Sol Skill Sassessment

SeIutiens te SkiII·Assessment
fxercises
ChAP1fk 2
2.1
The Laplace liansfoim of t is
1
s
2
using Table 2.1, ¡lem 3. \sing Table 2.2, ¡lem 4,
I s   
1
s  5  
2
.
2.2
!xpanding I(s) by pailial fiaclions yields:
I s   
A
s

B
s  2

C
s  3  
2

D
s  3  
wheie,
A 
1O
s  2   s  3  
2
SO

5
9
B 
1O
s s  3  
2
S 2
5
C 
1O
s s  2  
S 3

1O
3
 and D  s 3  
2
JI s  
Js
s 3

4O
9
Taking lhe inveise Laplace liansfoim yields,
j t   
5
9
5c
2t

1O
3
tc
3t

4O
9
c
3t
2.3
Taking lhe Laplace liansfoim of lhe diffeienlial equalion assuming zeio inilial
condilions yields:
s
3
C s    3s
2
C s    7sC s   5C s    s
2
R s   4sR s    3R s  
Collecling leims,
s
3
 3s
2
 7s  5 C s    s
2
 4s 3 R s  
Thus,
C s  
R s  

s
2
 4s  3
s
3
3s
2
 7s 5
1
2.4
C s   
C s  
R s  

2s  1
s
2
 6s  2
Cioss mulliplying yields,
J
2
c
Jt
2
 6
Jc
Jt
 2c  2
Jr
Jt
r
2.5
C s    R s  C s   
1
s
2
s
s  4   s 8  

1
s s 4   s  8  

A
s

B
s 4  

C
s  8  
wheie
A 
1
s  4   s  8  
SO

1
32
B 
1
s s  8  
S 4
1
16
 and C 
1
s s  4  
S 8

1
32
Thus,
c t   
1
32
1
16
c
4t

1
32
c
8t
2.6
Mcsh Analysis
Tiansfoiming lhe nelwoik yields,
+
V(s)
I
1
(s) I
2
(s)
V
1
(s)
V
2
(s)
I
9
(s)
+
1
1
s s
s
_
_
Now, wiiling lhe mesh equalions,
s  1  I
1
s sI
2
s I
3
s    V s  
sI
1
s    2s  1  I
2
s I
3
s    O
I
1
s I
2
s    s  2  I
3
s    O
Solving lhe mesh equalions foi I
2
(s),
I
2
s   
s  1   V s 1
s O 1
1 O s  2  
s  1 s 1
s 2s  1 1
1 1 s  2  

s
2
 2s  1 V s  
s s
2
 5s  2  
2 Solulions lo Skill-Assessmenl !xeicises
Bul, V
1
s    sI
2
s  
Hence,
V
1
s   
s
2
2s  1 V s  
s
2
 5s  2  
oi
V
1
s  
V s  

s
2
 2s  1
s
2
 5s  2
Nndal Analysis
Wiiling lhe nodal equalions,
1
s
 2 V
1
s V
1
s    V s  
V
1
s   
2
s
 1 V
1
s   
1
s
V s  
Solving foi V
1
(s),
V
1
s   
1
s
2 V s  
1
1
s
V s  
1
s
 2 1
1
2
s
 1

s
2
2s  1 V s  
s
2
 5s  2  
oi
V
1
s  
V s  

s
2
 2s  1
s
2
 5s  2
2.7
Invcrting
C s
7
2
s  
7
1
s  

1OOOOO
1O
5
s
s
Nnninvcrting
C s   
7
1
s    7 s  
7
1
s  

1O
5
s
 1O
5
1O
5
s
 s  1
2.8
Wiiling lhe equalions of molion,
s
2
 3s  1 X
1
s 3s 1  X
2
s    I s  
3s  1  X
1
s    s
2
 4s  1 X
2
s    O
Chaplei 2 Solulions lo Skill-Assessmenl !xeicises 3
Solving foi X
2
(s),
X
2
s   
s
2
3s  1 I s  
3s  1   O
s
2
 3s 1 3s  1  
3s 1   s
2
4s  1

3s  1  I s  
s s
3
7s
2
 5s  1  
Hence,
X
2
s  
I s  

3s  1  
s s
3
 7s
2
 5s  1  
2.9
s
2
 s  1 ±
1
s s  1  ±
2
s    T s  
s  1  ±
1
s    2s  2  ±
2
s    O
wheie ±
1
s   is lhe angulai displacemenl of lhe ineilia.
Solving foi ±
2
s  ,
±
2
s   
s
2
 s  1 T s  
s  1   O
s
2
s  1 s  1  
s  1   2s  2  

s  1  I s  
2s
3
 3s
2
 2s  1
Iiom which, aflei simplificalion,
±
2
s   
1
2s
2
 s 1
2.10
Tiansfoiming lhe nelwoik lo one wilhoul geais by ieflecling lhe 4 N-m/iad spiing lo
lhe lefl and mulliplying by (25/5O)
2
, we oblain,
s
2
 s ±
1
s s±
a
s    T s  
s±
1
s    s  1  ±
a
s    O
wheie ±
1
s   is lhe angulai displacemenl of lhe 1-kg ineilia.
Solving foi ±
a
s  ,
±
a
s   
s
2
 s T s  
s O
s
2
 s s
s s  1  

sT s  
s
3
 s
2
 s
Iiom which,
±
a
s  
T s  

1
s
2
s  1
Bul, ±
2
s   
1
2
±
a
s  
Thus,
±
2
s  
T s  

12
s
2
s  1
2.11
Iiisl find lhe mechanical conslanls.
1
n
 1
a
 1
1
1
5
1
4
2
 1  4OO
1
4OO
 2
D
n
 D
a
 D
1
1
5
1
4
2
 5  8OO
1
4OO
 7
Now find lhe elecliical conslanls. Iiom lhe loique-speed equalion, sel o
m
 O lo
find slall loique and sel T
n
 O lo find no-load speed. Hence,
T
stall
 2OO
o
no loaJ
 25
which,
K
t
R
a

T
stall
1
a

2OO
1OO
 2
K
b

1
a
o
no loaJ

1OO
25
 4
Subsliluling all values inlo lhe moloi liansfei funclion,
±
n
s  
1
a
s  

K
T
R
a
1
n
s s 
1
1
n
D
n

K
T
K
b
R
a

1
s s 
15
2
wheie ±
n
s   is lhe angulai displacemenl of lhe aimaluie.
Now ±
1
s   
1
2O
±
n
s  . Thus,
±
1
s  
1
a
s  

12O
s s 
15
2
2.12
Lelling
±
1
s    o
1
s  s
±
2
s    o
2
s  s
in !qs. 2.127, we oblain
1
1
s  D
1

K
s
o
1
s
K
s
o
2
s    T s  
K
s
o
1
s    1
2
s  D
2

K
s
o
2
s  
Iiom lhese equalions we can diaw bolh seiies and paiallel analogs by consideiing
lhese lo be mesh oi nodal equalions, iespeclively.


J
1
J
1
J
2
J
2
D
1
D
1
D
2
D
2
T(t)
T(t)

1
(t)

1
(t)

2
(t)

2
(t)
1 1
K
1
1
Series analog
Parallel analog
K
2.13
Wiiling lhe nodal equalion,
C
Jv
Jt
 i
r
2  i t  
Bul,
C  1
v  v
o
ov
i
r
 c
v
r
 c
v
 c
v
o
ov
Subsliluling lhese ielalionships inlo lhe diffeienlial equalion,
J v
o
 ov  
Jt
 c
v
o
ov
2  i t  
1
We now lineaiize c
v
.
The geneial foim is
j v j v
o
Jj
Jv
vo
ov
Subsliluling lhe funclion, j v    c
v
, wilh v  v
o
ov yields,
c
voov
c
vo
Jc
v
Jv
v
o
ov
Solving foi c
v
o
ov
,
c
v
o
ov
 c
v
o

Jc
v
Jv
v
o
ov  c
v
o
 c
v
o
ov
Subsliluling inlo !q. (1)
Jov
Jt
 c
v
o
 c
v
o
ov 2  i t   2
Selling i t    O and lelling lhe ciicuil ieach sleady slale, lhe capaciloi acls like an
open ciicuil. Thus, v
o
 v
r
wilh i
r
 2. Bul, i
r
 c
v
r
oi v
r
 lni
r
.
Hence, v
o
 ln 2  O693. Subsliluling lhis value of v
o
inlo !q. (2) yields
Jov
Jt
 2ov  i t  
Taking lhe Laplace liansfoim,
s 2  ov s    I s  
Solving foi lhe liansfei funclion, we oblain
ov s  
I s  

1
s 2
oi
V s  
I s  

1
s  2
aboul equilibiium
ChAP1fk 3
3.1
¡denlifying appiopiiale vaiiables on lhe ciicuil yields




C
1
i
L
i
C
2
i
C
1
i
R
C
2
R
L
v
o
(t) v
1
(t)
Wiiling lhe deiivalive ielalions
C
1
Jv
C
1
Jt
 i
C
1
1
Ji
1
Jt
 v
1
C
2
Jv
C
2
Jt
 i
C2
1
\sing Kiichhoff`s cuiienl and vollage laws,
i
C
1
 i
1
i
R
 i
1

1
R
v
1
v
C
2
 
v
1
v
C
1
 v
i
i
C
2
 i
R

1
R
v
1
v
C
2
 
Subsliluling lhese ielalionships inlo !qs. (1) and simplifying yields lhe slale
equalions as
Jv
C
1
Jt
1
RC
1
v
C
1

1
C
1
i
1
1
RC
1
v
C2

1
RC
1
v
i
Ji
1
Jt
1
1
v
C
1

1
1
v
i
Jv
C
2
Jt
1
RC
2
v
C
1
1
RC
2
v
C
2
1
RC
2
v
i
wheie lhe oulpul equalion is
v
o
 v
C
2
Pulling lhe equalions in vecloi-maliix foim,
 x 
1
RC
1
1
C
1
1
RC
1
1
1
O O
1
RC
2
O
1
RC
2
x 
1
RC
1
1
1
1
RC
2
v
i
t  
y  O O 1 x
3.2
Wiiling lhe equalions of molion
s
2
 s  1 X
1
s   sX
2
s    I s  
sX
1
s    s
2
 s  1 X
2
s X
3
s    O
X
2
s    s
2
 s  1 X
3
s    O
Taking lhe inveise Laplace liansfoim and simplifying,
 x
1
 x
1
x
1
  x
2
 j
 x
2
  x
1
 x
2
x
2
 x
3
 x
3
 x
3
x
3
 x
2
Defining slale vaiiables, ;
i
,
;
1
 x
1
 ;
2
  x
1
 ;
3
 x
2
 ;
4
  x
2
 ;
5
 x
3
 ;
6
  x
3
Wiiling lhe slale equalions using lhe definilion of lhe slale vaiiables and lhe inveise
liansfoim of lhe diffeienlial equalion,
 ;
1
 ;
2
 ;
2
  x
1
 x
1
x
1
  x
2
 j ;
2
;
1
 ;
4
j
 ;
3
  x
2
 ;
4
 ;
4
  x
2
  x
1
 x
2
x
2
 x
3
 ;
2
;
4
;
3
 ;
5
 ;
5
  x
3
 ;
6
 ;
6
  x
3
 x
3
x
3
 x
2
;
6
;
5
 ;
3
The oulpul is ;
5
. Hence, y  ;
5
. ¡n vecloi-maliix foim,
 z 
O 1 O O O O
1 1 O 1 O O
O O O 1 O O
O 1 1 1 1 O
O O O O O 1
O O 1 O 1 1
z 
O
1
O
O
O
O
j t   y  O O O O 1 O z
3.3
Iiisl deiive lhe slale equalions foi lhe liansfei funclion wilhoul zeios.
X s  
R s  

1
s
2
 7s  9
Cioss mulliplying yields
s
2
 7s  9 X s    R s  
Taking lhe inveise Laplace liansfoim assuming zeio inilial condilions, we gel
 x 7 x  9x  r
Defining lhe slale vaiiables as,
x
1
 x
x
2
  x
Hence,
 x
1
 x
2
 x
2
  x 7 x 9x r 9x
1
7x
2
 r
\sing lhe zeios of lhe liansfei funclion, we find lhe oulpul equalion lo be,
c  2 x  x  x
1
 2x
2
Pulling all equalion in vecloi-maliix foim yields,
 x 
O 1
9 7
x 
O
1
r
c  1 2 x
3.4
The slale equalion is conveiled lo a liansfei funclion using
C s    C sI A  
1
B
1
wheie
A 
4 15
4 O
 B 
2
O
 and C  15 O625 
!valualing sI A   yields
sI A   
s  4 15
4 s
Taking lhe inveise we oblain
sI A  
1

1
s
2
 4s  6
s 15
4 s  4
Subsliluling all expiessions inlo !q. (1) yields
C s   
3s  5
s
2
4s  6
3.5
Wiiling lhe diffeienlial equalion we oblain
J
2
x
Jt
2
 2x
2
 1O  oj t  
1
Lelling x  x
o
ox and subsliluling inlo !q. (1) yields
J
2
x
o
ox  
Jt
2
 2 x
o
 ox  
2
 1O  oj t  
2
Now, lineaiize x
2
.
x
o
 ox  
2
x
2
o

J x
2
Jx
x
o
ox  2x
o
ox
fiom which
x
o
 ox  
2
 x
2
o
 2x
o
ox 3
Subsliluling !q. (3) inlo !q. (1) and peifoiming lhe indicaled diffeienlialion gives
us lhe lineaiized inleimediale diffeienlial equalion,
J
2
ox
Jt
2
4x
o
ox 2x
2
o
 1O  oj t  
4
The foice of lhe spiing al equilibiium is 1O N. Thus, since I  2x
2
 1O  2x
2
o
fiom
which
x
o
 5

Subsliluling lhis value of x
o
inlo !q. (4) gives us lhe final lineaiized diffeienlial
equalion.
J
2
ox
Jt
2
 4 5

ox  oj t  
Selecling lhe slale vaiiables,
x
1
 ox
x
2


ox
Wiiling lhe slale and oulpul equalions
 x
1
 x
2
 x
2


ox 4 5

x
1
oj t  
y  x
1
Conveiling lo vecloi-maliix foim yields lhe final iesull as
 x 
O 1
4 5

O
x 
O
1
oj t  
y  1 O x
ChAP1fk 4
4.1
Ioi a slep inpul
C s   
1O s  4   s 6  
s s 1   s  7   s  8   s 1O  

A
s

B
s  1

C
s 7

D
s  8

1
s  1O
Taking lhe inveise Laplace liansfoim,
c t    A Bc
t
 Cc
7t
 Dc
8t
 1c
1Ot
4.2
Since a  5O T
c

1
a

1
5O
 OO2s T
s

4
a

4
5O
 OO8 s; and
T
r

22
a

22
5O
 OO44 s.
4.3
a. Since poles aie al 6 j 19O8 c t    A  Bc
6t
cos 19O8t  ç  .
b. Since poles aie al 7854 and 1146 c t    A Bc
7854t
Cc
114t
.
c. Since poles aie double on lhe ieal axis al 15 c t    A Bc
15t
Ctc
15t

d. Since poles aie al j 25 c t    A B cos 25t ç  .
4.4
a. o
n
 4OO

 2O and 2¸o
n
 12 ¸  O3 and syslem is undeidamped.
b. o
n
 9OO

 3O and 2¸o
n
 9O ¸  15 and syslem is oveidamped.
c.
o
n
 225

 15 and 2¸o
n
 3O ¸  1 and syslem is ciilically damped
.
d. o
n
 625

 25 and 2¸o
n
 O ¸  O and syslem is undamped.
4.5
o
n
 361

 19 and 2¸o
n
 16 ¸  O421
Now, T
s

4
¸o
n
 O5 s and T
p

¬
o
n
1 ¸
2
 O182 s.
Iiom Iiguie 4.16, o
n
T
r
 14998. Theiefoie, T
r
 OO79 s.
Iinally, os  c
¸¬
1

¸
2
1OO  233
4.6
a. The second-oidei appioximalion is valid, since lhe dominanl poles have a ieal
pail of 2 and lhe highei-oidei pole is al 15, i.e. moie lhan five-limes fuilhei.
b. The second-oidei appioximalion is nol valid, since lhe dominanl poles have a ieal
pail of 1 and lhe highei-oidei pole is al 4, i.e. nol moie lhan five-limes fuilhei.
4.7
a. !xpanding C(s) by pailial fiaclions yields C s   
1
s

O8942
s  2O
15918
s 1O
O3O23
s  65
.
Bul O3O23 is nol an oidei of magnilude less lhan iesidues of second-oidei leims
(leim 2 and 3). Theiefoie, a second-oidei appioximalion is nol valid.
b. !xpanding C(s) by pailial fiaclions yields C s   
1
s

O9782
s  2O
19O78
s 1O
OO7O4
s  65
.
Bul O.O7O4 is an oidei of magnilude less lhan iesidues of second-oidei leims
(leim 2 and 3). Theiefoie, a second-oidei appioximalion is valid.
4.8
SeeIiguie4.31inlhe lexlbookfoi lheSimulinkblockdiagiamandlheoulpul iesponses.
4.9
a. Since sI A 
s 2
3 s  5
 sI A  
1

1
s
2
5s  6
s  5 2
3 s
 Also,
BL s   
O
1 s  1  
.
The slale vecloi is X s    sI A  
1
x O    BL s  
1
s  1   s  2   s  3  
2 s
2
 7s  7
s
2
4s 6
. The oulpul is Y s    1 3 X s   
5s
2
 2s 4
s  1   s  2   s  3  

O5
s  1
12
s 2

175
s  3
. Taking lhe inveise Laplace liansfoim yields y t   
O5c
t
12c
2t
175c
3t
.
b. The eigenvalues aie given by lhe iools of sI A  s
2
 5s  6, oi 2 and 3.
4.10
a. Since sI A   
s 2
2 s  5
 sI A  
1

1
s
2
 5s 4
s  5 2
2 s
. Taking lhe
Laplace liansfoim of each leim, lhe slale liansilion maliix is given by
 t   
4
3
c
t
1
3
c
4t
2
3
c
t
2
3
c
4t
2
3
c
t

2
3
c
4t
1
3
c
t

4
3
c
4t

b. Since  t t   
4
3
c
t t  
1
3
c
4 t t  
2
3
c
t t  
2
3
c
4 t t  
2
3
c
t t  

2
3
c
4 t t  
1
3
c
t t  

4
3
c
4 t t  
and
Bu t   
O
c
2t
  t t  Bu t   
2
3
c
t
c
t
2
3
c
2t
c
4t
1
3
c
t
c
t

4
3
c
2t
c
4t

Thus, x t     t  x O   
t
O
 t t  
BL t  Jt 
1O
3
c
t
c
2t
4
3
c
4t
5
3
c
t
 c
2t

8
3
c
4t
c. y t    2 1 x  5c
t
c
2t
ChAP1fk 5
5.1
Combine lhe paiallel blocks in lhe foiwaid palh. Then, push
1
s
lo lhe lefl pasl lhe
pickoff poinl.
1
s
s
s
s
s
2
+
1
+
-
-
R(s)
C(s)
Combine lhe paiallel feedback palhs and gel 2s. Then, apply lhe feedback foimula,
simplify, and gel, T s   
s
3
 1
2s
4
 s
2
2s
.
5.2
Iind lhe closed-loop liansfei funclion, T s   
C s  
1  C s  H s  

16
s
2
as  16
, wheie
and C s   
16
s s a  
and H s    1. Thus, o
n
 4 and 2¸o
n
 a, fiom which ¸ 
a
8
.
Bul, foi 5 oveishool, ¸ 
ln

1OO
¬
2
 ln
2

1OO
 O69. Since, ¸ 
a
8
 a  552.
5.3
Label nodes.
+ +
+
-
-
R(s)
s
s
N
1
(s) N
2
(s) N
3
(s) N
4
(s)
N
6
(s) N
5
(s)
N
7
(s)
s
C(s)
1
s
1
s
Diaw nodes.
() 
1
() 
2
()

5
()

7
()

6
()

3
() 
4
()  ()
Connecl nodes and label subsyslems.
R(s)
C(s) 1
1
s
s
1
s
s
1 1
1
1
1
s
N
1
(s) N
2
(s)
N
5
(s) N
6
(s)
N
7
(s)
N
3
(s)
N
4
(s)
!liminale unnecessaiy nodes.
R(s) C(s) 1 s s
1
s
1
s
-s
-1
5.4
Ioiwaid-palh gains aie C
1
C
2
C
3
and C
1
C
3
.
Loop gains aie C
1
C
2
H
1
 C
2
H
2
and C
3
H
3
.
Nonlouching loops aie C
1
C
2
H
1
C
3
H
3
C
1
C
2
C
3
H
1
H
3
and
C
2
H
2
C
3
H
3
C
2
C
3
H
2
H
3
.
Also,   1  C
1
C
2
H
1
 C
2
H
2
 C
3
H
3
C
1
C
2
C
3
H
1
H
3
 C
2
C
3
H
2
H
3

Iinally, 
1
 1 and 
2
 1.
Subsliluling lhese values inlo T s   
C s  
R s  

k
T
k

k

yields
T s   
C
1
s  C
3
s   1 C
2
s  
1  C
2
s  H
2
s   C
1
s  C
2
s  H
1
s   1  C
3
s  H
3
s  
5.5
The slale equalions aie,
 x
1
2x
1
x
2
 x
2
3x
2
x
3
 x
3
3x
1
4x
2
5x
3
 r
y  x
2
Diawing lhe signal-flow diagiam fiom lhe slale equalions yields
1
s
1
s
1
s
1 1 1
1
-5
-4
-2 -3
-3
r x
1
x
2
x
3 y
5.6
Iiom C s   
1OO s  5  
s
2
5s  6
we diaw lhe signal-flow giaph in conliollei canonical foim
and add lhe feedback.
1
-5
-6
100
500
-1
y
r
1
s
1
s
x
1
x
2
Wiiling lhe slale equalions fiom lhe signal-flow diagiam, we oblain
x 
1O5 5O6
1 O
x 
1
O
r
y  1OO 5OO x
5.7
Iiom lhe liansfoimalion equalions,
P
1

3 2
1 4
Taking lhe inveise,
P 
O4 O2
O1 O3
Now,
P
1
AP 
3 2
1 4
1 3
4 6
O4 O2
O1 O3

65 85
95 115
P
1
B 
3 2
1 4
1
3

3
11
CP  1 4
O4 O2
O1 O3
 O8 14
Theiefoie,
 z 
65 85
95 115
z 
3
11
u
y  O8 14 z
5.8
Iiisl find lhe eigenvalues.
zI A 
z O
O z
1 3
4 6

z 1 3
4 z  6
 z
2
 5z  6
Iiom which lhe eigenvalues aie 2 and 3.
Now use Ax
i
 zx
i
foi each eigenvalue, z.
Thus,
1 3
4 6
x
1
x
2
 z
x
1
x
2
Ioi z 2,
3x
1
 3x
2
 O
4x
1
4x
2
 O
Thus x
1
x
2
Ioi z 3
4x
1
3x
2
 O
4x
1
3x
2
 O
Thus x
1
x
2
and x
1
O75x
2
; fiom which we lel
P 
O7O7 O6
O7O7 O8
Taking lhe inveise yields
P
1

56577 42433
5 5
Hence,
D  P
1
AP 
56577 42433
5 5
1 3
4 6
O7O7 O6
O7O7 O8

2 O
O 3
P
1
B 
56577 42433
5 5
1
3

1839
2O
CP  1 4
O7O7 O6
O7O7 O8
2121 26
Iinally,
 z 
2 O
O 3
z 
1839
2O
u
y 2121 26 z
ChAP1fk 6
6.1
Make a Roulh lable.
s
7
3 6 7 2
s
6
9 4 8 6
s
5
4.666666667 4.333333333 O O
s
4
4.35714286 8 6 O
s
3
12.9O163934 6.4262295O8 O O
s
2
1O.17O26684 6 O O
s
1
1.18515742 O O O
s
O
6 O O O
Since lheie aie foui sign changes and no complele iow of zeios, lheie aie foui iighl
half-plane poles and lhiee lefl half-plane poles.
6.2
Make a Roulh lable. We encounlei a iowof zeios on lhe s
3
iow. The even polynomial
is conlained in lhe pievious iow as 6s
4
Os
2
 6. Taking lhe deiivalive yields
24s
3
 Os. Replacing lhe iow of zeios wilh lhe coefficienls of lhe deiivalive yields
lhe s
3
iow. We also encounlei a zeio in lhe fiisl column al lhe s
2
iow. We ieplace lhe
zeio wilh  and conlinue lhe lable. The final iesull is shown now as
s
6
1 6 1 6
s
5
1 O 1 O
s
4
6 O 6 O
s
3
24 O O O ROZ
s
2
 6 O O
s
1
144 O O O
s
O
6 O O O
Theie is one sign change below lhe even polynomial. Thus lhe even polynomial
(4
lh
oidei) has one iighl half-plane pole, one lefl half-plane pole, and 2 imaginaiy
axis poles. Iiom lhe lop of lhe lable down lo lhe even polynomial yields one sign
change. Thus, lhe iesl of lhe polynomial has one iighl half-plane iool, and one lefl
half-plane iool. The lolal foi lhe syslem is lwo iighl half-plane poles, lwo lefl half-
plane poles, and 2 imaginaiy poles.
6.3
Since C s   
K s  2O  
s s  2   s  3  
 T s   
C s  
1  C s  

K s  2O  
s
3
 5s
2
 6  K  s  2OK
Ioim lhe Roulh lable.
s
3
1 6 K  
s
2
5 2OK
s
1
3O 15K
5
s
O
2OK
Iiom lhe s
1
iow, K  2. Iiom lhe s
O
iow, K  O. Thus, foi slabilily, O  K  2.
6.4
Iiisl find
sI A   
s O O
O s O
O O s
2 1 1
1 7 1
3 4 5

s 2 1 1
1 s 7 1
3 4 s  5  
 s
3
4s
2
33s  51
Now foim lhe Roulh lable.
s
3
1 33
s
2
4 51
s
1
2O25
s
O
51
Theie aie lwo sign changes. Thus, lheie aie lwo ihp poles and one lhp pole.
ChAP1fk 7
7.1
a. Iiisl check slabilily.
T s   
C s  
1  C s  

1Os
2
 5OOs  6OOO
s
3
 7Os
2
 1375s  6OOO

1O s  3O   s  2O  
s 26O3   s 3789   s  6O85  
Poles aie in lhe lhp. Theiefoie, lhe syslem is slable. Slabilily also could be checked
via Roulh-Huiwilz using lhe denominaloi of T(s). Thus,
15u t    c
stcp
   
15
1  lim
sO
C s  

15
1  
 O
15tu t    c
ranp
   
15
lim
sO
sC s  

15
1O 2O 3O
25 35
 21875
15t
2
u t    c
parabola
   
15
lim
sO
s
2
C s  

3O
O
  since 1 15t
2

3O
s
3
b. Iiisl check slabilily.
T s   
C s  
1  C s  

1Os
2
5OOs  6OOO
s
5
 11Os
4
 3875s
3
437cO4s
2
 5OOs  6OOO

1O s  3O   s  2O  
s  5OO1   s 35   s  25   s
2
7189c O4s  O1372  
Iiom lhe second-oidei leim in lhe denominaloi, we see lhal lhe syslem is unslable.
¡nslabilily could also be deleimined using lhe Roulh-Huiwilz ciileiia on lhe
denominaloi of T(s). Since lhe syslem is unslable, calculalions aboul sleady-slale
eiioi cannol be made.
7.2
a. The syslem is slable, since
T s   
C s  
1  C s  

1OOO s  8  
s  9   s  7    1OOO s  8  

1OOO s  8  
s
2
 1O16s  8O63
and is of Type O. Theiefoie,
K
p
 lim
sO
C s   
1OOO 8
7 9
 127 K
v
 lim
sO
sC s    O
and K
a
 lim
sO
s
2
C s    O
b.
c
stcp
   
1
1  lim
sO
C s  

1
1  127
 78c O3
c
ranp
   
1
lim
sO
sC s  

1
O
 
c
parabola
   
1
lim
sO
s
2
C s  

1
O
 
7.3
Syslem is slable foi posilive K. Syslem is Type O. Theiefoie, foi a slep inpul
c
stcp
   
1
1  K
p
 O1. Solving foi K
p
yields K
p
 9  lim
sO
C s   
12K
14 18
; fiom
which we oblain K  189.
7.4
Syslem is slable. Since C
1
s    1OOO, and C
2
s   
s  2  
s  4  
,
c
D

1
lim
sO
1
C
2
s  
 limC
1
sO
s  

1
2  1OOO
998c O4
7.5
Syslem is slable. Cieale a unily-feedback syslem, wheie H
c
s   
1
s  1
1 
s
s 1
The syslem is as follows:



R(s)
E
a
(s) C(s)
100
s  4
s
s  1
Thus,
C
c
s   
C s  
1 C S  H
c
s  

1OO
s  4  
1
1OOs
s  1   s 4  

1OO s 1  
S
2
95s  4
Hence, lhe syslem is Type O. !valualing K
p
yields
K
p

1OO
4
 25
The sleady-slale eiioi is given by
c
stcp
   
1
1  K
p

1
1  25
 3846c O2
7.6
K s  7  
s
2
 2s  1O
 c    
1
1  K
p

1
1 
7K
1O

1O
1O  7K
.
Calculaling lhe sensilivily, we gel
S
cK

K
c
c
K

K
1O
1O  7K
1O  7
1O  7K  
2
7K
1O  7K
7.7
Given
A 
O 1
3 6
 B 
O
1
 C  1 1  R s   
1
s

\sing lhe final value lheoiem,
c
stcp
    lim
sO
sR s   1 C sI A  
1
B  lim
sO
1 1 1
s 1
3 s  6
1
O
1
 lim
sO
1 1 1
s  6 1
3s s
s
2
6s  3
O
1
 lim
sO
s
2
 5s  2
s
2
 6s  3

2
3
\sing inpul subslilulion,
stcp
    1  CA
1
B  1 1 1
O 1
3 6
1
O
1
 1  1 1
6 1
3 O
3
O
1
 1  1 1
1
3
O

2
3
ChAP1fk 8
8.1
a.
I 7  j9   
7  j9  2 7  j9  4  OO339
7  j9 7 j9 3 7 j9 6  

5  j9 3  j9  
7  j9 4  j9 1  j9  

66 j72  
944 j378  
OO339 jOO899  OO96  11O7
b. The aiiangemenl of veclois is shown as follows:
j

s-plane
X X
-2 -4 -1 -3 -6 -5 -7
X
M
1
M
2
M
3
M
4
M
5
(-7+j9)
0
Iiom lhe diagiam,
I 7  j9   
M
2
M
4
M
1
M
3
M
5

3  j9 5  j9  
1  j9 4  j9 7  j9  

66 j72  
944 j378  
OO339 jOO899  OO96  11O7
8.2
a. Iiisl diaw lhe veclois.
j

s-plane
X
X
-2
-3
0 -1
j1
j2
j3
-j1
-j2
-j3
Iiom lhe diagiam,
angles  18O lan
1
3
1
lan
1
3
1
 18O 1O843  1O843  18O 
b. Since lhe angle is 18O , lhe poinl is on lhe iool locus.
c. K 
pole lenglhs
zeio lenglhs

1
2
 3
2
1
2
 3
2
1
 1O
8.3
Iiisl, find lhe asymploles.
o
a

poles zeios
poles zeios

2 4 6 O  
3 O
4
±
a

2k 1  ¬
3

¬
3
 ¬
5¬
3
Nexl diaw iool locus following lhe iules foi skelching.
-8 -7 -6 -5 -4 -3 -2 -1 0 1 2 3
-5
-4
-3
-2
-1
0
1
2
3
4
5
Real Axis
I
m
a
g

A
x
i
s
8.4
a.
j3

j
s-plane
X
X
O
-2
2
-j3
0
b. \sing lhe Roulh-Huiwilz ciileiia, we fiisl find lhe closed-loop liansfei funclion.
T s   
C s  
1  C s  

K s 2  
s
2
 K 4  s  2K  13  
\sing lhe denominaloi of T(s), make a Roulh lable.
We gel a iow of zeios foi K  4. Iiom lhe s
2
iow wilh K  4 s
2
 21  O. Iiom
which we evaluale lhe imaginaiy axis ciossing al 21

.
c. Iiom pail (b), K  4.
d. Seaiching foi lhe minimum gain lo lhe lefl of 2 on lhe ieal axis yields 7 al a
gain of 18. Thus lhe bieak-in poinl is al 7.
s
2
1 2K  13
s
1
K 4O O
s
O
2K 13 O
c. Iiisl, diaw veclois lo a poinl  close lo lhe complex pole.
j

s-plane
X
X
-2
2 0
j3
-j3
Al lhe poinl  close lo lhe complex pole, lhe angles musl add up lo zeio. Hence,
angle fiomzeio angle fiompole in 4
lh
quadianl angle fiompole in 1
sl
quadianl 
18O , oi lan
1
3
4
9O ±  18O . Solving foi lhe angle of depailuie,
± 2331.
8.5
a.
j
4 -3
X
X
s-plane
o
0
 = 0.5
j4
-j4

2
o
b. Seaich along lhe imaginaiy axis and find lhe 18O poinl al s j4O6.
c. Ioi lhe iesull in pail (b), K  1.
d. Seaiching belween2 and4 onlhe ieal axis foi lhe minimumgain yields lhe bieak-in
al s  289.
c. Seaiching along ¸  O5 foi lhe 18O poinl we find s 242  j418.
f. Ioi lhe iesull in pail (c), K  O1O8.
g. \sing lhe iesull fiom pail (c) and lhe iool locus, K  1.
8.6
a.

j
 = 0.591
-2 -4 -6
X X X
0
s-plane
b. Seaiching along lhe ¸  O591 (1O' oveishool) line foi lhe 18O poinl yields
2O28  j2768 wilh K  4555.
c. T
s

4
Re

4
2O28
 197 s T
p

¬
¡m

¬
2768
 113 s o
n
T
r
 18346 fiom lhe
iise-lime chail and giaph in Chaplei 4. Since o
n
is lhe iadial dislance lo lhe pole,
o
n
 2O28
2
 2768
2
 3431. Thus, T
r
 O53 s; since lhe syslem is Type O,
K
p

K
2 4 6

4555
48
 O949. Thus,
c
stcp
   
1
1  K
p
 O51
d. Seaiching lhe ieal axis lo lhe lefl of 6 foi lhe poinl whose gain is 45.55, we find
794. Compaiing lhis value lo lhe ieal pail of lhe dominanl pole, 2O28, we find
lhal il is nol five limes fuilhei. The second-oidei appioximalion is nol valid.
8.7
Iind lhe closed-loop liansfei funclion and pul il lhe foim lhal yields p
i
as lhe iool
locus vaiiable. Thus,
T s   
C s  
1  C s  

1OO
s
2
 p
i
s  1OO

1OO
s
2
 1OO    p
i
s

1OO
s
2
 1OO
1 
p
i
s
s
2
1OO
Hence, KC s  H s   
p
i
s
s
2
 1OO
. The following shows lhe iool locus.

j
-j10 X
O
s-plane
0
X j10
8.8
Iollowing lhe iules foi plolling lhe iool locus of posilive-feedback syslems, we
oblain lhe following iool locus:

j
-2 -4
X
s-plane
-1
X X o
0 -3
8.9
The closed-loop liansfei funclion is T s   
K s  1  
s
2
 K  2  s  K
. Diffeienlialing lhe
denominaloi wilh iespecl lo K yields
2s
s
K
 K  2  
s
K
 s  1    2s K  2  
s
K
 s  1    O
Solving foi
s
K
, we gel
s
K

s  1  
2s  K 2  
. Thus, S
sK

K
s
s
K

K s  1  
s 2s  K  2  

Subsliluling K  2O yields S
sK

1O s  1  
s s  11  
.
Now find lhe closed-loop poles when K  2O. Iiom lhe denominaloi of T s  
s
12
21O5 O95, when K  2O.
Ioi lhe pole al 21O5,
s  s S
sK
 
K
K
12O5
1O 21O5 1  
21O5 21O5 11  
OO5 O9975
Ioi lhe pole al O95,
s  s S
sK
 
K
K
 O95
1O O95  1  
O95 O95  11  
OO5 OOO25
ChAP1fk 9
9.1
a. Seaiching along lhe 15' oveishool line, we find lhe poinl on lhe iool locus al
35  j58 al a gain of K  4584. Thus, foi lhe uncompensaled syslem,
K
v
 lim
sO
sC s    K7  45847  655.
Hence, c
ranp unconpcnsatcJ
    1K
v
 O1527.
b. Compensaloi zeio should be 2Ox fuilhei lo lhe lefl lhan lhe compensaloi pole.
Aibiliaiily selecl C
c
s   
s  O2  
s  OO1  
.
c. ¡nseil compensaloi and seaich along lhe 15' oveishool line and find lhe iool
locus al 34 j563 wilh a gain, K  4464. Thus, foi lhe compensaled syslem,
K
v

4464 O2  
7   OO1  
 1275 and c
ranp conpcnsatcJ
   
1
K
v
 OOO78.
d.
c
ranp unconpcnsatcJ
c
ranp conpcnsatcJ

O1527
OOO78
 1958
9.2
a. Seaiching along lhe 15' oveishool line, we find lhe poinl on lhe iool locus al
35  j58 al a gain of K  4584. Thus, foi lhe uncompensaled syslem,
T
s

4
Rc

4
35
 1143 s
b. The ieal pail of lhe design poinl musl be lhiee limes laigei lhan lhe un-
compensaled pole`s ieal pail. Thus lhe design poinl is 3 35   j 3 58   
1O5  j 174. The angulai conliibulion of lhe planl`s poles and compensaloi
zeio al lhe design poinl is 13O8 . Thus, lhe compensaloi pole musl conliibule
18O 13O8  492 . \sing lhe following diagiam,
-p
c

j
s-plane
-10.5
j17.4
49.2
we find
174
I
c
1O5
 lan492 , fiom which, p
c
 2552. Adding lhis pole, we find
lhe gain al lhe design poinl lo be K  4763. A highei-oidei closed-loop pole is
found lo be al 1154. This pole may nol be close enough lo lhe closed-loop zeio
al 1O. Thus, we should simulale lhe syslem lo be suie lhe design iequiiemenls
have been mel.
9.3
a. Seaiching along lhe 2O' oveishool line, we find lhe poinl on lhe iool locus al
35  683 al a gain of K  589. Thus, foi lhe uncompensaled syslem,
T
s

4
Re

4
35
 1143 s
b. Ioi lhe uncompensaled syslem, K
v
 lim
sO
sC s    K7  5897  841. Hence,
c
ranp unconpcnsatcJ
    1K
v
 O1189.
c. ¡n oidei lo deciease lhe sellling lime by a facloi of 2, lhe design poinl is lwice lhe
uncompensaled value, oi 7 j 1366. Adding lhe angles fiom lhe planl`s poles
and lhe compensaloi`s zeio al 3 lo lhe design poinl, we oblain 1OO8 . Thus,
lhe compensaloi pole musl conliibule 18O 1OO8  792 . \sing lhe following
diagiam,
-p
c

j
s-plane
79.2
-7
j13.66
we find
1366
I
c
7
 lan792 , fiom which, p
c
 961. Adding lhis pole, we find lhe
gain al lhe design poinl lo be K  2O49.
!valualing K
v
foi lhe lead-compensaled syslem:
K
v
 lim
sO
sC s  C
lcaJ
 K 3   7   961   2O49   3   7   961   9138
K
v
foi lhe uncompensaled syslem was 8.41. Ioi a 1Ox impiovemenl in sleady-slale
eiioi, K
v
musl be 841   1O    841. Since lead compensalion gave us K
v
 9138,
we need an impiovemenl of 8419138  92. Thus, lhe lag compensaloi zeio
should be 9.2x fuilhei lo lhe lefl lhan lhe compensaloi pole. Aibiliaiily selecl
C
c
s   
s OO92  
s OO1  
.
\sing all planl and compensaloi poles, we find lhe gain al lhe design poinl lo
be K  2O54. Summaiizing lhe foiwaid palh wilh planl, compensaloi, and gain
yields
C
c
s   
2O54 s  3   s OO92  
s s  7   961   s  OO1  

Highei-oidei poles aie found al O928 and 26. ¡l would be advisable lo simulale
lhe syslem lo see if lheie is indeed pole-zeio cancellalion.
9.4
The configuialion foi lhe syslem is shown in lhe figuie below.
1
s(s 7)(s 10)
R(s)
C(s) +
K
+
-
-
K
f
s
Minoi-Loop Design:
Ioi lhe minoi loop, C s  H s   
K
j
s  7   s  1O  
. \sing lhe following diagiam, we
find lhal lhe minoi-loop iool locus inleisecls lhe O.7 damping ialio line al
85  j 867. The imaginaiy pail was found as follows: ±  cos
1
¸  4557 . Hence,
¡m
85
 lan4557 , fiom which ¡m  867.


-plane
-7
 = 0.7
X X
-8.5 + 8.67)

Im
The gain, K
j
, is found fiom lhe vecloi lenglhs as
K
j
 15
2
 867
2
15
2
867
2
 7742
Ma|oi-Loop Design:
\sing lhe closed-loop poles of lhe minoi loop, we have an equivalenl foiwaid-palh
liansfei funclion of
C
c
s   
K
s s  85  j867   s  85 j867  

K
s s
2
 17s  1474  

\sing lhe lhiee poles of C
c
s   as open-loop poles lo plol a iool locus, we seaich
along ¸  O5 and find lhal lhe iool locus inleisecls lhis damping ialio line al 434 
j751 al a gain, K  6263.
9.5
a. An aclive P¡D conliollei musl be used. We use lhe ciicuil shown in lhe following
figuie:
+
-
Z
1
(s)
Z
2
(s)
I
1
(s)
V
1
(s)
V
o
(s)
V
i
(s)
I
a
(s)
I
2
(s)
wheie lhe impedances aie shown below as follows:
C
1
R
1
Z
1
(s) Z
2
(s)
C
2
R
2
Malching lhe given liansfei funclion wilh lhe liansfei funclion of lhe P¡D
conliollei yields
C
c
s   
s  O1   s 5  
s

s
2
 51s  O5
s
 s  51 
O5
8
R
2
R
1

C
1
C
2
 R
2
C
1
s 
1
R
1
C
2
s
!qualing coefficienls
1
R
1
C
2
 O5 1
R
2
C
1
 1 2
R
2
R
1

C
1
C
2
 51 3
¡n !q. (2) we aibiliaiily lel C
1
 1O
5
. Thus, R
2
 1O
5
. \sing lhese values along wilh
!qs. (1) and (3) we find C
2
 1OOjI and R
1
 2O k.
b. The lag-lead compensaloi can be implemenled wilh lhe following passive nel-
woik, since lhe ialio of lhe lead pole-lo-zeio is lhe inveise of lhe ialio of lhe lag
pole-lo-zeio:
R
1
C
1
R
2
C
2
+
-
+
-
v
o
(t) v
i
(t)
Malchinglhegivenliansfeifunclionwilhlheliansfeifunclionoflhepassivelag-lead
compensaloi yields
C
c
s   
s O1   s  2  
s  OO1   s  2O  

s O1   s  2  
s
2
2OO1s O2

s 
1
R
1
C
1
s 
1
R
2
C
2
s
2

1
R
1
C
1

1
R
2
C
2

1
R
2
C
1
s 
1
R
1
R
2
C
1
C
2
!qualing coefficienls
1
R
1
C
1
 O1 1
1
R
2
C
2
 O1 2
1
R
1
C
1

1
R
2
C
2

1
R
2
C
1
 2OO1 3
Subsliluling !qs. (1) and (2) in !q. (3) yields
1
R
2
C
1
 1791 4
Aibiliaiily lelling C
1
 1OO jI in !q. (1) yields R
1
 1OO k.
Subsliluling C
1
 1OO jI inlo !q. (4) yields R
2
 558 k.
Subsliluling R
2
 558 k inlo !q. (2) yields C
2
 9OO jI.
ChAP1fk 10
10.1
a.
C s   
1
s  2   s  4  
 C jo   
1
8 o
2
   j6o
M o    8 o
2
 
2
 6o  
2
Ioi o  8

, ç o lan
1
6o
8 o
2

Ioi o  8

, ç o ¬  lan
1
6o
8 o
2

b.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
10
-1
10
0
10
1
10
2
-200
-150
-100
-50
0
-100
-80
-60
-40
-20
0
Chaplei 1O Solulions lo Skill-Assessmenl !xeicises 31
c.
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Nyquist Diagrams
-0.05 0 0.05 0.1 0.15 0.2
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
10.2
2
0

l
o
g

M
-120
-100
-80
-60
-40
0.1
1
10 100 1000
-40 dB/dec
-20 dB/dec
-20 dB/dec
-40 dB/dec
Frequency (rad/s)
Actual
Asymptotic
Frequency (rad/s)
P
h
a
s
e

(
d
e
g
r
e
e
s
)
-150
-100
-50
-200
-45
o
/dec
-90
o
/dec
-45
o
/dec
-90
o
/dec
-45
o
/dec
-45
o
/dec
0.1 1 10 100
Actual
Asymptotic
1000
10.3
The fiequency iesponse is 1/8 al an angle of zeio degiees al o  O. !ach pole iolales
9O in going fiom o  O lo o  . Thus, lhe iesullanl iolales 18O while ils
magnilude goes lo zeio. The iesull is shown below.
Re
Im
0 1
8
 =
 = 0
10.4
a. The fiequency iesponse is 1/48 al an angle of zeio degiees al o  O. !ach pole
iolales 9O in going fiomo  O lo o  . Thus, lhe iesullanl iolales 27O while
ils magnilude goes lo zeio. The iesull is shown below.
Im
Re
1
48
 = 0  =
0
 = 6.63
1
480
-
b. Subsliluling jo inlo C s   
1
s 2   s  4   s  6  

1
s
3
 12s
2
 44s  48
and
simplifying, we oblain C jo   
48 12o
2
j 44o o
3
o
6
56o
4
 784o
2
 23O4
. The Nyquisl diagiam
ciosses lhe ieal axis when lhe imaginaiy pail of C jo   is zeio. Thus, lhe Nyquisl
diagiam ciosses lhe ieal axis al o
2
 44 oi o  44

 663 iads. Al lhis fie-
quency C jo
1
48O
. Thus, lhe syslem is slable foi K  48O.
10.5
¡f K  1OO, lhe Nyquisl diagiam will inleisecl lhe ieal axis al 1OO48O. Thus,
C
M
 2O log
48O
1OO
 1362 dB. Iiom Skill-Assessmenl !xeicise Solulion 1O.4, lhe
18O fiequency is 6.63 iad/s.
10.6
a.
0 0 0 1 0 0 1 0 1 1
-180
-160
-140
-120
-100
-80
10.8
Ioi bolh pails find lhal C jo   
16O
27
675OOOO 1O125Oo
2
 j135O o
2
135O o
o
6
 2925o
4
1O725OOo
2
 25OOOOOO
.
Ioi a iange of values foi o, supeiimpose C jo   on lhe a. M and N ciicles, and on lhe
b. Nichols chail.
a.
M = 1.3
1.4
1.5
1.6
1.8
2.0
M = 0.7
0.6
0.5
0.4
M = 1.0
-2
-1
1
2
3
Im
Re
1 2 -1 -2 -3
-3
= 20°
25°
30°
-20°
-40°
-50°
-30°
-70°
40°
50°
70°
-25°
G-plane
-4
b.
Open-Loop Phase (deg)
Nichols Charts
-350 -300 -250 -200 -150 -100 -50 0
-200
-150
-100
-50
0
6 dB
3 dB
1 dB
0.5 dB
0.25 dB
0 dB
~1 dB
~3 dB
~6 dB
~12 dB
~20 dB
~40 dB
~60 dB
~80 dB
~100 dB
~120 dB
~140 dB
~160 dB
~180 dB
~200 dB
~220 dB
~240 dB
Plolling lhe closed-loop fiequency iesponse fiom a. oi b. yields lhe following plol:
-120
-100
-80
-60
-40
-20
0
Frequency (rad/s)
2
0

l
o
g

M
0 0 0 1 0 0 1 0 1 1
Frequency (rad/s)
1 10 100 1000
-300
-250
-200
-150
-100
-50
0
P
h
a
s
e

(
d
e
g
r
e
e
s
)
10.9
The open-loop fiequency iesponse is shown in lhe following figuie:
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-40
-20
0
20
40
10
-1
10
0
10
1
10
2
-160
-140
-120
-100
The open-loop fiequency iesponse is 7 al o  145 iads. Thus, lhe eslimaled
bandwidlh is o
VB
 145 iads. The open-loop fiequency iesponse plol goes
lhiough zeio dB al a fiequency of 9.4 iad/s, wheie lhe phase is 15198 .
Hence, lhe phase maigin is 18O 15198  28O2 . This phase maigin coiie-
sponds lo
¸  O25 Theiefoie 'OS  c
¸¬ 1 ¸
2

1OO  444'
T
s

4
o
BV
¸
1 2¸
2
   4¸
4
4¸
2
 2  164 s and
T
p

¬
o
BV
1 ¸
2
1 2¸
2
   4¸
4
4¸
2
 2  O33 s
10.10
The inilial slope is 4O dB/dec. Theiefoie, lhe syslem is Type 2. The inilial slope
inleisecls O dB al o  95 iads. Thus, K
a
 95
2
 9O25 and K
p
 K
v
 .
10.11
a. Wilhoul delay, C jo   
1O
jo jo  1  

1O
o o  j  
, fiom which lhe zeio dB fie-
quency is found as follows: M 
1O
o o
2
 1
  1. Solving foi o o o
2
 1

 1O, oi
aflei squaiing bolh sides and ieaiianging, o
4
 o
2
1OO  O. Solving foi lhe
iools, o
2
1O51 951. Taking lhe squaie iool of lhe posilive iool, we find lhe
O dB fiequency lo be 3.O8 iad/s. Al lhis fiequency, lhe phase angle, ç 
o  j 3O8  j 162 . Theiefoie lhe phase maigin is 18O
162  18 .
b. Wilh a delay of O.1 s,
ç o  j oT 3O8  j 3O8   O1   18Opi  
162 1765 17965
Theiefoie lhe phase maigin is 18O 17965  O35 . Thus, lhe syslem is lable.
c. Wilh a delay of 3 s,
ç o  j oT 3O8 j 3O8   3   18Opi 162 52941
69141  2859 deg
Theiefoie lhe phase maigin is 2859 18O 15141 deg. Thus, lhe syslem is
unslable.
10.12
Diawing |udicially selecled slopes on lhe magnilude and phase plol as shown below
yields a fiisl eslimale.
Experimental
Frequency (rad/sec)
-40
-30
-20
-10
0
10
20
1 2 3 4 5 6 7 8 10 20 30 40 50 70 100 200 300 500 1000
-95
-90
-85
-80
-75
-70
-65
-60
-55
-50
-45
P
h
a
s
e
(
d
e
g
)
G
a
i
n
(
d
B
)
We see an inilial slope on lhe magnilude plol of 2O dB/dec. We also see a final
2O dB/dec slope wilh a bieak fiequency aiound 21 iad/s. Thus, an inilial eslimale is
C
1
s   
1
s s  21  
. Subliacling C
1
s   fiom lhe oiiginal fiequency iesponse yields lhe
fiequency iesponse shown below.
40
50
60
70
80
90
1 2 3 4 5 6 7 8 10 20 30 40 50 70 100 200 300 500 1000
0
20
40
60
80
100
Experimental Minus 1/s(s+21)
Frequency (rad/sec)
G
a
i
n
(
d
B
)
P
h
a
s
e
(
d
e
g
)
Diawing |udicially selecled slopes on lhe magnilude and phase plol as shown
yields a final eslimale. We see fiisl-oidei zeio behavioi on lhe magnilude and
phase plols wilh a bieak fiequency of aboul 5.7 iad/s and a dc gain of aboul
44 dB  2Olog 57K  , oi K  278. Thus, we eslimale C
2
s    278 s  7  . Thus,
C s    C
1
s  C
2
s   
278 s  57  
s s  21  
. ¡l is inleiesling lo nole lhal lhe oiiginal pioblem
was developed fiom C s   
3O s  5  
s s  2O  
.
ChAP1fk 11
11.1
The Bode plol foi K  1 is shown below.
Frequency (rad/sec)
Bode Diagrams
-180
-160
-140
-120
-100
-80
-60
10
-1
10
0
10
1
10
2
10
3
-250
-200
-150
-100
A2O'oveishool iequiies ¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O456. This damping ialio implies a
phase maigin of 48.1O, which is oblained when lhe phase angle 18OO  481O
 1319 . This phase angle occuis al o  276 iads. The magnilude al lhis fiequency
is 515 1O
6
. Since lhe magnilude musl be unily K 
1
515 1O
6
 194 2OO.
11.2
To meel lhe sleady-slale eiioi iequiiemenl, K  1 942 OOO. The Bode plol foi lhis
gain is shown below.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-40
-20
0
20
40
60
10
-1
10
0
10
1
10
2
10
3
-250
-200
-150
-100
A 2O' oveishool iequiies ¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O456. This damping ialio
implies a phase maigin of 481 . Adding 1O lo compensale foi lhe phase angle
conliibulion of lhe lag, we use 581 . Thus, we look foi a phase angle of
18O  581 1299 . The fiequency al which lhis phase occuis is 2O.4 iad/s.
Al lhis fiequency lhe magnilude plol musl go lhiough zeio dB. Piesenlly, lhe
magnilude plol is 23.2 dB. Theiefoie diaw lhe high fiequency asymplole of lhe lag
compensaloi al 232 dB. ¡nseil a bieak al O1 2O4    2O4 iads. Al lhis fiequency,
diaw 232 dB/dec slope unlil il inleisecls O dB. The fiequency of inleiseclion
will be lhe low fiequency bieak oi O.141 iad/s. Hence lhe compensaloi is
C
c
s    K
c
s 2O4  
s O141  
, wheie lhe gain is chosen lo yield O dB al low fiequencies,
oi K
c
 O1412O4  OO691. ¡n summaiy,
C
c
s    OO691
s  2O4  
s  O141  
and C s   
1942OOO
s s  5O   s  12O  
11.3
log
'
1OO
¬
2
 log
2
'
1OO
 O456. The iequiied bandwidlh
is lhen calculaled as o
BV

4
T
s
¸
1 2¸
2
   4¸
4
4¸
2
2  579 iad/s. ¡n oidei
lo meel lhe sleady-slale eiioi iequiiemenl of K
v
 5O 
K
5O   12O  
, we calculale
K  3OO OOO. The uncompensaled Bode plol foi lhis gain is shown below.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Plot for K = 300000
-60
-40
-20
0
20
40
10
-1
10
0
10
1
10
2
10
3
-250
-200
-150
-100
The uncompensaled syslem`s phase maigin measuiemenl is laken wheie lhe
magnilude plol ciosses O dB. We find lhal when lhe magnilude plol ciosses O dB,
lhe phase angle is 1448 . Theiefoie, lhe uncompensaled syslem`s phase maigin is
18O 1448  352 . The iequiied phase maigin based on lhe iequiied damping
ialio is 
M
 lan
1
2¸
2¸
2
 1 4¸
4
 481 . Adding a 1O coiieclion facloi, lhe
iequiied phase maigin is 581 . Hence, lhe compensaloi musl conliibule
ç
max
 581 352  229 . \sing ç
max
 sin
1
1 [
1 [
, [ 
1 sinç
max
1  sinç
max
 O44.
The compensaloi`s peak magnilude is calculaled as M
max

1
[
  151. Now find
lhe fiequency al which lhe uncompensaled syslem has a magnilude 1M
max
, oi
358 dB. Iiom lhe Bode plol, lhis magnilude occuis al o
max
 5O iads. The
compensaloi`s zeio is al ;
c

1
T
. o
max

1
T [
 Theiefoie, ;
c
 332.
The compensaloi`s pole is al I
c

1
[T

;
c
[
 754. The compensaloi gain is
chosen lo yield unily gain al dc.
Hence, K
c
 754332  227. Summaiizing, C
c
s    227
s  332  
s  754  
, and
C s  
3OOOOO
s s  5O   s 12O  
.
11.4
log
'
1OO
¬
2
 log
2
'
1OO
 O591. The iequiied bandwidlh
is lhen calculaled as o
BV

¬
T
p
1 ¸
2
1 2¸
2
   4¸
4
4¸
2
2  753 iads
¡n oidei lo meel lhe sleady-slale eiioi iequiiemenl of K
v
 1O 
K
8   3O  
, we
calculale K  24OO. The uncompensaled Bode plol foi lhis gain is shown below.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-100
-80
-60
-40
-20
0
20
40
10
-1
10
0
10
1
10
2
10
3
-250
-200
-150
-100
Lel us selecl a new phase-maigin fiequency al O8o
BV
 6O2 iads. The
iequiied phase maigin based on lhe iequiied damping ialio is 
M
 lan
1
2¸
2¸
2
 1 4¸
4
 586 . Adding a 5 coiieclion facloi, lhe iequiied phase
maigin is 636 . Al 6.O2 iad/s, lhe new phase-maigin fiequency, lhe phase angle
iswhich iepiesenls a phase maigin of 18O 1383  417 . Thus, lhe lead com-
pensaloi musl conliibule ç
max
 636 417  219 .
\sing ç
max
 sin
1
1 [
1 [
, [ 
1 sinç
max
1  sinç
max
 O456.
We now design lhe lag compensaloi by fiisl choosing ils highei bieak fiequency one
decade below lhe new phase-maigin fiequency, lhal is, ;
lag
 O6O2 iads. The lag
compensaloi`s pole is p
lag
 [;
lag
 O275. Iinally, lhe lag compensaloi`s gain is
K
lag
 [  O456.
Now we design lhe lead compensaloi. The lead zeio is lhe pioducl of lhe new
phase maigin fiequency and [

, oi ;
lcaJ
 O8o
BV
[

 4O7. Also, p
lcaJ

;
lcaJ
[
 893. Iinally, K
lcaJ

1
[
 219. Summaiizing,
C
lag
 s    O456
s O6O2  
s O275  
 C
lcaJ
s    219
s  4O7  
s  893  
 and k  24OO
ChAP1fk 12
12.1
We fiisl find lhe desiied chaiacleiislic equalion. A 5' oveishool iequiies
¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O69. Also, o
n

¬
T
p
1 ¸
2
 1447 iads. Thus, lhe chai-
acleiislic equalion is s
2
 2¸o
n
s o
2
n
 s
2
 1997s  2O94. Adding a pole al 1O lo
cancel lhe zeio al 1O yields lhe desiied chaiacleiislic equalion,
s
2
 1997s  2O94 s  1O    s
3
 2997s
2
 4O91s 2O94. The compensaled sys-
lem maliix in phase-vaiiable foim is
A BK 
O 1 O
O O 1
k
1
36  k
2
15  k
3
 
. The chaiacleiislic equalion foi lhis
syslem is sI A BK    s
3
 15  k
3
 s
2
 36  k
2
 s  k
1
 . !qualing coeffi-
cienls of lhis equalion wilh lhe coefficienls of lhe desiied chaiacleiislic equalion
yields lhe gains as
K  k
1
k
2
k
3
2O94 3731 1497 
12.2
The conliollabilily maliix is C
M
 B AB A
2
B 
2 1 1
1 4 9
1 1 16
. Since
C
M
  8O, C
M
is full iank, lhal is, iank 3. We conclude lhal lhe syslemis conliollable.
12.3
Iiisl check conliollabilily. The conliollabilily maliix is C
M;
 B AB A
2
B 
O O 1
O 1 17
1 9 81
. Since C
M;
1, C
Mz
is full iank, lhal is, iank 3. We conclude lhal
lhe syslem is conliollable. We now find lhe desiied chaiacleiislic equalion. A 2O'
oveishool iequiies ¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O456. Also, o
n

4
¸T
s
 4386 iads.
Thus, lhe chaiacleiislic equalion is s
2
 2¸o
n
s  o
2
n
 s
2
4s  1924. Adding a pole
al 6 lo cancel lhe zeio al 6 yields lhe iesulling desiied chaiacleiislic equalion,
s
2
 4s  1924 s  6    s
3
 1Os
2
 4324s  11545
s 6  
s  7   s 8   s  9  

s  6
s
3
 24s
2
 191s  5O4
, we can wiile lhe phase-
vaiiable iepiesenlalion as A
p

O 1 O
O O 1
5O4 191 24
 B
p

O
O
1
 C
p

6 1 O . The compensaled syslem maliix in phase-vaiiable foim is A
p
B
p
K
p

O 1 O
O O 1
5O4  k
1
191 k
2
24  k
3
 
. The chaiacleiislic equalion foi lhis
syslem is sI A
p
B
p
K
p
  s
3
 24  k
3
 s
2
 191  k
2
 s  5O4  k
1
 . !qual-
ing coefficienls of lhis equalion wilh lhe coefficienls of lhe desiied chaiacleiislic
equalion yields lhe gains as K
p
 k
1
k
2
k
3
38855 14776 14 . We
now develop lhe liansfoimalion maliix lo liansfoim back lo lhe ;-syslem.
C
M;
 B
;
A
;
B
;
A
2
;
B
;

O O 1
O 1 17
1 9 81
and
C
Mp
 B
p
A
p
B
p
A
2
p
B
p

O O 1
O 1 24
1 24 385

Theiefoie,
P  C
M;
C
1
Mx

O O 1
O 1 17
1 9 81
191 24 1
24 1 O
1 O O

1 O O
7 1 O
56 15 1
Hence, K
;
 K
p
P
1
38855 14776 14
1 O O
7 1 O
49 15 1
4O23 6224 14 .
12.4
Ioi lhe given syslemc
 x
 A LC  c
x

24  l
1
  1 O
191  l
2
  O 1
5O4  l
3
  O O
c
x
. The chaiacleiislic
polynomial is given by  sI A LC   s
3
 24  l
1
 s
2
 191  l
2
 s 
5O4  l
3
 . Now we find lhe desiied chaiacleiislic equalion. The dominanl poles
fiom Skill-Assessmenl !xeicise 12.3 come fiom s
2
 4s 1924 . Iacloiing yields
2  j39   and 2 j39  . ¡ncieasing lhese poles by a facloi of 1O and adding a
lhiid pole 1O limes lhe ieal pail of lhe dominanl second-oidei poles yields lhe
desiied chaiacleiislic polynomial, s  2O  j39   s  2O j39   s  2OO    s
3
 24Os
2
9921s  3842OO. !qualing coefficienls of lhe desiied chaiacleiislic equalion lo lhe
syslem`s chaiacleiislic equalion yields L 
216
973O
383696
.
12.5
The obseivabilily maliix is O
M

C
CA
CA
2

4 6 8
64 8O 78
674 848 814
, wheie
A
2

25 28 32
7 4 11
77 95 94
. The maliix is of full iank, lhal is, iank 3, since
O
M
1576. Theiefoie lhe syslem is obseivable.
12.6
The syslem is iepiesenled in cascade foim by lhe following slale and oulpul
equalions:
 z 
7 1 O
O 8 1
O O 9
z 
O
O
1
u
y  1 O O z
The obseivabilily maliix is O
Mz

C
z
C
z
A
z
C
z
A
2
z

1 O O
7 1 O
49 15 1
,
wheie A
2
z

49 15 1
O 64 17
O O 81
. Since C s   
1
s  7   s 8   s  9  

1
s
3
 24s
2
 191s  5O4
, we can wiile lhe obseivable canonical foim as
 x 
24 1 O
191 O 1
5O4 O O
x 
O
O
1
u
y  1 O O x
The obseivabilily maliix foi lhis foim is O
Mx

C
x
C
x
A
x
C
x
A
2
x

1 O O
24 1 O
385 24 1
,
wheie
A
2
x

385 24 1
4O8O 191 O
12O96 5O4 O

We nexl find lhe desiied chaiacleiislic equalion. A 1O' oveishool iequiies
¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O591. Also, o
n

4
¸T
s
 6766 iads. Thus, lhe chaiacleiislic
equalion is s
2
 2¸o
n
s  o
2
n
 s
2
8Os  457842. Adding a pole al 4OO, oi 1O limes
lhe ieal pail of lhe dominanl second-oidei poles, yields lhe iesulling desiied chaiaclei-
islic equalion, s
2
8Os  457842 s 4OO    s
3
 48Os
2
 3658Os 1831x1O
6
. Ioi
lhe syslem iepiesenled in obseivable canonical foim c
 x
 A
x
L
x
C
x
  c
x

24  l
1
  1 O
191 l
2
  O 1
5O4 l
3
  O O
c
x
. The chaiacleiislic polynomial is given by
 sI A
x
L
x
C
x
  s
3
 24  l
1
 s
2
 191  l
2
 s  5O4  l
3
 . !qualing coeffi-
cienls of lhe desiied chaiacleiislic equalion lo lhe syslem`s chaiacleiislic equalion
yields L
x

456
36 389
1 83O 496
.
Now, develop lhe liansfoimalion maliix belween lhe obseivei canonical and
cascade foims.
P  O
1
Mz
O
Mx

1 O O
7 1 O
49 15 1
1
1 O O
24 1 O
385 24 1

1 O O
7 1 O
56 15 1
1 O O
24 1 O
385 24 1

1 O O
17 1 O
81 9 1
Iinally,
L
z
 PL
x

1 O O
17 1 O
81 9 1
456
36 389
1 83O 496

456
28 637
1 539 931
456
28 64O
1 54O OOO
.
12.7
We fiisl find lhe desiied chaiacleiislic equalion. A 1O' oveishool iequiies
¸ 
log
'
1OO
¬
2
 log
2
'
1OO
 O591
Also, o
n

¬
T
p
1 ¸
2
 1948 iads. Thus, lhe chaiacleiislic equalion is s
2

2¸o
n
s o
2
n
 s
2
23s  379. Adding a pole al 4, which coiiesponds lo lhe
oiiginal syslem`s zeio localion, yields lhe iesulling desiied chaiacleiislic equalion,
s
2
 23s  379 s  4    s
3
 63s
2
 13s  1516.
Now,
 x
 x
N

A BK   BK
c
C O
x
x
N

0
1
r; and y  C O
x
x
N
,
wheie
A BK 
O 1
7 9
O
1
k
1
k
2
O 1
7 9
O O
k
1
k
2

O 1
7  k
1
9 k
2
 
C  4 1
Bk
c

O
1
k
c

O
k
c
Thus,
 x
1
 x
2
 x
N

O 1 O
7  k
1
9  k
2
  k
c
4 1 O
x
1
x
2
x
N

0
1
r y  4 1 O
x
1
x
2
x
N
.
Iinding lhe chaiacleiislic equalion of lhis syslem yields
sI
A BK   BK
c
C O

s O O
O s O
O O s
O 1 O
7 k
1
9  k
2
  k
c
4 1 O

s 1 O
7  k
1
  s  9  k
2
k
c
4 1 s
 s
3
 9 k
2
 s
2
 7 k
1
 k
c
 s  4k
c
!qualing lhis polynomial lo lhe desiied chaiacleiislic equalion,
s
3
 63s
2
13s  1516  s
3
 9  k
2
 s
2
 7  k
1
 k
c
 s 4k
c
Solving foi lhe k`s,
K  221 27 and k
c
 379
ChAP1fk 13
13.1
j t    sin okT  ; j t   

kO
sin okT  o t kT  ;
I s   

kO
sin okT  c
kTs


kO
c
jokT
c
jokT
c
kTs
2j

1
2j

kO
c
T s jo  
k
c
T sjo  
k
Bul,

kO
x
k

1
1 x
1
Thus,
I s   
1
2j
1
1 c
T s jo  
1
1 c
T sjo  

1
2j
c
Ts
c
joT
c
Ts
c
joT
1 c
Ts
c
joT
c
Ts
c
joT
   c
2Ts
 c
Ts
sin oT  
1 c
Ts
2cos oT    c
2Ts

;
1
sin oT  
1 2;
1
cos oT    ;
2
13.2
I ;   
; ;  1   ; 2  
; O5   ; O7   ; O9  
I ;  
;

; ;  1   ; 2  
; O5   ; O7   ; O9  
 46875
;
; O5
11475
1
; O7
 68875
;
; O9
I ;    46875
;
; O5
11475
;
; O7
 68875
;
; O9

j kT    46875 O5  
k
11475 O7  
k
68875 O9  
k
13.3
Since C s    1 c
Ts
8
s s  4  
,
C ;    1 ;
1
;
8
s s  4  

; 1
;
;
A
s

B
s 4

; 1
;
;
2
s

2
s  4

Lel C
2
s   
2
s

2
s  4
. Theiefoie, g
2
t    2 2c
4t
, oi g
2
kT    2 2c
4kT
.
Hence, C
2
;   
2;
; 1
2;
; e
4T

2; 1 e
4T
; 1   ; c
4T
 
.
Theiefoie, C ;   
; 1
;
C
2
;   
2 1 c
4T
; c
4T
 
.
Ioi T 
1
4
s, C ;   
1264
; O3679
.
13.4
Add phanlom sampleis lo lhe inpul, feedback aflei H(s), and lo lhe oulpul. Push
C
1
(s)C
2
(s), along wilh ils inpul samplei, lo lhe iighl pasl lhe pickoff poinl and oblain
lhe block diagiam shown below.
H(s)G
1
(s)G
2
(s)
G
1
(s)G
2
(s)
R(s)
C(s)
+
-
Hence, T ;   
C
1
C
2
;  
1  HC
1
C
2
;  
.
13.5
Lel C s   
2O
s  5
. Lel C
2
s   
C s  
s

2O
s s  5  

4
s
4
s  5
. Taking lhe inveise
Laplace liansfoim and lelling t  kT, g
2
kT    4 4c
5kT
. Taking lhe z-liansfoim
yields C
2
;   
4;
; 1
4;
; c
5T

4; 1 c
5T
; 1   ; c
5T
 
.
Now, C ;   
; 1
;
C
2
;   
4 1 c
5T
; c
5T
 
.
Iinally, T ;   
C ;  
1  C ;  

4 1 c
5T
; 5c
5T
 4
.
The pole of lhe closed-loop syslem is al 5c
5T
4. Subsliluling values of T, we find
lhal lhe pole is giealei lhan 1 if T  O1O22 s. Hence, lhe syslem is slable foi
O  T  O1O22 s.
13.6
Subsliluling ; 
s  1
s 1
inlo D ;    ;
3
;
2
O5;  O3, we oblain D s    s
3
8s
2
27s 6. The Roulh lable foi lhis polynomial is shown below.
s
3
1 27
s
2
8 6
s
1
2775 O
s
O
6 O
Since lheie is one sign change, we conclude lhal lhe syslem has one pole oulside lhe
unil ciicle and lwo poles inside lhe unil ciicle. The lable did nol pioduce a iow of
zeios and lhus, lheie aie no jo poles. The syslem is unslable because of lhe pole
oulside lhe unil ciicle.
13.7
Defining C(s) as C
1
(s) in cascade wilh a zeio-oidei-hold,
C s    2O 1 c
Ts
s  3  
s s  4   s  5  
 2O 1 c
Ts
32O
s

14
s  4  
25
s 5  

Taking lhe ;-liansfoim yields
C ;    2O 1 ;
1
32O  ;
; 1

14  ;
; c
4T
25  ;
; c
5T
 3 
5 ; 1  
; c
4T
8 ; 1  
; c
5T

Hence foi T  O1 second, K
p
 lim
;1
C ;    3, and K
v

1
T
lim
;1
; 1  C ;    O, and
K
a

1
T
2
lim
;1
; 1  
2
C ;    O. Checking foi slabilily, we find lhal lhe syslem is
slable foi T  O1 second, since T ;   
C ;  
1 C ;  

15; 11O9
;
2
 O222; O7O3
has poles
inside lhe unil ciicle al O957 and O735. Again, checking foi slabilily, we find lhal
lhe syslem is unslable foi T  O5 second, since T ;   
C ;  
1  C ;  

3O2; O6383
;
2
 28O2; O6272
has poles inside and oulside lhe unil ciicle al O2O8 and
3O1, iespeclively.
13.8
Diaw lhe iool locus supeiimposed ovei lhe ¸  O5 cuive shown below. Seaiching
along a 543 line, which inleisecls lhe iool locus and lhe ¸  O5 cuive, we find lhe
poinl O587 543  O348  j O468   and K  O31.
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
-1.5
-1
-0.5
0
0.5
1
1.5
Real Axis
I
m
a
g

A
x
i
s
z-Plane Root Locus
54.3°
(0.348 + j0.468)
K = 0.31
13.9
Lel
C
c
s    C s  C
c
s   
1OOK
s s 36   s 1OO  
238 s  253  
s  6O2  

34272O s 253  
s s  36   s  1OO   s  6O2  

The following shows lhe fiequency iesponse of C
c
jo  .
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-60
-40
-20
0
20
40
10
-1
10
0
10
1
10
2
10
3
-250
-200
-150
-100
We find lhal lhe zeio dB fiequency, o

M
, foi C
c
jo   is 39 iad/s. \sing Asliom`s
guideline lhe value of T should be in lhe iange, O15o

M
 OOO38 second lo
O5o

M
 OO128 second. Lel us use T  OOO1 second. Now find lhe Tuslin
liansfoimalion foi lhe compensaloi. Subsliluling s 
2 ; 1  
T ; 1  
inlo C
c
s   
238 s  253  
s  6O2  
wilh T  OOO1 second yields
C
c
;    234
; O975  
; O9416  

13.10
C
c
;   
X ;  
1 ;  

1899;
2
3761;  1861
;
2
19O8;  O9O75
. Cioss-mulliply and oblain ;
2
19O8; 
O9O75X ;    1899;
2
3761;  1861 1 ;  . Solve foi lhe highesl powei of ;
opeialing on lhe oulpul, X(;), and oblain ;
2
X ;    1899;
2
3761;  1861
1 ; 19O8;  O9O75  X ;  . Solving foi X(;) on lhe lefl-hand side yields
X ;    1899 3761;
1
 1861;
2
1 ; 19O8;
1
 O9O75;
2
X ;  . Iinally,
we implemenl lhis lasl equalion wilh lhe following flow chail:
e
*
(t)
x
*
(t)
e
*
(t-0.1) x
*
(t-0.1)
x
*
(t-0.2)
e
*
(t-0.2)
Delay
0.1 second
1899
-3761
1861 0.9075
-1.9.08
+
+
+
+
-
-
Delay
0.1 second
Delay
0.1 second
Delay
0.1 second
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