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 6000

Solutions Manual: Chapter 6

7th Edition

Feedback Control of Dynamic

Systems
Gene F. Franklin
J. David Powell
Abbas Emami-Naeini

. Assisted by:

H. K. Aghajan
H. Al-Rahmani
P. Coulot
P. Dankoski
S. Everett
R. Fuller
T. Iwata
V. Jones
F. Safai
L. Kobayashi
H-T. Lee
E. Thuriyasena
M. Matsuoka

© 2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 Chapter 6

The Frequency-response
Design Method

Problems and Solutions for Section 6.1

1. (a) Show that 0 in Eq. (6.2) is given by

U0 ! 1
0 = G(s) = U0 G( j!)
s j! s= j! 2j

and
U0 ! 1
0 = G(s) = U0 G(j!) :
s + j! s=+j! 2j

(b) By assuming the output can be written as

j!t j!t
y(t) = 0e + 0e ;

derive Eqs. (6.4) - (6.6).

Solution:

(a) Eq. (6.2):

1 2 n o o
Y (s) = + + + + +
s p1 s p2 s pn s + j! o s j! o

Multiplying this by (s + j!) :

1 n o
Y (s)(s+j!) = (s+j!)+:::+ (s+j!)+ o+ (s+j!)
s + a1 s + an s j!

6001

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 6002 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

1 n o
) o = Y (s)(s + j!) (s + j!) ::: (s + j!) (s + j!)
s + a1 s + an s j!
1 o
o = o js= j! = Y (s)(s + j!) (s + j!) ::: (s + j!)
s + a1 s j! s= j!
Uo !
= Y (s)(s + j!)js= j! = G(s) 2 (s + j!)js= j!
s + !2
Uo ! 1
= G(s) js= j! = Uo G( j!)
s j! 2j

Similarly, multiplying Eq. (6.2) by (s j!) :

1 n o
Y (s)(s j!) = (s j!) + ::: + (s j!) +
(s j!) + o
s + a1 s + an
s + j!
Uo !
o = o js=j! = Y (s)(s j!)js=j! = G(s) 2 (s j!)js=j!
s + !2
Uo ! 1
= G(s) js=j! = Uo G(j!)
s + j! 2j

(b)
j!t j!t
y(t) = oe + oe
1 j!t 1 j!t
y(t) = Uo G( j!) e + Uo G(j!) e
2j 2j
G(j!)ej!t G( j!)e j!t
= Uo
2j
n o1
2 2 2
jG(j!)j = Re [G(j!)] + Im [G(j!)] =A
Im [G(j!)]
\G(j!) = tan 1
=
Re [G(j!)]
n o1
2 2 2
jG( j!)j = Re [G( j!)] + Im [G( j!)] = jG(j!)j
n o 21
2 2
= Re [G(j!)] + Im [G(j!)] =A
Im [G( j!)] Im [G(j!)]
\G( j!) = tan 1
= tan 1
=
Re [G( j!)] Re [G(j!)]
) G(j!) = Aej ; G( j!) = Ae j

Thus,

Aej ej!t
Ae j
e j!t
ej(!t+ )
e j(!t+ )
y(t) = Uo = Uo A
2j 2j
y(t) = Uo A sin(!t + )

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 6003

where
Im [G(j!)]
A = jG(j!)j ; = tan 1
= \G(j!)
Re [G(j!)]

2. (a) Calculate the magnitude and phase of

1
G(s) =
s + 10

by hand for ! = 1, 2, 5, 10, 20, 50, and 100 rad/sec.

(b) sketch the asymptotes for G(s) according to the Bode plot rules, and
compare these with your computed results from part (a).
Solution:

(a)

1 1 10 j!
G(s) = ; G(j!) = =
s + 10 10 + j! 100 + ! 2
1 !
jG(j!)j = p ; \G(j!) = tan 1
100 + ! 2 10

! jG(j!)j \G(j!)
1 0:0995 5:71
2 0:0981 11:3
5 0:0894 26:6
10 0:0707 45:0
20 0:0447 63:4
50 0:0196 78:7
100 0:00995 84:3

(b) To plot the asymptotes, you …rst note that n = 0; as de…ned in Sec-
tion 6.1.1. That signi…es that the leftmost portion of the asymptotes
will have zero slope. That portion of the asymptotes will be located
at the DC gain of the transfer function, which, in this case it can
be seen by inspection to be 0.1. So the asymptote starts with a
straght horizontal line at 0.1 and that continues until the breakpoint
at ! = 10, at which point the asymptote has a slope of n = 1 that
continues until forever, at least until the edge of the paper. The
values computed above by "hand" (at least we hope you didn’t cheat)
are plotted on the graph below and you see they match quite well
except very near the breakpoint, a you should have expected. The
Bode plot is :

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 6004 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Problem 6.2

0
10

-1

Magnitude
10

-2
10

-3
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)
20
0
Phase (deg)

-20
-40
-60
-80
-100
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

3. Sketch the asymptotes of the Bode plot magnitude and phase for each
of the following open-loop transfer functions. After completing the hand
sketches verify your result using MATLAB. Turn in your hand sketches
and the MATLAB results on the same scales.
2000
(a) L(s) =
s(s + 200)
100
(b) L(s) =
s(0:1s + 1)(0:5s + 1)
1
(c) L(s) =
s(s + 1)(0:02s + 1)
1
(d) L(s) =
(s + 1)2 (s + 10)2
10(s + 4)
(e) L(s) =
s(s + 1)(s + 100)
1000(s + 0:1)
(f) L(s) =
s(s + 1)(s + 8)2

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 6005

(s + 5)(s + 10)
(g) L(s) =
s(s + 1)(s + 100)
4s(s + 10)
(h) L(s) =
(s + 100)(s + 500)
s
(i) L(s) =
(s + 1)(s + 10)(s + 50)

Solution:

10
(a) L(s) = s
s 200 +1
The asymptote will have magnitude = 10 at ! = 1 and have a -1 slope
at the low frequencies. So the low frequency asymptote will pass
through magnitude = 1, at ! = 10: At ! = 200; the slope changes to
-2, and that slope continues forever. The phase asymptotes are even
simpler and shown in the plot below along with the Matlab generated
exact curve.

Bode plot for Prob. 6.3 (a)

0
10
Magnitude

-5
10
1 2 3 4
10 10 10 10
ω (rad/sec)
-80
-100
Phase (deg)

-120
-140
-160
-180
-200
1 2 3 4
10 10 10 10
ω (rad/sec)

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 6006 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

100
(b) L(s) = s s
s 10 +1 2 +1

Breakpoints are at 2 and 10. The slope starts at n = -1, the changes
to -2 at ! = 2; then changes to -3 at ! = 10: The magnitude on the
-1 slope goes through 100 at ! = 1:Thus, will be 10,000 at ! = 0:01

Bode plot for Prob. 6.3 (b)

Magnitude

0
10

-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)
-50

-100
Phase (deg)

-150

-200

-250

-300
-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)

1
(c) L(s) = s(s+1)(0:02s+1)

Slope starts at n = -1, becomes -2 at ! = 1; then -3 at n = 50.

Magnitude = 1 at ! = 1:

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 6007

Bode plot for Prob. 6.3 (c)

0
10
Magnitude

-5
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
-50

-100
Phase (deg)

-150

-200

-250

-300
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

1
100
(d) L(s) = 2
s
(s + +1 1)2 10
Initially, slope = 0, then becomes n = -2 at ! = 1; then n = -4 at
! = 10:
0:4 4s + 1
(e) L(s) = s
s(s + 1)(s 100 + 1)
50
32 (10s + 1) (1:56) (10s + 1)
(f) L(s) = 2 = 2
s
s(s + 1) + 1 s(s + 1) 8s + 18
Breakpoints are at ! = 0:1; 1; 8 So, to position the low frequency
asymptote, you need to extrapolate the line from ! = 1 backward.
The magnitude at ! = 1 would be 1.56, and to position the asymptote
at ! = 0:1; we need to multiply by 10 due to the -1 slope Therefore,
it is located at a magnitude of 15.6 at ! = 0:1:and will be 156 at
! = 0:01:
1 s s
2 + 1 10
5 +1
(g) L(s) =
s(s + 1)(s + 100)

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 6008 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(d)

0
10
Magnitude

-5
10

-1 0 1 2
10 10 10 10
ω (rad/sec)

0
Phase (deg)

-100

-200

-300

-400
-1 0 1 2
10 10 10 10
ω (rad/sec)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 6009

Bode plot for Prob 6.3(e)

0
10
Magnitude

-5
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

-50
Phase (deg)

-100

-150

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 6010 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(f)

Magnitude

0
10

-2 -1 0 1 2
10 10 10 10 10
ω(rad/sec)

0
Phase (deg)

-100

-200

-300

-2 -1 0 1 2
10 10 10 10 10
ω (rad/sec)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 6011

Bode plot for Prob 6.3(g)

0
10
Magnitude

-2
10

-1 0 1 2 3
10 10 10 10 10
ω(rad/sec)

50

0
Phase (deg)

-50

-100

-150

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 6012 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob 6.3(h)

0
10
Magnitude

-2
10

0 1 2 3 4
10 10 10 10 10
ω (rad/sec)

200

150
Phase (deg)

100

50

-50
0 1 2 3 4
10 10 10 10 10
ω (rad/sec)

4 s
5000s 10 +1
(h) L(s) = s s
100 +
1 500 + 1
This one is unusual in that the slope is generally rising with increasing
frequency. Finite output at extremely high frequencies doesn’t really
happen in nature, but hey, this is a theoretical homework problem to
check whether you can follow the rules and do what the math tells
you to do.
1
500 s
(i) L(s) = s s
(s + 1) 10 + 1 ( 50 + 1)

4. Real poles and zeros. Sketch the asymptotes of the Bode plot magnitude
and phase for each of the following open-loop transfer functions. After
completing the hand sketches verify your result using MATLAB. Turn in
your hand sketches and the MATLAB results on the same scales.
1
(a) L(s) =
s(s + 1)(s + 5)(s + 10)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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 6013

Bode plot for Prob 6.3(i)

-2
10
Magnitude

-4
10

-6
10
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

100
Phase (deg)

-100

-200
-1 0 1 2 3
10 10 10 10 10
ω (rad/sec)

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 6014 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

(s + 2)
(b) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 6)
(c) L(s) =
s(s + 1)(s + 5)(s + 10)
(s + 2)(s + 4)
(d) L(s) =
s(s + 1)(s + 5)(s + 10)

Solution:

1
50
(a) L(s) = s s
s(s + 1) 5 +1 10 +1

Bode plot for Prob. 6.4 (a)

0
10
Magnitude

-10
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0

-100
Phase (deg)

-200

-300

-400
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

1 s
25 2+1
(b) L(s) = s s
s(s + 1) 5 +1 10 +1

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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 6015

Bode plot for Prob. 6.4 (b)

0
Magnitude 10

-10
10

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0
Phase (deg)

-100

-200

-300

-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

6 s
25 + 1 6s + 1
2
(c) L(s) =
s(s + 1) 5s + 1 10
s
+1

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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 6016 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Bode plot for Prob. 6.4 (c)

0
10

Magnitude
-5
10

-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)
0

-50
Phase (deg)

-100

-150

-200

-250
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

4 s
25 + 1 4s + 1
2
(d) L(s) =
s(s + 1) 5s + 1 10
s
+1

© 2015 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This publication is protected by Copyright and written permission should be obtained
from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
recording, or likewise. For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
 6017

Bode plot for Prob. 6.4 (d)

0
10
Magnitude

-5
10

-10
10
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

0
-50
Phase (deg)

-100
-150
-200
-250
-2 -1 0 1 2 3
10 10 10 10 10 10
ω (rad/sec)

5. Complex poles and zeros Sketch the asymptotes of the Bode plot mag-
nitude and phase for each of the following open-loop transfer functions
and approximate the transition at the second order break point based
on the value of the damping ratio. After completing the hand sketches
verify your result using MATLAB. Turn in your hand sketches and the
MATLAB results on the same scales.

1
(a) L(s) =
+ 3s + 10 s2
1
(b) L(s) =
s(s2 + 3s + 10)
(s2 + 2s + 8)
(c) L(s) =
s(s2 + 2s + 10)
(s2 + 1)
(d) L(s) =
s(s2 + 4)
(s2 + 4)
(e) L(s) =
s(s2 + 1)

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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 6018 CHAPTER 6. THE FREQUENCY-RESPONSE DESIGN METHOD

Solution:

1
10
(a) L(s) = 2
ps + 3
10 10 s +1

Bode plot for Prob. 6.5 (a)

0
10
Magnitude

-5
10
-1 0 1 2
10 10 10 10
ω (rad/sec)

50
0
Phase (deg)

-50
-100
-150
-200

-1 0 1 2
10 10 10 10
ω (rad/sec)

1
10
(b) L(s) = 2
s ps + 3
10 10 s +1

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from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying,
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 6019

Bode plot for Prob. 6.5 (b)

0
10
Magnitude

-5
10

-10
10
-1 0 1 2
10 10 10 10
ω (rad/sec)

-50
-100
Phase (deg)

-150
-200
-250
-300
-1 0 1 2
10 10 10 10
ω (rad/sec)

2
4 s
5
p
2 2
+ 14 s + 1
(c) L(s) = 2
s ps + 15 s + 1
10

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For not only can man avail himself of faculties of the mind
unconsciously exercised, he has the additional power of consciously
directing their exercise. Just as our domestic water systems are the
result of the conscious direction of the self-flowing water in the
course we wish it to flow, so is the enlarged power of our memories
the result of the conscious and purposeful direction of our
observation, reflection, and thought-linking to that end. Drawn from
personal experience there are five methods of thought-linking which
have proved themselves of great help. These are: First, Incidental.
Second, Accidental. Third, Scientific. Fourth, Pictorial. Fifth,
Constructive.

The Incidental Method

The events, the incidents, of the day occur in a natural order: one
follows another. The days of the week with their respective incidents
follow in natural sequence. A full recognition of this fact is of far
greater help to the memory than one would believe on first thought.
Many a man has been able to recall a particularly important event by
going back, step by step, incident by incident, over the occurrences
of the day. It is related of Thurlow Weed, the eminent statesman,
that, when he entered political life, he had so poor and wretched a
memory that it was his bane. He determined to improve it, and,
realizing the importance of observation and reflection, he decided
upon the following method: As the incidents of the day followed each
other, in natural sequence, he would consciously note how they
followed. Then at the close of the day he sat down with his wife, and
relating the incidents exactly in the order they occurred, he would
review the events of the day, even to the most trivial and
inconsequential act. At other times he would relate the incidental
order backwards. It was not long before his memory so improved
that he began to be noted for it. Before he died, he had the
reputation of possessing a phenomenal memory. One will find this
same method a great help in seeking to recall a sermon, a lecture or
speech. There is a natural sequence in all well-thought-out
addresses, and the listener, carefully noting the change from one
thought to another—the progress of the address—will find it aid his
memory development wonderfully to take the last thought given, say,
and in reverse order, bring up the thoughts, the ideas given. Then let
the address be “incidentally” gone over from the first thought to the
second, the third, and so on to the end. Thus it can be recalled and
put away in the memory securely for future use.

The Accidental Method

Another natural method is what may be termed accidental. It is
purely accidental that Pike’s Peak is 14,147 feet high, but see how
this fact enables you to fix the figures in your mind. There are two
fourteens and the last figure is half of fourteen, namely, seven. It is a
purely accidental fact that the two Emperors of Germany died in
1888, but the fact that they did die in that year, the one year in the
whole century when the three eights occur, indelibly fixes the date in
mind. Again the year 1666 might have passed by unnoticed were it
not for the fact that that was the date of the Great Fire in London.
Now let us see how this accidental association may fix a relative
date for many other important events. The Great Fire purged the city
of London of the horrors caused by the Great Plague. This plague
was made the basis for Eugene Sue’s graphic novel, “The
Wandering Jew.” Wherever he went—so ran the legend—the plague
followed as the result of Christ’s curse. It was the Great Plague that
brought into existence the peculiar custom of all the Latin, as well as
the English, peoples exclaiming, “God bless you!” or its equivalent,
upon hearing one sneeze. The reason for the custom is that
sneezing was one of the first symptoms of the fearful plague, and
one, hearing his friend sneeze, immediately felt afraid he was seized
with the dread disease, and gave vent to this pious exclamation. The
custom persists to this day, but few know its origin. This plague also
brings to mind a noble example of heroism that is worthy of
enshrinement in every heart. It was found by those who watched the
progress of the plague that it went from place to place, dying out
here as soon as it appeared elsewhere. It was this phenomenon that
gave to Eugene Sue the dramatic element in his novel, for it
appeared to the ignorant people of those days that the plague
actually followed the cursed Jew. A country pastor, an humble but
devoted and true servant of God, in a little Derbyshire village, had
observed this fact. Although isolation for contagious diseases was
not thought of by physicians at that time, this man seemed to grasp
the idea. He determined that if ever the disease reached his village
he would endeavor to isolate his people from all others so that it
would stop there and no longer continue to slay its helpless victims.
In due time the plague did appear in his village. He had already
aroused in his simple-minded flock the spirit of true heroism, and
they pledged themselves to second his endeavors. Food was
brought from a near-by town and deposited near a watering-trough,
in which a small stream was continually flowing. In this flowing water
the villagers placed the money in payment for their food supplies.
Thus there was no contact of peoples, no contamination. The
villagers kept to themselves, no one going away and no one coming
in. The result was that in a very short time the plague was stayed,
and Europe breathed a great sigh of relief, attributing its cessation to
the goodness of God, when we now know it was owing to the self-
sacrificing wisdom of men.
But we are not yet through with our associations with the
accidental date of 1666. The most remarkable account we have of
the Great Plague is Daniel DeFoe’s “Journal of the Plague,” which
for many years was regarded as the genuine diary of an eye-
witness. As DeFoe, however, was not born until 1661, five years
before the plague, he could have had but the faintest and most
childish remembrances of that dread event. But it was he who wrote
the world-famous, ever-enjoyable “Robinson Crusoe.” This appeared
in 1719, and, while the association of this date with that of 1666 is
remote, it does approximately fix the date of the appearance of that
masterpiece.
Another literary masterpiece appeared, however, much nearer the
time of the plague. That was John Bunyan’s “Pilgrim’s Progress,”
which was written in Bedford Jail during the actual year of the plague
and fire.
One of the greatest lawyers of England was Sir Matthew Hale, and
it is a help to fix approximately the time he was on the bench when
we recall that it was he who sentenced John Bunyan to the twelve
years’ confinement that gave to the world his “Pilgrim’s Progress.”
On the other hand, Hale was a great personal friend of Richard
Baxter, who, at about the same time, wrote the well known “Saints’
Everlasting Rest.” Here, then, hung on to this accidental peg of the
year 1666, we find the following facts: First, the Great Fire; second,
the Great Plague; third, Eugene Sue’s novel “The Wandering Jew;”
fourth, the custom of saying “God bless you;” fifth, the heroism of the
Derbyshire villagers that stopped the plague; sixth DeFoe’s writing of
the “Journal of the Plague” and “Robinson Crusoe;” seventh,
Bunyan’s writing of “Pilgrim’s Progress;” eighth, Sir Matthew Hale on
the English bench; ninth, Richard Baxter’s writing of the “Saints’
Everlasting Rest.”
Every novelist uses this law of accidental association, for it is
habitually used by every class of people. Who is there who does not
recall certain events because they happened on days when other
and perhaps more important events occurred which fixed the date in
the mind? For instance, if an event occurred on the day of her first
child’s birth, and the mother was aware of it, you may rest fully
assured she would have no trouble recalling the date of the event. Its
accidental association will guarantee its remembrance.
Lawyers use this law constantly in seeking to extract evidences
from their witnesses. The dates of certain events are surely fixed in
the mind. Other events, less securely remembered, occurred at, or
about, the same time. The association once clearly established, the
memory invariably responds.

The Scientific Method

This method is merely a phase of reflection, for during that
process one naturally classifies his ideas, received through
observation. As David Pryde says in his “How to Read”:

See every fact and group of facts as clearly and distinctly

as you can; ascertain the fact in your past experience to
which it bears a likeness or relation, and then associate it with
that fact. And this rule can be applied in almost every case.
Take as an example that most difficult of all efforts, namely,
the beginning of a new study, where all the details are
strange. All that you have to do is to begin with those details
that can be associated with your past experience. In science,
begin with the specimens with which you are already familiar,
and group around them as many other specimens as you can.
In history and geography, commence with the facts relating to
the places and scenes which you actually know. And in
foreign languages, start with the words and phrases for the
most familiar objects and incidents of every-day life. In this
way you will give all your mind a clear and safe foundation in
your own experience.... The mind cannot master many
disconnected details. It becomes perplexed and then
helpless. It must generalize these details. It must arrange
them into groups, according to the three laws of association—
resemblance, contiguity, and cause and effect. This, it will be
granted at once, must be the method in all rigidly systematic
studies, such as the sciences, history, biography, and politics.
But it is valuable to ordinary people as well to know that the
same plan can be used in all kinds of descriptions. Every
collection of details can be arranged in groups in such a way
that they can be clearly understood and remembered. The
following is the manner in which this can be done: In studying
any interesting scene, let your mind look carefully at all the
details. You will then become conscious of one or more
definite effects or strong impressions that have been made
upon you. Discover what these impressions are. Then group
and describe in order the details which tend to produce each
of the impressions. You will then find that you have comprised
in your description all the important details of the scene. As
an instance, let us suppose a writer is out in the country on a
morning toward the end of May, and wishes to describe the
multitudinous objects which delight his senses. First of all, he
ascertains that the general impressions as produced on his
mind by the summer landscape are the ideas of luxuriance,
brightness and joy. He then proceeds to describe in these
groups the details which produce these impressions. He first
takes up the luxuriant features, the springing crops of grain
completely hiding the red soil; the rich, living carpet of grass
and flowers covering the meadows; the hedge-rows on each
side of the way, in their bright summer green; the trees
bending gracefully under the full weight of their foliage; and
the wild plants, those waifs of nature, flourishing everywhere,
smothering the woodland brook, filling up each scar and
crevice in the rock, and making a rich fringe along the side of
every highway and footpath. He then descants upon the
brightness of the landscape; the golden sunshine; the pearly
dew-drops hanging on the tips of every blade of grass, and
sparkling in the morning rays; the clusters of daisies dappling
the pasture-land; the dandelion glowing under the very foot of
the traveler; the chestnut trees, like great candelabra, stuck
all over with white lights, lighting up the woodlands; and lilacs,
laburnums, and hawthorne in full flower, making the farmer’s
garden one mass of variegated blossom. And last of all, he
can dwell upon the joy that is abroad on the face of the earth:
the little birds so full of one feeling that they can only trill it
forth in the same delicious monotone; the lark bounding into
the air, as if eager and quivering to proclaim his joy to the
whole world; the bee humming his satisfaction as he revels
among the flowers; and the myriads of insects floating in the
air and poising and darting with drowsy buzz through the
 floods of golden sunshine. Thus we see that, by this habit of
generalizing, the mind can grasp the details of almost any
scene.
This desire to unify knowledge, to see unity in variety, is
one of the most noted characteristics of great men in all
departures of learning. Scientific men in the present day are
eager to resolve all the phenomena of nature into force or
energy. The history of philosophy, too, is in a great measure,
taken up with attempts to prove that being and knowing are
identical. Emerson can find no better definition of genius than
that it is intellect constructive. Perhaps, he says, if we should
meet Shakspere, we should not be conscious of any great
inferiority, but of a great equality, only that he possesses a
great skill of using—of classifying—his facts, which we
lacked.

Herbert Spencer was a master at the classification of facts. By the

classification of all the known languages of the world, the scientists
are seeking to find out accurately, as never before, the relationships
of mankind. Men have been writing the different languages of widely
diverse people for centuries, but never before has an attempt been
made on so vast a scale to bring all this isolated knowledge to bear
upon the solution of one great question—the origin of the human
race. All scientific knowledge is based upon the association of
isolated and detached facts. These are then reflected upon, and,
finally, theories begin to form themselves in the mind of the student,
the philosopher. He then brings his facts and theories into close
relationship and sees whether they “fit.” If he is assured that they do,
he presents his thought to the world, and, according to its
reasonableness, it is received or rejected.

The Pictorial Method

Most children make mental pictures with great ease, but,
unfortunately, as they grow older, they allow this faculty to lose its
power by disuse. In the cultivation and use of the memory, however,
it can be of the greatest possible help. All books of travel and
description, all novels, all history, are made up of a series of word
pictures. Do not be content merely to read the words of these
pictures. Go further! Actually picture each scene in your imagination
and you will thus materially aid your original power of observation.
Let your pictures be definite, positive, explicit as to details, for the
more careful you are in making a picture real to your mind, the easier
it will be recalled.
Now, if you desire to recall the whole course of a book, you will
find these vividly-made mental pictures have a natural order of
sequence, and one will recall the next following, and so on. There is
great joy in learning to make pictorial thought-links, and then in the
ability they give to the memory to recall them.

Methods of Constructive Thought-Linking

We now come to the active making of artificial links as aids to the
memory where none naturally appear. A thought-link of this type is
the generally known doggerel:

Thirty days hath September,

April, June and November,
All the rest have thirty-one
Save February which alone
[18]Has twenty-eight, and one day more
We add to it one year in four.

In like manner how do we remember the order of the prime colors?

Few there are who do not know the coined word, made from the
initial letters of Violet, Indigo, Blue, Green, Yellow, Orange, Red—
Vibgyor. Again, the student of geology, who forgets the order of his
great epochs or eras, might recall them by formulating a sentence
that presents the initial letters of the names of these epochs. Thus,
“Careful men pay easily,” suggests Cenozoic, Mesozoic, Paleozoic,
Eozoic. Of course no one of common sense presumes to assert that
these constructive thought-links are any other than crutches,
footbridges over streams too wide to stride or jump unaided. They
should frankly be recognized as such, and only reverted to in case of
necessity, or as a last resort. But it is equally foolish in view of the
testimony of their almost universal usage and helpfulness, to deny
that they are an aid to most memories.

Think of the Impressions

To “think of the impressions.” This is the final admonition of
Stokes’s golden rule of memory. One word conveys his idea—
review. The things to be remembered must be thought over. They
must be re-collected—again collected. You will thus re-observe
them, re-reflect upon them, re-strengthen your original mental
impressions and the ideas that have grown around them. Experience
demonstrates that all memory impressions are lasting. One may
have forgotten something for twenty, thirty, forty years, when
suddenly a chance word, sound, sight, or even odor, will recall it with
an intensity and reality that are startling. All works on mental
philosophy give illustrations of this asserted fact. The practical need
of all men, however, is to cultivate the ability to call up mental
impressions at will.
Ready recollection is the great desideratum. Hidden knowledge is
of slight use. It is as if one had a fortune stored away in some hidden
dungeon, carefully locked up, but he had lost the key. Availability,
readiness, promptness are essentials to efficiency. The hat-boy at
the hotel dining-room would be useless did his memory not act
promptly, instantly. To-morrow will not do. Now is the accepted time.
This efficient, prompt, responsive memory is the one you need and
desire. It is worth striving for. The prospector wanders over the
mountains, canyons, deserts, for years, seeking the precious ore in
most unlikely places. He is always buoyed up with the hope, some
day, of striking it rich. Are you as earnest in your desire for memory
development as he? If so, careful, systematic, daily exercise of the
various faculties of the mind and memory will give to you this golden
possession. Reread here what has been quoted earlier from David
Pryde’s “What Books to Read and How to Read.” The hints therein
contained are worth their weight in gold to the really earnest student.
But rest assured of this: If you would have a good memory, you must
work for it. Give your whole attention to whatever you read or hear.
Concentrate. Compare the parts of the composition with the whole.
Seek its excellencies, study its deficiencies. Reflect upon it from
every angle. Write out in your own language the facts, or the ideas of
what you have heard or read. Then use daily what you have gained.
Knowledge stored away in the mind is not only useless, it is
positively injurious. Use is the law of life. Give your knowledge, your
ideas, your reflections away. Tell them to your intimates, your friends.
Write them to your correspondents. For the more you give the more
you will find you have. There is a giving that increases and a
withholding that impoverishes, and in nothing is this more apparent
than in the giving of the riches of the mind or memory. Each time one
recites a well-liked poem for the benefit and blessing of others, the
more firmly he fixes it in his own mind. “There is that which
scattereth, and yet increaseth.” In the scattering of your gems of
mind and heart, you are increasing your own store.
Not only give freely, but give often. The daily use of what you have
gained is an advantage. Avail yourself of every reasonable
opportunity to use your newly acquired powers, and your newly
acquired knowledge. Let me repeat, use is the law of life. To learn
something new daily is a good motto, but to use what you have
learned is even better. You gain ease of recollection by daily
exercising the faculty of recollection. And if your memory balks,
refuses to act, compel it to obey you. If you make a demand upon it
and it fails to respond—you cannot remember—do not let the matter
go by. Demand of the memory that it bring back that which you
require. Keep the need before you.
In this constant, persistent, cheerful, willing use of the memory lies
great happiness and content. “It is more blessed to give than to
receive.” The more, in reason, the athlete uses his muscles the
stronger they become. And think of the radiant joy that is the natural
accompaniment of a healthy, vigorous body. What constant pleasure
is his who calls upon a physical body which readily and willingly
responds! Equally so is it with the memory and all the mind. Activity
keeps it in health. In this glorious condition it readily responds to all
calls, it is radiantly alive, and I know of no joy greater that can be
given to man than that in body, mind, and soul he is a radiating
center of activity, receiving and giving on every hand.
In conclusion, here are a few practical words upon the other side
of the question, on forgetting, for there is a forgetting that is of great
help to the power of remembering. Fix these precepts firmly in your
mind:
Forget evil imaginations.
Forget the slander you have heard.
Forget the meanness of small souls.
Forget the faults of your friends.
Forget the injuries done you by your enemies.
Forget the misunderstandings of yesterday.
Forget all malice, all fault-finding, all injuries, all hardness, all
unlovely and distressing things.
Start out every day with a clean sheet. Remember only the sweet,
beautiful and lovely things, and you will thus be as a human sun of
righteousness, with healing in your rays.
 FOOTNOTES
[1] Entered according to Act of Congress, in the year 1884, by
George Wharton James, in the office of the Librarian of Congress,
at Washington, D. C.
[2] Entered according to Act of Congress, in the year 1885, by
George Wharton James, in the office of the Librarian of Congress,
at Washington, D. C.
[3] Scripture, “Stuttering and Lisping,” p. 3.
[4] Pauline B. Camp, “Correction of Speech Defects in a Public
School System.” “The Quarterly Journal of Public Speaking” for
October, 1917, p. 304.
[5] By contact is meant the point of greatest resistance of the
vocal organs to the column of air.
[6] Lawyer, Senator from Nebraska, 1895—born at Montpelier,
Vt., 1847.
[7] Pronounced “Sombray.”
[8] Adobe, pronounced A-do´by, a thick clay of which sun-dried
bricks are made.
[9] Robert Lloyd was an English poet of the middle eighteenth
century.
[10] This remarkable poem relates to revelry in India at a time
when the English officers serving in that country were being
struck down by pestilence. It has been correctly styled “the very
poetry of military despair.”
[11] Some of the greatest literature of this war has been written
by British Tommies—in the trenches or in hospitals; but nothing
finer or better interpreting the psychology of the men at the front
has yet appeared in print than this poem by Bombardier B.
Bumpas, of the Australian contingent, wounded at Gallipoli and
while convalescing in a hospital at Cairo, minus a leg and an eye.
[12] From “Madrigali.”
 [13] From Hiawatha.
[14] Mr. Miller gives the following interesting note to the above
poem:
“We had been moving West and West from my birth, at Liberty,
Union County, Indiana, November 10, 1841 or 1842 (the Bible
was burned and we don’t know which year), and now were in the
woods of the Miami Indian Reserve. My first recollection is of
starting up from the trundle-bed with my two little brothers and
looking out one night at father and mother at work burning brush-
heaps, which threw a lurid flare against the greased paper
window. Late that autumn I was measured for my first shoes, and
Papa led me to his school. Then a strange old woman came, and
there was mystery and a smell of mint, and one night, as we three
little ones were hurried away through the woods to a neighbor’s,
she was very cross. We three came back alone in the cold, early
morning. There was a little snow, rabbit tracks in the trail, and
some quail ran hastily from cover to cover. We three little ones
were all alone and silent, so silent. We knew nothing, nothing at
all, and yet we knew, intuitively, all; but truly the divine mystery of
mother nature, God’s relegation of His last great work to woman,
her partnership with Him in creation—not one of us had ever
dreamed of. Yet we three little lads huddled up in a knot near the
ice-hung eaves of the log cabin outside the corner where
mother’s bed stood and—did the new baby hear her silent and
awed little brothers? Did she feel them, outside there, huddled
close together in the cold and snow, listening, listening? For lo! a
little baby cry came through the cabin wall; and then we all rushed
around the corner of the cabin, jerked the latch and all three in a
heap tumbled up into the bed and peered down into the little pink
face against mother’s breast. Gentle, gentle, how more than ever
gentle were we all six now in that little log cabin. Papa doing
everything so gently, saying nothing, only doing, doing. And ever
so and always toward the West, till 1852, when he had touched
the sea of seas, and could go no farther. And so gentle always!
Can you conceive how gentle? Seventy-two years he led and
lived in the wilderness and yet never fired or even laid hand to a
gun.”
[15] There is a Scandinavian legend that Siegfried, the “Viking,”
feeling that he was at the point of death, caused himself to be
placed on the deck of his ship; the sails were hoisted, the vessel
set on fire, and in this manner he drifted out to sea, alone, and
finished his career.
[16] In the “days of old, the days of gold, and the days of ’49,”
water was brought from the Sierran heights in wooden viaducts,
or “flumes,” to be used in the mines. The fifth stanza refers to the
process of hydraulic mining, where the water, projected through
huge nozzles (somewhat after the fashion used by fire-engines),
washed down the mountain-sides into the sluice-boxes where the
dirt was washed away and the gold retained. Now the flume’s
waters are mainly diverted to purposes of irrigation.
[17] “‘The Arrow and the Song’ came into my mind and glanced
on to the paper with an arrow’s speed—literally an improvisation,”
said Longfellow. The poem has been exceedingly popular, both
when recited and also when sung to the beautiful music
composed for it by the Italian song-writer, Ciro Pinsuti.
[18] Here is a variant of the last two lines:

“Has twenty-eight and this in fine

One year in four has twenty-nine.”
 INDEX
All titles to chapters are in capitals.
All titles to selections are in italics.
Names of authors are given in ordinary type.

A
Abraham Lincoln Walks at Midnight, 520
Adams, Charles F., 338, 393
Advance, The Great, 534
Adventure, A Startling, 150
” An Unexpected, 258
AFTER DINNER SPEAKING, 711
Ain’t It the Truth (exercise), 35
Aldrich, Thomas B., 490, 665
All in the Emphasis, 311
Alexander, S. J., 641, 642, 643
Alexandra, A Welcome to, 633
Americanism, Creed of, 677
America and Its Flag, 559
” Music of, 21
Analysis, Progressive, 112
Ancient Mariner, 49
Andersen, Hans C., 191
Anderson, Alexander, 427
” John, My Jo, 574
Annabel Lee, 430
” The Lover of, 431
Apostrophe to the Ocean, 536
Apple Blossoms, 588
Arena, A Combat in the, 272
Arrow and the Song, The, 630
ARTICULATION EXERCISES, 27 et seq.
As I Came Down from Lebanon, 587
Aspirates, 28
As You Like It (quoted), 658-59
At Grandma’s, 391
Authors, Study Great, 2
Author’s Thought, Getting the, 7

B
Baby, Rocking the, 434
Bacon, Francis, 49
Bad Night, A, 131
Ballad of the King’s Singer, The True, 498
Banishment Scene, 662
Bansman, William, 538
Barnes, W. H. L., 683
Barrett, Wilson, 187
Bashford, Herbert, 414, 416, 456, 460, 612, 624
Battle Field, The Children of the, 452
Beecher, Henry Ward, iv, 100
Belief, Author’s Purpose, 113
Bedford-Jones, H., 337
Bell Buoy, The, 70
Bells of San Gabriel, 631
” of Shandon, 636
” The Minaret, 621
Bennett, Henry Holcomb, 525
Beside the Dead, 433
Betty Botter, 30
Bill and His Billboard, 35
Billee, Little, 360
Bishop and the Convict, The, 220
Bishop, Justin Truitt, 142
Black Sailor’s Chanty, The, 408
Blacksmith of Limerick, The, 503
Bland, Henry Meade, 568
Blossom Time, In, 607
Blossoms, Apple, 588
Booth, Gov. Newton, 678
Boy Wanted, A, 285
” The Whistling, 358
Bosher, Kate Langley, 132
Bravest Battle, The, 519
Break! Break! Break!, 433
Breath Sounds, 28
Brook and the Wave, The, 590
Brook, Song of the, 603
Brooks, Fred Emerson, 331, 343, 345, 348, 357, 358, 385, 408,
481
Brookside, The, 579
Brotherhood, 540
Browne, J. Ross, 131, 146, 150, 245
Browning, Elizabeth, 19, 442, 539, 542
Browning, Robert, 57, 63, 64, 66, 99, 304, 305, 321, 429, 548,
627
Brother, Little, 177
Brown Wolf, 183
Bryant, William Cullen, 53
Bullets, The Song of the, 644
Bumpas, Bombardier B., 423
Bunner, Henry C., 336
Burdette, Robert, 24, 148, 157, 158
Buried Heart, The, 434
Burns, Robert, 547, 574, 617
Butterfly, To a February, 642
Byron, Lord, 536

C
Cable, George W., 204
California, 606
Camp-Meeting at Bluff Springs, 142
Camp, Pauline B., 76
Captain, O, My Captain, 171
Carleton, Will, 507
Carmichael, Sarah B., 67, 453
Carruth, W. H., 469
Cary, Alice, 334, 609
Castles, Irish, 344
Catacombs of Palermo, 146
Cavalier’s Song, The, 473
Cave, The Tiger’s, 239
Champlain, Legend of Lake, 207
Channing’s Symphony, 324
Chapman, Arthur, 587
Charge, Pickett’s, 481
Charlie Jones’s Bad Luck, 412
Cheney, Annie Elizabeth, 600, 606
Chesterfield, Lord, 27
Child, R. W., 250
Child of My Heart, 613
Child’s Almanac, A, 392
Children of the Battlefield, The, 452
Chip of the Old Block, A, 193
Christmas at Sea, 510
” in India, 634
” Present for a Lady, A, 137
Christmas Ring, The, 348
Cicely, 332
Clarence, The Dream of, 501
Clark, James Gowdy, 452, 594
Classification of Selections, 113
Clearness and Precision in Speech, 85 et seq.
Clearness of Thought, 113
Coleridge, S. T., 49
Colloquial Selections, 327 et seq.
Colum, Padraic, 616
Columbus, by Joaquin Miller, 626
” Analysis of, 105
” by A. H. Clough, 340
Combat in the Arena, A, 272
Combination Sounds, 29
Co’n Pone’s Hot, When the, 397
Conversational Style, 672
Convict, The Bishop and the, 220
Cooke, Edmund Vance, 396, 404
Coolbrith, Ina, 433, 535, 538, 604, 605, 607
Cooper, Peter, 585
Copper Sin, A Son of, 262
Cornwall, Barry, 533
Coronation, 521
Correct Speech, 12
Corson, Hiram, 97, 101