⎢1 ⎦⎥
(b)
−3 −4
Y ( s) 10 s + 20 s X ( s)
G( s) = = −1 −2
U ( s) 1 + 4.5 s + 3.5 s X ( s)
−3 −4 −1 −2
Y ( s ) = 10 s X ( s ) + 20 s X ( s ) X ( s ) = −4.5 s X ( s ) − 3.5 s X ( s ) + U ( s )
Staate diagram:
⎡0 1 0 ⎤ 0 ⎡0⎤
⎢0 0 1 0 ⎥ ⎢0⎥
A=⎢ ⎥ B=⎢ ⎥ A and B are in
n CCF
⎢0 0 0 1 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎣0 0 −3.5 −4.55 ⎦ ⎣1 ⎦
(c)
−2 −3
Y ( s) 5( s + 1) 5s + 5s X ( s)
G( s) = = = −1 −2
U ( s) s( s + 2 )( s + 10) 1 + 12 s + 20 s X ( s)
−2 −3 −1 −
−2
Y ( s) = 5s X ( s ) + 5s X ( s ) X ( s ) = U ( s ) − 12 s X ( s ) − 20 s X ( s )
10‐61
Automatic Control Systems, 9th Edition
A Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡0 1 0 ⎤ ⎡0 ⎤
⎢
A= 0 0 1 ⎥ B = ⎢0 ⎥ A and B are in CCF
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 −20 −12 ⎥⎦ ⎢⎣1 ⎥⎦
(d)
−4
Y (s) 1 s X (s)
G (s) = = =
U (s) (
s ( s + 5) s + 2s + 2
2
) −1
1 + 7 s + 12 s + 10 s
−2 −3
X (s)
−4 −1 −2 −3
Y ( s) = s X ( s) X ( s ) = U ( s ) − 7 s X ( s ) − 12 s X ( s ) − 10 s
State diagraam:
10‐62
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡0 1 0 0⎤ ⎡0 ⎤
⎢0 0 1 0⎥ ⎢0 ⎥
A=⎢ ⎥ B=⎢ ⎥ A and B arre in CCF
⎢0 0 0 1⎥ ⎢0 ⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 −10 −12 −7 ⎦ ⎣1 ⎦
1
10‐34 (a)
Y ( s) 10 5.71 6.67 0.952
G( s) = = 3 2
= − +
U ( s) s + 8.5 s + 20.5s + 15 s + 15 s+2 s+5
⎡ −1.5 0 0 ⎤ ⎡ 5.71 ⎤
A=⎢ 0 −2 0 ⎥ B = ⎢ −6.67 ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 0 −5 ⎥⎦ ⎣⎢ 0.952 ⎦⎥
(b)
Y ( s) 10( s + 2) −4.55 0.49 4 5.71
G( s) = = 2
= + + + 2
U ( s) s ( s = 1)(( s + 3.5) s s + 3.5 s +1 s
Statte diagram:
10‐63
Automatic Control Systems, 9th Edition
A Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡0 1 0 ⎤ 0 ⎡0⎤
⎢0 0 0 0 ⎥ ⎢1 ⎥
A=⎢ ⎥ B=⎢ ⎥
⎢0 0 −1 0 ⎥ ⎢1 ⎥
⎢ ⎥ ⎢ ⎥
⎣0 0 0 −3.5 ⎦ ⎣1 ⎦
(b)
Y ( s) 5( s + 1) 2.5 0.313 0.563
G( s) = = = + −
U ( s) s( s + 2)( s + 10) s s+2 s + 10
⎡0 0 0 ⎤ ⎡1⎤
A = ⎢ 0 −2 0 ⎥ B = ⎢1⎥
⎢ ⎥ ⎢⎥
⎢⎣ 0 0 −10 ⎥⎦ ⎢⎣1⎦⎥
(d)
10‐64
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡0 0 0 0 ⎤ ⎡1 ⎤
⎢ 0 −5 0 0 ⎥ ⎢1 ⎥
A=⎢ ⎥ B=⎢ ⎥
⎢0 0 0 1 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 −2 − 2 ⎦ ⎣1 ⎦
1
10‐35 (a)
Y ( s) 1
10
G( s) = =
U ( s) ( s + 15)(
. s + 2 )( s + 5)
Statte diagram:
⎡ −5 1 0 ⎤ ⎡0⎤
⎢
A = 0 −2 1 ⎥ B=⎢0⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 0 −1.5 ⎥⎦ ⎣⎢10 ⎦⎥
(b)
10‐65
Automatic Control Systems, 9th Edition
A Chaptter 10 Solutio
ons Golnarraghi, Kuo
G(s) =
Y (s)
=
10( s + 2) ⎛ 100 ⎞ ⎛ s + 2 ⎞ ⎛ 1 ⎞
=⎜2 ⎟⎜ ⎟⎜ ⎟
s ( s + 1)( s + 3.5) ⎝ s ⎠ ⎝ s + 1 ⎠ ⎝ s + 3.5 ⎠
2
U (s)
Staate diagram:
⎡0 1 0 ⎤ 0 ⎡0⎤
⎢0 0 1 1 ⎥ ⎢0⎥
A=⎢ ⎥ B=⎢ ⎥
⎢0 0 −1 1 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎣0 0 0 −3.5 ⎦ ⎣10 ⎦
(c)
G ( s) =
Y (s)
=
59 s + 1) ⎛ 5 ⎞⎛ s +1 ⎞⎛ 1 ⎞
=⎜ ⎟⎜ ⎟⎜ ⎟
U (s) s ( s + 2)( s + 10) ⎝ s ⎠ ⎝ s + 2 ⎠ ⎝ s + 10 ⎠
Staate diagram:
⎡0 1 0⎤ ⎡0 ⎤
A = ⎢ 0 −10 −1⎥ B = ⎢0 ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ 0 0 −2 ⎥⎦ ⎢⎣ 5 ⎥⎦
(d)
10‐66
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
Y (s) 1
G(s) = =
U (s) (
s ( s + 5) s + 2s + 2
2
)
S
State diagram:
⎡0 1 0 0 ⎤ ⎡0⎤
⎢0 0 1 0 ⎥ ⎢0⎥
A=⎢ ⎥ B=⎢ ⎥
⎢ 0 −2 −2 1 ⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎣ 0 0 0 −5 ⎦ ⎣1 ⎦
1
10‐36 (a)
−3
Y ( s) 10 100 s X ( s)
G( s) = = = −1 −2
E ( s) s( s + 4 )( s + 5) 1+ 9s + 20 s X ( s)
( Dynamic equations:
(b)
⎡ x&1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x& ⎥ = ⎢ 0 0 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥ r y = [10
1 0 0] x
⎢ 2⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣ x&3 ⎥⎦ ⎢⎣ −10
1 −20 −9 ⎥⎦ ⎢⎣ x3 ⎦⎥ ⎢⎣1 ⎦⎥
10‐67
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ X 1 (s) ⎤ ⎡ s −1 (1 + 9 s −1 + 20 s −2 ) s −2 (1 + 9 s −1 ) s −3 ⎤ ⎡ x1 (0) ⎤ ⎡ s −3 ⎤
⎢ X (s)⎥ = 1 ⎢ −10 s
−3 −1 −1 −2 ⎥
s (1 + 9 s ) s ⎢ x2 (0) ⎥ +
1 ⎢ −2 ⎥ 1
s
⎢ 2
⎥ Δ(s) ⎢ ⎥⎢ ⎥ Δ ( s ) ⎢ −1 ⎥ s
⎣⎢ X 3 ( s ) ⎦⎥ ⎢⎣ −10 s
−2
−20 s
−2
s ⎥⎦ ⎣⎢ x3 (0) ⎦⎥
−1
⎢⎣ s ⎥⎦
⎡1⎤
⎡s 2
+ 9 s + 20 s+9 1 ⎤ ⎡ x1 (0) ⎤ ⎢s⎥
⎢ ⎥ ⎢ ⎥
s ⎢ x2 (0) ⎥ +
1 1
= −10 s ( s + 9)
⎥ Δc (s) ⎢ ⎥
1
Δ c (s) ⎢ ⎥⎢
⎢⎣ −10 s −10 ( 2 s + 1) s ⎥⎦ ⎣⎢ x3 (0) ⎦⎥
2
⎢s⎥
⎢ ⎥
⎣ ⎦
−1 −2 −3 3 2
Δ( s) = 1+ 9s + 20 s + 10 s Δ c ( s ) = s + 9 s + 20 s + 10
⎥ t≥0
⎢⎣ −0.087e −0.708 t + 0.406e −2.397 t − 0.325e −5.895 t ⎥⎦
(d) Output:
(
y (t ) = 10 x1 (t ) = 10 1.612e
−0.708 t
− 0.706e
−2.397 t
+ 0.0935e
−5.897 t
) x (0) + 10 ( 0.946e − 1.117e + 0.1711e ) x (0)
1
−0.708 t −2.397 t −5.895 t
2
(
+ 10 1.141e
−0.708 t
− 0.169e
−2.397 t
+ 0.0550e
−5.895 t
) x (0) + 1 − 1.61e−0.708t + 0.706e−2.397t − 0.0935e−5.895t
3
t≥0
10‐68
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
(c) State
S equations: (d) Statee transition eqquations:
[
[Same answerss as Problem 5‐26(d)]
5
⎡ x&1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x& ⎥ = ⎢ 0 0 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥ r (e) Outpput: [Same ansswer as Probleem 5‐26(e)]
⎢ 2⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣ x&3 ⎦⎥ ⎣⎢ −10 −20 −9 ⎦⎥ ⎣⎢ x3 ⎦⎥ ⎣⎢1 ⎦⎥
1
10‐38 (a) Statte diagram:
⎡ x&1 ⎤ ⎡ −2 20 −1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 −1⎤
⎢ x& ⎥ ⎢ 0 −10 1 0 ⎥ ⎢ x2 ⎥ ⎢ 0 0 ⎥⎡u ⎤
⎢ 2⎥ = ⎢ ⎥⎢ ⎥+⎢ ⎥
⎢ x&3 ⎥ ⎢ −0.1 0 −20 1 ⎥ ⎢ x3 ⎥ ⎢ 0 0 ⎥ ⎢⎣TD ⎥⎦
⎢& ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣ x4 ⎦ ⎣ 0 0 0 −5 ⎦ ⎣ x4 ⎦ ⎣30 0 ⎦
From
m the system block
b diagram,
1 ⎛ −1 ⎞
−0.2 s
0.3 30e U (s) 90U ( s )
Y (s) = ⎜ TD ( s ) + TD ( s ) + + ⎟
Δ( s) ⎝ s + 2 ( s + 2)( s + 20) ( s + 2)( s + 5)( s + 20) ( s + 5)( s + 20) ⎠
−0. 2 s −0. 2 s
0.1e ( s + 2)( s + 20) + 0.1e
Δ(
Δ s) = 1+ =
( s + 2 )( s + 20) ( s + 2)( s + 20)
10‐69
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
−0. 2 s
− ( s + 19.7 ) 30e + 90( s + 2 )U ( s )
Y ( s) = −0. 2 s
TD ( s ) +
−0. 2 s
( s + 2)( s + 20) + 0.1e ( s + 5) ( s + 2)( s + 20) + 0.1e
−0. 2 s
− ( s + 200) 330e U ( s)
Ω( s ) = −0. 2 s
TD ( s ) +
−0. 2 s
( s + 2 )( s + 20) + 0.1e ( s + 5) ( s + 2 )( s + 20) + 0.1e
−11
1
10‐39 (a) Thhere should noot be any incom
ming branches to a state variaable node otheer than the s branch. Thus, we
−1
(b) Statee equations: Notice
N that therre is a loop witth gain −1 after all the s brranches are deleted, so Δ = 2.
2
dx1 17 1 dx 2 15 1 1
= x1 + x2 = x1 − x2 + r uation: y = 6..5 x1 + 0.5 x 2
Output equ
dt 2 2 dt 2 2 2
1
10‐40 (a) Trransfer functioon: (b) Charracteristic equation:
Ks + 5 s + 1
( s + 1) ( s )
2
Y (s)
= + 111s + 2 = 0
2
R(s) ( s + 1) ( s 2
+ 11s + 2 )
Roo
ots of characte
eristic equation: −1, −0.185, −‐10..82. These aree not functions of K.
(c) Wheen K = 1:
2
Y ( s) s + 5s + 1
= 3 2
R( s ) s + 12 s + 133s + 2
State diaggram:
10‐70
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
(d) Wheen K = 4:
4 s + 5s + 1 ( s + 1)(4 s + 1) 4s + 1
2
Y (s)
= = =
R( s) ( s + 1) ( s 2
+ 11s + 2 ) ( s + 1) ( s 2
+ 11s + 2 ) s + 11s + 2
2
State diagram:
(e)
Ks + 5 s + 1
( s + 1) ( s )
2
Y (s)
= + 111s + 2 = 0
2
R(s) ( s + 1) ( s 2
+ 11s + 2 )
M
MATLAB
ssolve(s^2+11*ss+2)
a = ‐11/2+1
ans 1/2*113^(1/2)
‐
‐11/2‐1/2*113
3^(1/2)
> vpa(ans)
>>
a =
ans
‐.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 zero can
Pole ncelation occcurs for the given values of K.
10‐71
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
1
10‐41 (a)
Y (s) 1 100
Gp (s) = = =
U (s) (1 + 0.5s ) (1 + 0.2 s + 0.02 s 2
) s + 12
1 s + 70 s + 1000
3 2
State equations:
⎡ x&1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x& ⎥ = ⎢ 0 0 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥ u
⎢ 2⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢⎣ x&3 ⎥⎦ ⎢⎣ −100 −70 −12 ⎥⎦ ⎢⎣ x3 ⎥⎦ ⎢⎣1 ⎥⎦
1
10‐42 (a)
10‐72
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
State equations:
⎡ x&1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x& ⎥ = ⎢ 0 0 1 ⎥ ⎢ x2 ⎥ + ⎢ 0 ⎥
⎢ 2⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣⎢ x&3 ⎦⎥ ⎢⎣ −300 −190
1 −22 ⎥⎦ ⎣⎢ x3 ⎦⎥ ⎣⎢ 1 ⎦⎥
Chaaracteristic equ
uation of close
ed‐loop system
m: R
Roots of charaacteristic equation:
1
10‐43 (a) State variables: x1 = ω m and x 2 = ω D
State equations:
dω m Kb Ki + Kb Ra KD KK
Ki dω D KD KD
=− + ωD + e = ωm − ωD
dt JRa J JRa dt JR JR
Ωm (s) Ki ( J R s + K D )
KK
=
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
E (s)
Ωm (s) K s KK i ( J R s + K D )
=
Ωr (s) 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
Δ ( 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
2
2
Δ( s ) = s + 1037 s + 20131.2 = 0
⎡ −b d ⎤ ⎡ −2 1⎤ ⎡0⎤ ⎡0 1⎤
A=⎢ = B=⎢ ⎥ S = [B AB ] = ⎢
⎣c − a ⎥⎦ ⎢⎣ 2 −1⎥⎦ ⎣1 ⎦ ⎣1 −1⎥⎦
(b)
⎡0 d ⎤
S = [B AB ] = ⎢ The system is controllable for d ≠ 0.
⎣1 − a ⎥⎦
10‐45 (a)
⎡1 −1 1⎤
S = ⎡⎣ B AB A B ⎤⎦ = ⎢1 −1 1⎥
2
S is singular. The system is uncontrollable.
⎢ ⎥
⎣⎢1 −1 1⎥⎦
(b)
⎡1 −1 1 ⎤
S = ⎡⎣ B AB A B ⎤⎦ = ⎢1 −2 4 ⎥
2
S is nonsingular. The system is controllable.
⎢ ⎥
⎣⎢1 −3 9 ⎥⎦
⎡ −2 3⎤ ⎡1⎤ ⎡1 1⎤
A=⎢ B=⎢ ⎥ S = [B AB ] = ⎢ S is singular. The system is uncontrollable.
⎣1 0 ⎥⎦ ⎣1⎦
⎥
⎣1 1⎦
Output equation: y= 1 0 x = Cx C= 1 0
⎡1 −2 ⎤
V = ⎡⎣C A C ⎦⎤ = ⎢
' ' '
V is nonsingular. The system is observable.
⎣0 3 ⎥⎦
Since there is pole‐zero cancellation in the input‐output transfer function, the system is either
uncontrollable or unobservable or both. In this case, the state variables are already defined, and the
10‐47 (a) α = 1, 2, or 4 . These values of α will cause pole‐zero cancellation in the transfer function.
By parallel decomposition, the state equations are: x& ( t ) = Ax ( t ) + Br ( t ) , output equation: y ( t ) = Cx( t ).
⎡ −1 0 0 ⎤ ⎡α − 1⎤
A = ⎢ 0 −2 0 ⎥ B = ⎢α − 2 ⎥ D=
⎡1 −
1 1⎤
⎢ ⎥ ⎢ ⎥ ⎢⎣ 3 2 6 ⎥⎦
⎢⎣ 0 0 −4 ⎥⎦ ⎢⎣α − 4 ⎥⎦
10‐75
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
⎡1⎤
⎢3⎥
⎡ −1 0 0 ⎤ ⎢ ⎥
−1
A = ⎢ 0 −2 0 ⎥ B=⎢ ⎥ D = [α − 1 α − 2 α − 4]
⎢ ⎥ ⎢2⎥
⎢⎣ 0 0 −4 ⎥⎦ ⎢ −1 ⎥
⎢ ⎥
⎢⎣ 6 ⎥⎦
T system is unobservable
The u or α = 1, or α = 2, or α = 4.
fo
1
10‐48
⎡1 b ⎤
S = [B A ]= ⎢ S = ab − 1 − b ≠ 0
2
ab − 1⎥⎦
AB
⎣b
2
ontrollability iss described by ab − 1 − b = 0.
The boundary of the region of co 0
Regions of contro
ollability:
1
10‐49
⎡ b1 b1 + b2 ⎤
S = [B A ]= ⎢ S = 0 when b1b2 − b1b2 − b2 = 0, or b2 = 0
2
AB ⎥
⎣b2 b2 ⎦
⎡ d1 d2 ⎤
V = ⎡⎣C A C ⎤⎦ = ⎢ V = 0 when d1 ≠ 0.
' ' '
⎣d2 d1 + d 2 ⎥⎦
10‐76
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
1
10‐50 (a) State equations:
dh 1 K I nN Ko dθ m dω m Ki Kb Ki K a
= (q i
− qo ) = θm − h = ωm =− ωm + ei
2
J = Jm + n J L
dt A A A dt d
dt JRa JRa
dθ m
Statte variable: x1 = h, x 2 = θ m , x3 = = ωm
dt
⎡ −Ko K I nN ⎤ ⎡ ⎤
⎢ 0 ⎥ ⎡ −1 0.016 0 ⎤ ⎢ 0 ⎥ ⎡ 0 ⎤
⎢ A A
⎥ ⎢ ⎢ ⎥
A=⎢ 0 0 1 ⎥= 0 0 1 ⎥ B=⎢ 0 ⎥=⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥
⎢ K i K b ⎥ ⎢⎣ 0 0 −11..767 ⎥⎦ ⎢ K K ⎥ ⎢8333.33⎥
⎣ ⎦
⎢ 0 0 − ⎥ ⎢ i a
⎥
⎢⎣ JRa ⎦⎥ ⎣⎢ JRa ⎦⎥
Sttate diagram:
Ko − K I nN
n
s+ 0
A A
sI − A = −1
⎛
= s⎜s +
Ko⎞ ⎛ s + Ki Kb ⎞
0 s ⎟⎜ ⎟ = s ( s + 1)( s + 11.767)
1
⎝ A ⎠⎝ JRa ⎠
Ki Kb
0 0 s+
JRa
Eige
envalues of A: 0, −1, −11.767.
(c) Conttrollability:
10‐77
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ 0 0 133.33 ⎤
S = ⎡⎣ B AB A B ⎤⎦ = ⎢ 0 8333.33 −98058 ⎥ S ≠ 0. The system is controllable.
2
⎢ ⎥
⎣⎢8333.33 −98058 1153848 ⎥⎦
(d) Observability:
(1) C = 1 0 0 :
⎡1 −1 1 ⎤
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ 0 0.016 −0.016 ⎥ V is nonsingular. The system is observable.
' ' ' ' 2 '
AC
⎢ ⎥
⎣⎢ 0 0 0.016 ⎦⎥
(2) C = 0 1 0 :
⎡0 0 0 ⎤
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ 1 0 0 ⎥
' ' ' ' 2 '
AC V is singular. The system is unobservable.
⎢ ⎥
⎣⎢ 0 1 −11.767 ⎦⎥
(3) C = 0 0 1 :
⎡0 0 0 ⎤
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ 0 0 ⎥ V is singular. The system is unobservable.
' ' ' ' 2 '
AC 0
⎢ ⎥
⎣⎢1 −11.767 138.46 ⎥⎦
∗ 4 2
10‐51 (a) Characteristic equation: Δ( s ) = sI − A = s − 25.92 s = 0
(b) Controllability:
⎡ 0 −0.0732 0 −1.8973⎤
⎢ −0.0732 0 −1.8973 0 ⎥
S = ⎡⎣ B
∗ ∗
AB
∗ ∗2
A B
∗
A B ⎤⎦ =
∗3 ∗
⎢ ⎥
⎢ 0 0.0976 0 0.1728 ⎥
⎢ ⎥
⎣ 0.0976 0 0.1728 0 ⎦
∗ ∗
S is nonsingular. Thus, A , B is controllable.
(c) Observability:
10‐78
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
∗
(1) C = 1 0 0 0
⎡1 0 25.92 0 ⎤
⎢0 1 0 25.92 ⎥
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ ⎥
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
⎢0 0 0 0 ⎥
⎢ ⎥
⎣0 0 0 0 ⎦
(2) C∗ = 0 1 0 0
⎡ 0 25.92 0 671.85 ⎤
⎢1 0 25.92 0 ⎥
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ ⎥
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
⎢0 0 0 0 ⎥
⎢ ⎥
⎣0 0 0 0 ⎦
(3) C∗ = 0 0 1 0
⎡0 0 −2.36 0 ⎤
⎢0 0 0 −2.36 ⎥
V = ⎡⎣C ( A ) C ⎤⎦ = ⎢ ⎥
∗' ∗' ∗' ∗' 2 ∗' ∗' 3 ∗'
A C (A ) C
⎢1 0 0 0 ⎥
⎢ ⎥
⎣0 1 0 0 ⎦
(4) C∗ = 0 0 0 1
⎡ 0 −2.36 0 −61.17 ⎤
⎢0 0 −2.36 0 ⎥
V = ⎡⎣C
∗' ∗'
A C
∗' ∗'
(A ) C
2 ∗'
( A ) C ⎤⎦ =
∗' 3 ∗'
⎢ ⎥
⎢0 0 0 0 ⎥
⎢ ⎥
⎣1 0 0 0 ⎦
10‐79
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
1
10‐52 The controllability matrix is
⎡ 0 −1 0 −16 0 3 ⎤
−384
⎢ −1 0 −16 0 −384 0 ⎥
⎢ ⎥
⎢0 0 0 166 0 512 ⎥
S=⎢ ⎥ R
Rank of S is 6. The system is controllable.
c
⎢ 0 0 16 0 512 0
⎥
⎢0 1 0 0 0 0 ⎥
⎢ ⎥
⎢⎣ 1 0 0 0 0 0 ⎥⎦
1
10‐53 (a) Trransfer functioon:
Θv ( s) KI H
=
R(s) Jvs
2
(J G
s + KPs + KI + KN
2
)
Statte diagram by direct decomp
position:
⎡0 1 0 0 ⎤
⎢0 ⎡0 ⎤
0 1 0 ⎥ ⎢0 ⎥
⎢ ⎥
A = ⎢0 0 0 1 ⎥ B=⎢ ⎥
⎢ ⎥ ⎢0 ⎥
− ( KI + KN ) −KP ⎢ ⎥
⎢0 0 ⎥ ⎣1 ⎦
⎢⎣ JG J G ⎥⎦
10‐80
A
Automatic Control Systems, 9th Edition Chaptter 10 Solutio
ons Golnarraghi, Kuo
1
10‐54 (a) State equations: x& (t ) = Ax
A (t ) + Bu1 (t )
⎡ −3 1⎤ ⎡0 ⎤ ⎡0 1 ⎤
A=⎢ B= S = [B B] =
−2 ⎥⎦ ⎢1 ⎥ ⎢ 1 −2 ⎥
AB
⎣0 ⎣ ⎦ ⎣ ⎦
S is nonsinggular. A, B is controllablee.
Output equ
uation: y 2 = Cx C = −1 1
⎡ −1 3 ⎤
V = ⎡⎣C A C ⎦⎤ =
' ' '
⎢ 1 −3 ⎥ V is singu
ular. The system
m is unobservaable.
⎣ ⎦
(b) Withh feedback, u2 = − kc2 , the sttate equation is: x& (t ) = Ax(t ) + Bu1 (t ) .
⎡ −3 − 2 k 1 ⎤ ⎡0 1 ⎤
⎡0 ⎤
A = ⎢ 1+ g 1+ k ⎥ B=⎢ ⎥ S= ⎢ 1+ k ⎥
⎢ ⎥ ⎣1 ⎦ ⎢ ⎥
⎢⎣ 0 −2 ⎥⎦ ⎣ 1 −2 ⎦
S is nonsingular fo
or all finite valu
ues of k. The syystem is contro
ollable.
Statte diagram:
⎡ −1 3 + 2k ⎤
⎢1 + K (1 + k ) ⎥
2
V = ⎡⎣ D' A D ⎤⎦ = ⎢ ⎥
' '
⎢ 1 3 + 2k ⎥
−
⎢⎣ 1 + k (1 + k ) ⎥⎦
2
10‐81
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10‐55 (a)
⎡1 2⎤
S = [B AB ] = ⎢ S is nonsingular. System is controllable.
⎣2 −7 ⎥⎦
⎡1 −1 ⎤
V = ⎡⎣C A C ⎦⎤ = ⎢
' ' '
V is nonsingular. System is observable.
⎣1 −2 ⎥⎦
(b) u = − k1 k 2 x
⎡0 1⎤ ⎡ k1 k2 ⎤ ⎡ − k1 1 − k2 ⎤
A c = A − BK = ⎢ ⎥−⎢ =
⎣ −1 −3 ⎦ ⎣ 2k1 2k 2 ⎥⎦ ⎢⎣ −1 − 2 k1 −3 − 2k 2 ⎥⎦
⎡1 − k1 − 2 k 2 + 2 ⎤
S = [B AcB] = ⎢ S = −11 − 2 k 2 ≠ 0
⎣2 −7 − 2 k1 − 4 k 2 ⎥⎦
11
For controllabillity, k 2 ≠ −
2
⎡ −1 −1 − 3k1 ⎤
V = ⎡⎣C A c C ⎤⎦ = ⎢
' ' '
⎣1 −2 − 3k 2 ⎥⎦
10‐56
10‐57
⎡ 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
1
=⎢ + θr
⎣ −322.58 −80.65 ⎥⎦ ⎢⎣ x2 ⎥⎦ ⎢⎣322.58 ⎥⎦
10‐82
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ 0 1 ⎤
A=⎢ ⎥
⎣ −322.58 −80.65⎦
⎡ x& ⎤ ⎡ 0 1 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤ ⎡ 0 ⎤
From 10‐22 ⎢ 1 ⎥ = ⎢ ⎥⎢ ⎥+⎢ ⎥ θr B=⎢ ⎥
⎣ x&2 ⎦ ⎣ −322.58 −80.65⎦ ⎣ x2 ⎦ ⎣322.58⎦ ⎣322.58⎦
C = [1 0]
D=0
10‐83
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Characteristic Polynomial:
ans =
s^2+1613/20*s+16129/50
10‐84
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
a=
x1 x2
x1 0 1
x2 ‐322.6 ‐80.65
b=
u1
x1 0
x2 322.6
c=
x1 x2
y1 1 0
d=
u1
y1 0
Continuous‐time model.
Characteristic Polynomial:
ans =
s^2+1613/20*s+16129/50
10‐58
Closed‐loop System Transfer Function.
Y (s) 1
=
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3 2
R(s)
For zero steady‐state error to a step input, k1 = 1. For the complex roots to be located at −1 +j and −1 − j,
2
we divide the characteristic polynomial by s + 2 s + 2 and solve for zero remainder.
s + ( 2 + k2 )
s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2 3 2
s + + 2s
3 2
2s
(2 + k ) s
3
2
+ (1 + k 2 + k 3 ) s + 1
10‐86
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
(2 + k ) s
3
2
+ ( 4 + 2 k3 ) s + 4 + 2 k3
( -3+k 2
− k3 ) s − 3 − 2k3
−3 + k 2 − k3 = 0 Thus k 2 = 15
.
The third root is at −0.5. Not all the roots can be arbitrarily assigned, due to the requirement on the
steady‐state error.
X 1 (s) k3
G ( s) = =
s ⎡⎣ s + ( 4 + k 2 ) s + 3 + k1 + k 2 ⎤⎦
2
E (s)
Since the system is type 1, the steady‐state error due to a step input is zero for all values of k1 , k 2 , and k3
that correspond to a stable system. The characteristic equation of the closed‐loop system is
s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k3 = 0
3 2
3 2
s + 12 s + 22 s + 20 = 0
4 + k 2 = 12 Thus k2 = 8
3 + k1 + k 2 = 22 Thus k1 = 11
k3 = 20 Thus k3 = 20
10‐87
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Y (s) Gc ( s ) 20 20 ( s + 1)( s + 3 )
= = Thus Gc ( s ) =
E ( s) ( s + 1)( s + 3 ) (
s s + 12 s + 22
2
) (
s s + 12 s + 22
2
)
10‐60 (a)
⎡ 0 1 0 0⎤ ⎡ 0 ⎤
⎢ 25.92 0 0 0⎥ ⎢ −0.0732 ⎥
A =⎢ ⎥ B =⎢ ⎥
∗ ∗
⎢ 0 0 0 1⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥
⎣ −2.36 0 0 0⎦ ⎣ 0.0976 ⎦
The B vector
0.0000E+00
−7.3200E−02
0.0000E+00
10‐88
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
9.7600E−02
Time Responses:
The B vector
0.0000E+00
−7.3200E−02
0.0000E+00
9.7600E−02
Time Responses:
10‐90
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
The B vector
0.0000E+00
−6.5500E+00
0.0000E+00
−6.5500E+00
'
(b) Time Responses: Δx(0) = 01
. 0 0 0
10‐91
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
'
. 0 0 0 , the initial position of Δx1 or Δy1 is preturbed downward
With the initial states Δx(0) = 01
from its stable equilibrium position. The steel ball is initially pulled toward the magnet, so Δx3 = Δy 2 is
negative at first. Finally, the feedback control pulls both bodies back to the equilibrium position.
'
. 0 , the initial position of Δx3 or Δy 2 is preturbed
With the initial states Δx(0) = 0 0 01
downward from its stable equilibrium. For t > 0, the ball is going to be attracted up by the magnet
toward the equilibrium position. The magnet will initially be attracted toward the fixed iron plate, and
then settles to the stable equilibrium position. Since the steel ball has a small mass, it will move more
10‐92
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
actively.
u = − k1 x1 + k 2 ∫ ( − x1 + w1 ) dt
⎡ dx1 ⎤
⎢ dt ⎥ ⎡ −2 − k1 1 ⎤ ⎡ x1 ⎤ ⎡0 1 ⎤ ⎡ w1 ⎤
⎢ ⎥=⎢ ⎥ ⎢ ⎥ +⎢
⎢ dx2 ⎥ ⎣ − k 2 0 ⎦ ⎣ x2 ⎦ ⎣ k 2 0 ⎥⎦ ⎢⎣ w2 ⎥⎦
⎢⎣ dt ⎥⎦
Characteristic Equation:
10‐93
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
s + 2 + k1 −1
sI − A = = s + ( 2 + k1 ) s + k 2 = 0
2
k2 s
1 W2
W1 ( s ) = W2 ( s) = W2 = constant
s s
200 + W2 s
X (s) = lim x (t ) = lim sX ( s ) = 1
(
s s + 20 s + 200
2
) t →∞ s →0
(K s + K I ) W1 ( s ) + sW2 ( s ) ( 2 s + 200 ) W ( s ) + sW ( s )
Set K P = 2 and K I = 200 . X (s) = P
= 1 2
s + 20 s + 200 s + 20 s + 200
2 2
10‐94
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Time Responses:
10‐95
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10-63)
10 10
1 2 3 6 11 6
Consider:
10 6 11 6
Therefore:
0 1 0 0
0 0 1 0
6 11 6 10
1 0 0
As a result:
0 1 0 0
0 0 1 0 1 0 0 0
6 11 6 10
10-64)
The equations of motion from Problem 4-21 are obtained (by ignoring all the pendulum inertia term):
θ ≈0
cos θ ≈ 1
sin θ ≈ θ
x + mlθ&& = f
( M + m) &&
x + lθ&&) = 0
ml (− gθ − &&
10‐96
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Or
⎡( M + m) ml ⎤ ⎡ &&
x⎤ ⎡ f ⎤
⎢ − ml =
⎣ ml ⎦ ⎣θ ⎦ ⎢⎣ mlgθ ⎥⎦
2 ⎥ ⎢ &&⎥
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)]
ans =
0.3333 ‐0.3333
0.3333 1.6667
Hence
x ⎤ ⎡1/ 3 −1/ 3⎤ ⎡ f ⎤
⎡ &&
⎢θ&&⎥ = ⎢1/ 3 5 / 3 ⎥ ⎢ 49 /10θ ⎥
⎣ ⎦ ⎣ ⎦⎣ ⎦
x ⎤ ⎡1/3*f-49/30θ ⎤
⎡ &&
⎢θ&&⎥ = ⎢ 1/3*f+49/6θ ⎥
⎣ ⎦ ⎣ ⎦
⎡ x&4 ⎤ ⎡1/3*f-49/30x1 ⎤
⎢ x& ⎥ = ⎢ 1/3*f+49/6x ⎥
⎣ 2⎦ ⎣ 1⎦
Or:
10‐97
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
⎡ x&2 ⎤ ⎡ 1/3*f+49/6x1 ⎤
⎢ x& ⎥ = ⎢1/3*f-49/30x ⎥
⎣ 4⎦ ⎣ 1⎦
⎡ x&1 ⎤ ⎡ 0 1 0 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x& ⎥ ⎢ 49/6 0 0 0 ⎥⎥ ⎢⎢ x2 ⎥⎥ ⎢⎢1/ 3⎥⎥
⎢ 2⎥ = ⎢ + f
⎢ x&3 ⎥ ⎢ 0 0 0 1 ⎥ ⎢ x3 ⎥ ⎢ 0 ⎥
⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎣ x&4 ⎦ ⎣-49/30 0 0 0 ⎦ ⎣ x4 ⎦ ⎣1/ 3⎦
⎡ 0 1 0 0⎤
⎢ 49/6 0 0 0 ⎥⎥
A=⎢
⎢ 0 0 0 1⎥
⎢ ⎥
⎣-49/30 0 0 0⎦
⎡ 0 ⎤
⎢1/ 3⎥
B=⎢ ⎥
⎢ 0 ⎥
⎢ ⎥
⎣1/ 3⎦
C = [1 0 1 0]
D=0
10‐98
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Use ACSYS State tool and follow the design process stated in Example 10-17-1:
10‐99
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Amat =
0 1.0000 0 0
8.1667 0 0 0
0 0 0 1.0000
‐1.6333 0 0 0
Characteristic Polynomial:
ans =
s^4‐49/6*s^2
Abar =
0 0 0 0
0 0 0 0
0 0 2.8577 0
0 0 0 ‐2.8577
T=
0 0 0.3239 ‐0.3239
0 0 0.9256 0.9256
1.0000 ‐1.0000 ‐0.0648 0.0648
0 0.0000 ‐0.1851 ‐0.1851
a=
x1 x2 x3 x4
x1 0 1 0 0
x2 8.167 0 0 0
x3 0 0 0 1
x4 ‐1.633 0 0 0
b=
u1
x1 0
x2 0.3333
10‐100
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
x3 0
x4 0.3333
c=
x1 x2 x3 x4
y1 1 0 1 0
d=
u1
y1 0
Continuous‐time model.
Characteristic Polynomial:
ans =
s^4‐49/6*s^2
Transfer function:
4.441e‐016 s^3 + 0.6667 s^2 ‐ 2.22e‐016 s ‐ 3.267
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^4 ‐ 8.167 s^2
Zero/pole/gain:
4.4409e‐016 (s+1.501e015) (s+2.214) (s‐2.214)
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^2 (s‐2.858) (s+2.858)
Smat =
0 0.3333 0 2.7222
0.3333 0 2.7222 0
0 0.3333 0 ‐0.5444
0.3333 0 ‐0.5444 0
rankS =
10‐101
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Mmat =
0 ‐8.1667 0 1.0000
‐8.1667 0 1.0000 0
0 1.0000 0 0
1.0000 0 0 0
Ptran =
0 0 0.3333 0
0 0 0 0.3333
‐3.2667 0 0.3333 0
0 ‐3.2667 0 0.3333
Abar =
0 1.0000 0 0
0 0 1.0000 0
0 0 0 1.0000
0 0 8.1667 0
Bbar =
0
0
0
1
Cbar =
‐3.2667 0 0.6667 0
Dbar =
10‐102
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Abar K=
0 1.0000 0 0
0 0 1.0000 0
0 0 0 1.0000
‐k1 ‐k2 8.1667‐k3 ‐k4
>> collect((s-210)*(s-210)*(s+20)*(s-12))
ans =
-10584000+s^4-412*s^3+40500*s^2+453600*s
10-65) If 3 and 0.707, then 1.414. The 2nd order desired characteristic equation of the
system is:
2 2 0 1
0 1
6 5
5 6 0 (2)
5 2
6 2
10‐103
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10-66) Using ACSYS we can convert the system into transfer function form.
10‐104
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
10‐105
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Amat =
-1 -2 -2
0 -1 1
1 0 -1
Characteristic Polynomial:
ans =
s^3+3*s^2+5*s+5
Abar =
-0.6145 + 1.5639i 0 0
0 -0.6145 - 1.5639i 0
0 0 -1.7709
T=
a=
x1 x2 x3
x1 -1 -2 -2
x2 0 -1 1
x3 1 0 -1
10‐106
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
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
Transfer function:
3 s^2 + 7 s + 4
---------------------
s^3 + 3 s^2 + 5 s + 5
Zero/pole/gain:
3 (s+1.333) (s+1)
---------------------------------
Smat =
2 -4 0
0 1 0
1 1 -5
rankS =
Mmat =
5 3 1
3 1 0
1 0 0
Ptran =
-2 2 2
3 1 0
3 4 1
Abar =
0 1.0000 0
0 0 1.0000
10‐108
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Bbar =
Cbar =
4 7 3
Dbar =
sI − ( A − BK ) = s 3 + (3 + k3 ) s 2 + (5 + k2 ) s + (5 + k1 ) = 0
Using a 2nd order prototype system, for 5, then 1. For overshoot of 4.33%, 0.707.
nd
Then the desired 2 order system will have a characteristic equation:
s 2 + 2ζωn s + ωn 2 = s 2 + 2 s + 2 = 0
One approach is to pick K=[k1 k2 k3] values so that two poles of the system are close to the desired
second order poles and the third pole reduces the effect of the two system zeros that are at z=-1.333 and
z=-1. Let’s set the third pole at s=-1.333. Hence
(s+1.333)*(s^2+2*s+2)= s^3+3.33*s^2+4.67*s+2.67
Y 3( s + 1)
= 2
R s + 2s + 2
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.
3( s + 1)
G=
s2 − s −1
10‐109
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
Overshoot is about 2%. You can adjust K values to obtain alternative results by repeating this process.
If , , then
10‐110
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
or
2 1
Therefore:
2 1
1 1
0
0
2 1
10‐111
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo
1 1
0
1
0
1 1
1
1 1
1
1
1
10‐112