SOLUTIONS TO

SKILL-ASSESSMENT EXERCISES

CHAPTER 1

1.1

f ðtÞ ¼ sinðvkT Þ; f  ðtÞ ¼ å1

k¼0 sinðvkT Þdðt  kT Þ;

ðejvkT  ejvkT ÞekTs

F  ðsÞ ¼ å1
k¼0 sinðvkT Þe
kTs ¼ å1
k¼0
2j
1 1 T ðsjvÞ k
¼ å ðe Þ  ðeTðsjjvÞ Þk
2j k¼0
1
But, å1
k¼0 x
k ¼
1  x1
Thus,


1 1 1
F  ðsÞ ¼ 
2j 1  eTðsjvÞ 1  eTðsjvÞ


1 eTs e jvT  eTs e jvT
¼
2j 1  ðeTs e jvT  eTs e jvT Þ þ e2Ts


Ts sinðvT Þ z1 sinðvT Þ
¼e ¼
1  eTs 2 cosðvT Þ þ e2Ts 1  2z1 cosðvT Þ þ z2

1.2
zðz þ 1Þðz þ 2Þ
FðzÞ ¼
ðz  0:5Þðz  0:7Þðz  0:9Þ

ðzÞ ðz þ 1Þðz þ 2Þ
F ¼
z ðz  0:5Þðz  0:7Þðz  0:9Þ

z z z
¼ 46:875  114:75 þ 68:875
z  0:5 z  0:7 z  0:9

1
2 Solutions to Skill-Assessment Exercises

z z z
FðzÞ ¼ 46:875  114:75 þ 68:875
z  0:5 z  0:7 z  0:9
f(kT) ¼ 46.875(0.5)k  114.75(0.7)k + 68.875(0.9)k

CHAPTER 2
2.1
1
The Laplace transform of t is 2 using Table 2.1, Item 3. Using Table 2.2, Item 4,
1 s
FðsÞ ¼ 2
:
ðs þ 5Þ

2.2
Expanding F(s) by partial fractions yields:
A B C D
FðsÞ ¼ þ þ þ
s s þ 2 ðs þ 3Þ 2 ðs þ 3Þ
Where,
 
 10 
10  5
A¼  ¼ B¼  ¼ 5
ðs þ 2Þðs þ 3Þ2 S!0 9 sðs þ 3Þ2 S!2
 
10  10 2 dFðsÞ 
 40
C¼  ¼ ; and D ¼ ðs þ 3Þ  ¼
sðs þ 2Þ  3 ds  9
S!3 s!3
Taking the inverse Laplace transform yields,
5 10 40
f ðtÞ ¼  5e2t þ te3t þ e3t
9 3 9

2.3
Taking the Laplace transform of the differential equation assuming zero initial conditions
yields:

s3 CðsÞ þ 3s2 CðsÞ þ 7sCðsÞ þ 5CðsÞ ¼ s2 RðsÞ þ 4sRðsÞ þ 3RðsÞ

Collecting terms,

ðs3 þ 3s2 þ 7s þ 5ÞCðsÞ ¼ ðs2 þ 4s þ 3ÞRðsÞ

Thus,
CðsÞ s2 þ 4s þ 3
¼ 3
RðsÞ s þ 3s2 þ 7s þ 5
 Solutions to Skill-Assessment Exercises 3

2.4
CðsÞ 2s þ 1
GðsÞ ¼ ¼ 2
RðsÞ s þ 6s þ 2

Cross, multiplying yields,

d2c dc dr
þ 6 þ 2c ¼ 2 þ r
dt 2 dt dt

2.5

1 s 1 A B C
CðsÞ ¼ RðsÞGðsÞ ¼  ¼ ¼ þ þ
s ðs þ 4Þðs þ 8Þ sðs þ 4Þðs þ 8Þ s ðs þ 4Þ ðs þ 8Þ
2

where
 
1  1 1  1
A¼  ¼ B ¼ ¼  ; and
ðs þ 4Þðs þ 8ÞS!0 32 sðs þ 8ÞS!4 16

1 
C¼
sðs þ 4ÞS!8¼ 1
32
Thus,
1 1 1
cðtÞ ¼  e4t þ e8t
32 16 32

2.6
Mesh Analysis
Transforming the network yields,

Now, writing the mesh equations,

ðs þ 1ÞI1 ðsÞ  sI2 ðsÞ  I3 ðsÞ ¼ V ðsÞ
sI1 ðsÞ þ ð2s þ 1ÞI2 ðsÞ  I3 ðsÞ ¼ 0
I1 ðsÞ  I2 ðsÞ þ ðs þ 2ÞI3 ðsÞ ¼ 0
4 Solutions to Skill-Assessment Exercises

Solving the mesh equations for I2 ðsÞ;

 
 ðs þ 1Þ V ðsÞ 1 

 s 0 1 

 1 0 ðs þ 2Þ  ðs2 þ 2s þ 1ÞV ðsÞ
I2 ðsÞ ¼  ¼
 ðs þ 1Þ s 1  sðs2 þ 5s þ 2Þ
 s ð2s þ 1Þ 1 

 1 1 ðs þ 2Þ 

But, VL ðsÞ ¼ sI2 ðsÞ

Hence,
ðs2 þ 2s þ 1ÞV ðsÞ
VL ðsÞ ¼
ðs2 þ 5s þ 2Þ
or
VL ðsÞ s2 þ 2s þ 1
¼
V ðsÞ s2 þ 5s þ 2

Nodal Analysis
Writing the nodal equations,
 
1
þ 2 V1 ðsÞ  VL ðsÞ ¼ V ðsÞ
s  
2 1
V1 ðsÞ þ þ 1 VL ðsÞ ¼ V ðsÞ
s s

Solving for VL ðsÞ;

  
 1 
 þ2 V ðsÞ 
 s 
 
 1 
 1 V ðsÞ  ðs2 þ 2s þ 1ÞV ðsÞ
VL ðsÞ ¼    s ¼

 1þ2 ðs2 þ 5s þ 2Þ
 s 1 
  
 2 
 1 þ 1 
 s

or
VL ðsÞ s2 þ 2s þ 1
¼
V ðsÞ s2 þ 5s þ 2
2.7
Inverting
Z2 ðsÞ 100000
GðsÞ ¼  ¼ ¼ s
Z1 ðsÞ ð105 =sÞ
 Solutions to Skill-Assessment Exercises 5

Noninverting
105
½Z1 ðsÞ þ Z2 ðsÞ þ 105
GðsÞ ¼ ¼ s ¼sþ1
Z1 ðsÞ 105
s

2.8
Writing the equations of motion,

ðs2 þ 3s þ 1ÞX1 ðsÞ  ð3s þ 1ÞX2 ðsÞ ¼ FðsÞ

ð3s þ 1ÞX1 ðsÞ þ ðs2 þ 4s þ 1ÞX2 ðsÞ ¼ 0

Solving for X2 ðsÞ;

 
 ðs2 þ 3s þ 1Þ FðsÞ 
 
 ð3s þ 1Þ 0   ð3s þ 1ÞFðsÞ

X2 ðsÞ ¼  2
ðs þ 3s þ 1Þ ð3s þ 1Þ  ¼ sðs3 þ 7s2 þ 5s þ 1Þ
 
 ð3s þ 1Þ ðs2 þ 4s þ 1Þ 
Hence,
X2 ðsÞ 3s þ 1
¼ 3
FðsÞ sðs þ 7s2 þ 5s þ 1Þ

2.9
Writing the equations of motion,
ðs2 þ s þ 1Þu1 ðsÞ  ðs þ 1Þu2 ðsÞ ¼ T ðsÞ
ðs þ 1Þu1 ðsÞ þ ð2s þ 2Þu2 ðsÞ ¼ 0
where u1 ðsÞ is the angular displacement of the inertia.
Solving for u2 ðsÞ;
 
 ðs2 þ s þ 1Þ T ðsÞ 
 
 ðs þ 1Þ 0   ðs þ 1ÞFðsÞ

u2 ðsÞ ¼  2 ¼ 3

 ðs þ s þ 1Þ ðs þ 1Þ  2s þ 3s þ 2s þ 1
2
 ðs þ 1Þ ð2s þ 2Þ 

From which, after simplification,

1
u2 ðsÞ ¼
2s2 þsþ1

2.10
Transforming the network to one without gears by reflecting the 4 N-m/rad spring to the
left and multiplying by ð25=50Þ2 ; we obtain,
6 Solutions to Skill-Assessment Exercises

Writing the equations of motion,

ðs2 þ sÞu1 ðsÞ  sua ðsÞ ¼ T ðsÞ
su1 ðsÞ þ ðs þ 1Þua ðsÞ ¼ 0
where u1 ðsÞ is the angular displacement of the 1-kg inertia.
Solving for ua ðsÞ;
 
 ðs2 þ sÞ T ðsÞ 
 
 s 
ua ðsÞ ¼  2
0  ¼ sT ðsÞ
 ðs þ sÞ s  s3 þ s2 þ s
 s ðs þ 1Þ 
From which,
ua ðsÞ 1
¼ 2
T ðsÞ s þ s þ 1
1
But, u2 ðsÞ ¼ ua ðsÞ:
2
Thus,
u2 ðsÞ 1=2
¼ 2
T ðsÞ s þ s þ 1
2.11
First find the mechanical constants.
   
1 1 2 1
Jm ¼ Ja þ JL  ¼ 1 þ 400 ¼2
5 4 400
 2  
1 1 1
Dm ¼ Da þ DL  ¼ 5 þ 800 ¼7
5 4 400
Now find the electrical constants. From the torque-speed equation, set vm ¼ 0 to find
stall torque and set Tm ¼ 0 to find no-load speed. Hence,
Tstall ¼ 200
vnoload ¼ 25
which,
Kt Tstall 200
¼ ¼ ¼2
Ra Ea 100
Ea 100
Kb ¼ ¼ ¼4
vnoload 25
Substituting all values into the motor transfer function,
KT
um ðsÞ 1
¼  Ra Jm ¼  
Ea ðsÞ 1 KT Kb 15
s sþ Dm þ s sþ
Jm Ra 2
where um ðsÞ is the angular displacement of the armature.
1
Now uL ðsÞ ¼ um ðsÞ: Thus,
20
uL ðsÞ 1=20
¼  
Ea ðsÞ 15
s sþ
2
 Solutions to Skill-Assessment Exercises 7

2.12
Letting
u1 ðsÞ ¼ v1 ðsÞ=s
u2 ðsÞ ¼ v2 ðsÞ=s
in Eqs. 2.127, we obtain
 
K K
J1 s þ D1 þ v1 ðsÞ  v2 ðsÞ ¼ T ðsÞ
s s 
K K
 v1 ðsÞ þ J2 s þ D2 þ v2 ðsÞ
s s
From these equations we can draw both series and parallel analogs by considering these
to be mesh or nodal equations, respectively.

2.13

Writing the nodal equation,

dv
C þ ir  2 ¼ iðtÞ
dt
But,
C¼1
v ¼ vo þ dv
ir ¼ evr ¼ ev ¼ evo þdv
Substituting these relationships into the differential equation,
dðvo þ dvÞ
þ evo þdv  2 ¼ iðtÞ ð1Þ
dt
We now linearize ev :

The general form is


d f 
f ðvÞ  f ðvo Þ  dv
dv vo
8 Solutions to Skill-Assessment Exercises

Substituting the function, f ðvÞ ¼ ev ; with v ¼ vo þ dv yields,


v
þdv de  dv
v
eo e o 
v
dv  vo
Solving for evo þdv ;

dev 
evo þdv ¼ evo þ dv ¼ evo þ evo dv
dv vo
Substituting into Eq. (1)
ddv
þ evo þ evo dv  2 ¼ iðtÞ ð2Þ
dt
Setting i(t) = 0 and letting the circuit reach steady state, the capacitor acts like an open
circuit. Thus, vo ¼ vr with ir ¼ 2: But, ir ¼ evr or vr ¼ ln ir :
Hence, vo ¼ ln 2 ¼ 0:693: Substituting this value of vo into Eq. (2) yields
ddv
þ 2dv ¼ iðtÞ
dt
Taking the Laplace transform,

ðs þ 2ÞdvðsÞ ¼ IðsÞ

Solving for the transfer function, we obtain

dvðsÞ 1
¼
IðsÞ sþ2
or
V ðsÞ 1
¼ about equilibrium.
IðsÞ s þ 2

CHAPTER 3

3.1
1
Combine the parallel blocks in the forward path. Then, push to the left past the pick off
point. s
 Solutions to Skill-Assessment Exercises 9

Combine the parallel feedback paths and get 2s. Then, apply the feedback formula,
s3 þ 1
simplify and get, TðsÞ ¼ 4 :
2s þ s2 þ 2s

3.2
GðsÞ 16
Find the closed-loop transfer function, T ðsÞ ¼ ¼ ; where
1 þ GðsÞHðsÞ s2 þ as þ 16
16 a
and GðsÞ ¼ and H(s) = 1. Thus, vn ¼ 4 and 2zvn ¼ a; from which z ¼ :
sðs þ aÞ 8
 
%
 ln
100 a
But, for 5% overshoot, z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 ffi ¼ 0:69: Since, z ¼ 8 ; a ¼ 5:52:
2 %
p2 þ ln
100

3.3
Label nodes.

Draw nodes.
10 Solutions to Skill-Assessment Exercises

Connect nodes and label subsystems.

Eliminate unnecessary nodes.

3.4

Forward-path gains are G1 G2 G3 and G1 G3 :

Loop gains are G1 G2 H1 ;  G2 H2 ; and G3 H3 :
Nontouching loops are ½G1 G2 H1 ½G3 H3  ¼ G1 G2 G3 H1 H3 and
½G2 H2 ½G3 H3  ¼ G2 G3 H2 H3 :
Also, D ¼ 1 þ G1 G2 H1 þ G2 H2 þ G3 H3 þ G1 G2 G3 H1 H3 þ G2 G3 H2 H3 :
Finally, D1 ¼ 1 and D2 ¼ 1:
CðsÞ åk Tk Dk
Substituting these values into T ðsÞ ¼ ¼ yields
RðsÞ D
G1 ðsÞG3 ðsÞ½1 þ G2 ðsÞ
T ðsÞ ¼
½1 þ G2 ðsÞH2 ðsÞ þ G1 ðsÞG2 ðsÞH1 ðsÞ½1 þ G3 ðsÞH3 ðsÞ

3.5
The state equations are,
x_ 1 ¼ 2x1 þ x2
x_ 2 ¼ 3x2 þ x3
x_ 3 ¼ 3x1  4x2  5x3 þ r
y ¼ x2
 Solutions to Skill-Assessment Exercises 11

Drawing the signal-flow diagram from the state equations yields

3.6
From the transformation equations,


3 2
P1 ¼
1 4
Taking the inverse,


0:4 0:2
P¼
0:1 0:3
Now,
" #" #" # " #
3 2 1 3 0:4 0:2 6:5 8:5
P1 AP ¼ ¼
1 4
4 6 0:1 0:3 9:5 11:5
" #" # " #
3 2 1 3
P1 B ¼ ¼
1 4 3 11
" #
0:4 0:2
CP ¼ ½ 1 4  ¼ ½ 0:8 1:4 
0:1 0:3

Therefore,
" # " #
6:5 8:5 3
z_ ¼ zþ u
9:5 11:5 11
y ¼ ½ 0:8 1:4 z

3.7
First find the eigenvalues.


  
 l 0 1 3   l  1 3 
jlI  Aj ¼   ¼ ¼ l2 þ 5l þ 6
0 l 4 6   4 l þ 6
12 Solutions to Skill-Assessment Exercises

From which the eigenvalues are –2 and –3.

Now use Axi ¼ lxi for each eigenvalue, l.
Thus,




1 3 x1 x
¼l 1
4 6 x2 x2
For l ¼ 2;
3x1 þ 3x2 ¼ 0
4x1  4x2 ¼ 0
Thus x1 ¼ x2
For l ¼ 3
4x1 þ 3x2 ¼ 0
4x1  3x2 ¼ 0
Thus x1 ¼ x2 and x1 ¼ 0:75x2 ; from which we let


0:707 0:6
P¼
0:707 0:8
Taking the inverse yields


5:6577 4:2433
P1 ¼
5 5
Hence,





5:6577 4:2433 1 3 0:707 0:6 2 0
D ¼ P1 AP ¼ ¼
5 5 4 6 0:707 0:8 0 3




5:6577 4:2433 1 18:38
P1 B ¼ ¼
5 5 3 20


0:707 0:6
CP ¼ ½ 1 4  ¼ ½ 2:121 2:6 
0:707 0:8

Finally,



2 0 18:39
z_ ¼ zþ u
0 3 20
y ¼ ½ 2:121 2:6 z

CHAPTER 4

4.1

For a step input

10ðs þ 4Þðs þ 6Þ A B C D E
CðsÞ ¼ ¼ þ þ þ þ
sðs þ 1Þðs þ 7Þðs þ 8Þðs þ 10Þ s s þ 1 s þ 7 s þ 8 s þ 10
 Solutions to Skill-Assessment Exercises 13

Taking the inverse Laplace transform,

cðtÞ ¼ A þ Bet þ Ce7t þ De8t þ Ee10t

4.2
1 1 4 4 2:2 2:2
Since a ¼ 50; Tc ¼ ¼ ¼ 0:02s; Ts ¼ ¼ ¼ 0:08s; and Tr ¼ ¼ ¼
0:044 s: a 50 a 50 a 50

4.3

a. Since poles are at 6  j19:08; cðtÞ ¼ A þ Be6t cosð19:08t þ fÞ:

b. Since poles are at – 78.54 and 11:46; cðtÞ ¼ A þ Be78:54t þ Ce11:4t :
c. Since poles are double on the real axis at 15 cðtÞ ¼ A þ Be15t þ Cte15t :
d. Since poles are at j25; cðtÞ ¼ A þ B cosð25t þ fÞ:

4.4
pffiffiffiffiffiffiffiffi
a. vn ¼ 400 ¼ 20 and 2zvn ¼ 12; ; z ¼ 0.3 and system is underdamped.
pffiffiffiffiffiffiffiffi
b. vn ¼ 900 ¼ 30 and 2zvn ¼ 90; ; z ¼ 1.5 and system is overdamped.
pffiffiffiffiffiffiffiffi
c. vn ¼ 225 ¼ 15 and 2zvn ¼ 30; ; z ¼ 1 and system is critically damped.
pffiffiffiffiffiffiffiffi
d. vn ¼ 625 ¼ 25 and 2zvn ¼ 0; ; z ¼ 0 and system is undamped.

4.5
pffiffiffiffiffiffiffiffi
vn ¼ 361 ¼ 19 and 2zvn ¼ 16; ; z ¼ 0:421:
4 p
Now, Ts ¼ ¼ 0:5 s and Tp ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ¼ 0:182 s:
zvn vn 1  z 2
From Figure 4.16, vn Tr ¼ 1:4998: Therefore, Tr ¼ 0:079 s:
pffi
zp
Finally, %os ¼ e 1z 2  100 ¼ 23:3%

4.6

a. The second-order approximation is valid, since the dominant poles have a real part of
2 and the higher-order pole is at 15, i.e. more than five-times further.
b. The second-order approximation is not valid, since the dominant poles have a
real part of 1 and the higher-order pole is at 4, i.e. not more than five-times
further.

4.7
1 0:8942 1:5918 0:3023
a. Expanding G(s) by partial fractions yields GðsÞ ¼ þ   :
s s þ 20 s þ 10 s þ 6:5
But –0.3023 is not an order of magnitude less than residues of second-order terms
(term 2 and 3). Therefore, a second-order approximation is not valid.
14 Solutions to Skill-Assessment Exercises

1 0:9782 1:9078 0:0704

b. Expanding G(s) by partial fractions yields GðsÞ ¼ þ   :
s s þ 20 s þ 10 s þ 6:5
But 0.0704 is an order of magnitude less than residues of second-order terms (term 2
and 3). Therefore, a second-order approximation is valid.

4.8

See Figure 4.31 in the textbook for the Simulink block diagram and the output
responses.

4.9

a. First check stability.

GðsÞ 10s2 þ 500s þ 6000 10ðs þ 30Þðs þ 20Þ
T ðsÞ ¼ ¼ 3 ¼
1 þ GðsÞ s þ 70s2 þ 1375s þ 6000 ðs þ 26:03Þðs þ 37:89Þðs þ 6:085Þ
Poles are in the 1hp. Therefore, the system is stable. Stability also could be checked via
Routh-Hurwitz using the denominator of T(s). Thus,
15 15
15uðtÞ : estep ð1Þ ¼ ¼ ¼0
1 þ lim GðsÞ 1 þ 1
s!0
15 15
15tuðtÞ : eramp ð1Þ ¼ ¼ ¼ 2:1875
lim sGðsÞ 10  20  30
s!0
25  35
15 30 30
15t2 uðtÞ : eparabola ð1Þ ¼ 2
¼ ¼ 1; since L½15t2  ¼ 3
lim s GðsÞ 0 s
s!0

b. First check stability.

GðsÞ 10s2 þ 500s þ 6000
T ðsÞ ¼ ¼ 5
1 þ GðsÞ s þ 110s4 þ 3875s3 þ 4:37e04s2 þ 500s þ 6000
10ðs þ 30Þðs þ 20Þ
¼
ðs þ 50:01Þðs þ 35Þðs þ 25Þðs2  7:189e  04s þ 0:1372Þ

From the second-order term in the denominator, we see that the system is unstable.
Instability could also be determined using the Routh-Hurwitz criteria on the denominator
of T(s). Since the system is unstable, calculations about steady-state error cannot be made.

4.10

a. The system is stable, since

GðsÞ 1000ðs þ 8Þ 1000ðs þ 8Þ
T ðsÞ ¼ ¼ ¼ 2
1 þ GðsÞ ðs þ 9Þðs þ 7Þ þ 1000ðs þ 8Þ s þ 1016s þ 8063
and is of Type 0. Therefore,
1000  8
Kp ¼ lim GðsÞ ¼ ¼ 127; Kv ¼ lim sGðsÞ ¼ 0;
s!0 79 s!0

and Ka ¼ lim s2 GðsÞ ¼ 0

s!0
 Solutions to Skill-Assessment Exercises 15

b.
1 1
estep ð1Þ ¼ ¼ ¼ 7:8e  03
1 þ lim GðsÞ 1 þ 127
s!0

1 1
eramp ð1Þ ¼ ¼ ¼1
lim sGðsÞ 0
s!0
1 1
eparabola ð1Þ ¼ 2
¼ ¼1
lim s GðsÞ 0
s!0

4.11
System is stable for positive K. System is Type 0. Therefore, for a step input estep ð1Þ ¼
1 12K
¼ 0:1: Solving for Kp yields Kp ¼ 9 ¼ lim GðsÞ ¼ ; from which we
1 þ Kp s!0 14  18
obtain K ¼ 189.

4.12
ðs þ 2Þ
System is stable. Since G1 ðsÞ ¼ 1000; and G2 ðsÞ ¼ ;
ðs þ 4Þ
1 1
eD ð1Þ ¼  ¼ ¼ 9:98e  04
1 2 þ 1000
lim þ lim G1 ðsÞ
s!0 G2 ðsÞ s!0

4.13
1 s
System is stable. Create a unity-feedback system, where He ðsÞ ¼ 1¼ :
The system is as follows: sþ1 sþ1

Thus, 100
GðsÞ ðs þ 4Þ 100ðs þ 1Þ
Ge ðsÞ ¼ ¼ ¼ 2
1 þ GðsÞHe ðsÞ 100s s  95s þ 4
1
ðs þ 1Þðs þ 4Þ

Hence, the system is Type 0. Evaluating Kp yields

100
Kp ¼ ¼ 25
4
The steady-state error is given by
1 1
estep ð1Þ ¼ ¼ ¼ 3:846e  02
1 þ Kp 1 þ 25
16 Solutions to Skill-Assessment Exercises

4.14
Kðs þ 7Þ 1 1 10
Since GðsÞ ¼ ; eð1Þ ¼ ¼ ¼ :
s2 þ 2s þ 10 1 þ Kp 7K 10 þ 7K
1þ
10
Calculating the sensitivity, we get
K @e K ð10Þ7 7K
Se:K ¼ ¼  ¼
e @K 10 ð10 þ 7KÞ 2 10 þ 7K
10 þ 7K

4.15
Given



0 1 0 1
A¼ ; B¼ ; C ¼ ½1 1 ; RðsÞ ¼ :
3 6 1 s
Using the final value theorem,
"
1
#
1 s 1 0
estep ð1Þ ¼ lim sRðsÞ½1  CðsI  AÞ B ¼ lim 1  ½ 1 1
s!0 s!0 3 sþ6 1
2
 3
sþ6 1


6 3s s 0 7 7 ¼ lim s þ 5s þ 2 ¼ 2
2
¼ lim 61  ½ 1 1 
s!04 s2 þ 6s þ 3 1 5 s!0 s2 þ 6s þ 3 3

Using input substitution,

1

1 0 1 0
step ð1Þ ¼ 1 þ CA B ¼ 1  ½ 1 1 

 3 6 1
6 1 " #

 1
3 0
¼ 1 þ ½ 1 1  3 ¼
0 2
¼ 1 þ ½1 1
3 1 0 3

CHAPTER 5

5.1

Make a Routh table.

s7 3 6 7 2
s6 9 4 8 6
s5 4.666666667 4.333333333 0 0
s4 –4.35714286 8 6 0
s3 12.90163934 6.426229508 0 0
s2 10.17026684 6 0 0
s1 –1.18515742 0 0 0
s0 6 0 0 0
 Solutions to Skill-Assessment Exercises 17

Since there are four sign changes and no complete row of zeros, there are four right half-
plane poles and three left half-plane poles.

5.2
Make a Routh table. We encounter a row of zeros on the s3 row. The even polynomial is
contained in the previous row as 6s4 þ 0s2 þ 6: Taking the derivative yields 24s3 þ
0s: Replacing the row of zeros with the coefficients of the derivative yields the s3 row. We
also encounter a zero in the first column at the s2 row. We replace the zero with e and
continue the table. The final result is shown now as

s6 1 –6 –1 6
s5 1 0 –1 0
s4 6 0 6 0
s3 –24 0 0 0 ROZ
s2 e 6 0 0
s1 144/e 0 0 0
s0 6 0 0 0

There is one sign change below the even polynomial. Thus the even polynomial
(4th order) has one right half-plane pole, one left half-plane pole, and 2 imaginary axis
poles. From the top of the table down to the even polynomial yields one sign change.
Thus, the rest of the polynomial has one right half-plane root, and one left half-plane root.
The total for the system is two right half-plane poles, two left half-plane poles, and
2 imaginary poles.

5.3
Kðs þ 20Þ GðsÞ Kðs þ 20Þ
Since GðsÞ ¼ ; T ðsÞ ¼ ¼ 3
sðs þ 2Þðs þ 3Þ 1 þ GðsÞ s þ 5s þ ð6 þ KÞs þ 20K
2

Form the Routh table.

s3 1 (6 + K)
s2 5 20K
30  15K
s1
5
s0 20 K

From the s1 row, K < 2. From the s0 row, K > 0. Thus, for stability, 0 < K < 2.

CHAPTER 6

6.1

a.
ð7 þ j9 þ 2Þð7 þ j9 þ 4Þ0:0339 ð5 þ j9Þð3 þ j9Þ
Fð7 þ j9Þ ¼ ¼
ð7 þ j9Þð7 þ j9 þ 3Þð7 þ j9 þ 6Þ ð7 þ j9Þð4 þ j9Þð1 þ j9Þ
ð66  j72Þ
¼ ¼ 0:0339  j0:0899 ¼ 0:096 < 110:7
ð944  j378Þ
18 Solutions to Skill-Assessment Exercises

b. The arrangement of vectors is shown as follows:

From the diagram,

M2 M4 ð3 þ j9Þð5 þ j9Þ ð66  j72Þ
Fð7 þ j9Þ ¼ ¼ ¼
M1 M3 M5 ð1 þ j9Þð4 þ j9Þð7 þ j9Þ ð944  j378Þ
¼ 0:0339  j0:0899 ¼ 0:096 <; 110:7
6.2

a. First draw the vectors.

 Solutions to Skill-Assessment Exercises 19

From the diagram,

   
 1 3 1 3
åangles ¼ 180  tan  tan ¼ 180  108:43 þ 108:43 ¼ 180 :
1 1
b. Since the angle is 180 , the point is on the root locus.
Q pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
pole lengths ð 12 þ 32 Þð 12 þ 32 Þ
c. K ¼ Q ¼ ¼ 10
zero lengths 1

6.3

First, find the asymptotes.

åpoles  åzeros ð2  4  6Þ  ð0Þ
sa ¼ ¼ ¼ 4
#poles  #zeros 30
ð2k þ 1Þp p 5p
ua ¼ ¼ ; p;
3 3 3
Next draw root locus following the rules for sketching.

6.4
a.
20 Solutions to Skill-Assessment Exercises

b. Using the Routh-Hurwitz criteria, we first find the closed-loop transfer function.
GðsÞ Kðs þ 2Þ
T ðsÞ ¼ ¼ 2
1 þ GðsÞ s þ ðK  4Þs þ ð2K þ 13Þ

Using the denominator of T(s), make a Routh table.

s2 1 2K + 13
s1 K – 40 0
s0 2K + 13 0

We get a row of zeros for K ¼ 4. From the s2 row

pffiffiffiffiffiffiwith
ffi K ¼ 4, s2 + 21 ¼ 0. From which
we evaluate the imaginary axis crossing at 21:
c. From part (b), K ¼ 4.
d. Searching for the minimum gain to the left of 2 on the real axis yields 7 at a gain of
18.Thus the break-in point is at7.
e. First, draw vectors to a point e close to the complex pole.

At the point e close to the complex pole, the angles must add up to zero. Hence, angle

 – angle from pole in 4 quadrant – angle from pole in 1 quadrant = 180 , or
th st
from zero
3
tan1  90  u ¼ 180 . Solving for the angle of departure, u = – 233.1.
4
 Solutions to Skill-Assessment Exercises 21

6.5

a.

b. Search along the imaginary axis and find the 180° point at s =  j4.06
c. For the result in part (b), K ¼ 1.
d. Searching between 2 and 4 on the real axis for the minimum gain yields the break-in at
s ¼ 2.89.
e. Searching along z ¼ 0.5 for the 180° point we find s ¼ –2.42 þ j4.18
f. For the result in part (e), K ¼ 0.108.
g. Using the result from part (c) and the root locus, K < 1.

6.6

a.
22 Solutions to Skill-Assessment Exercises

b. Searching along the z ¼ 0591 (10% overshoot) line for the 180° point yields 2.028 þ
j2.768 with K ¼ 45.55.
4 4 p p
c. Ts ¼ ¼ ¼ 1:97s; Tp ¼ ¼ ¼ 1:13s; vn Tr ¼ 1:8346 from the
jRej 2:028 jImj 2:768
rise-time chart and graph in Chapter 4. Since vn is the radial distance to the pole,
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
vn ¼ 2:0282 þ 2:7682 ¼ 3:431:Thus, Tr ¼ 0:53 s; since the system is Type 0,
K 45:55
Kp ¼   ¼ ¼ 0949:Thus,
2 4 6 48
1
estep ð1Þ ¼ ¼ 0:51
1 þ Kp
d. Searching the real axis to the left of 6 for the point whose gain is 45.55 we find 7.94
Comparing this value to the real part of the dominant pole, 2.028,we find that it is not
five times further. The second-order approximation is not valid.

6.7

Find the closed-loop transfer function and put it the form that yields pi as the root locus
variable. Thus,
100
¼ s þ 100
GðsÞ 100 100 2
T ðsÞ ¼ ¼ ¼
1 þ GðsÞ s2 þ pi s þ 100 ðs2 þ 100Þ þ pi s 1 þ pi s
s2 þ 100
pi s
Hence, KGðsÞHðsÞ ¼ 2 : The following shows the root locus.
s þ 100

6.8
Following the rules for plotting the root locus of positive-feedback systems, we obtain
the following root locus:
 Solutions to Skill-Assessment Exercises 23

6.9
Kðs þ 1Þ
The closed-loop transfer function is T ðsÞ ¼ 2 . Differentiating the
denominator with respect to K yields s þ ðK þ 2Þs þ K

@s @s @s
2s þ ðK þ 2Þ þ ðs þ 1Þ ¼ ð2s þ K þ 2Þ þ ðs þ 1Þ ¼ 0
@K @K @K
@s @s ðs þ 1Þ K @s Kðs þ 1Þ
Solving for 0
we get ¼ . Thus Ss:K ¼ ¼ .
@K @K ð2s þ K þ 2Þ s @K sð2s þ K þ 2Þ
10ðs þ 1Þ
Substituting K ¼ 20 yields Ss:K ¼ .
sðs þ 11Þ
Now find the closed-loop poles when K ¼ 20. From the denominator of T(s), s1,2 ¼
21.05, 0.95, when K ¼ 20.

For the pole at 21.05,

 
DK 10ð21:05 þ 1Þ
Ds ¼ sðSs:K Þ ¼ 21:05 0:05 ¼ 0:9975:
K 21:05ð21:05 þ 11Þ
For the pole at 0.95,
 
DK 10ð0:95 þ 1Þ
Ds ¼ sðSs:K Þ ¼ 0:95 0:05 ¼ 0:0025:
K 0:95ð0:95 þ 11Þ

CHAPTER 7

7.1
a.
1 1
GðsÞ ¼ ; GðjvÞ ¼
ðs þ 2Þðs þ 4Þ 8 þ v þ j6v
2
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
MðvÞ ¼ ð8  v2 Þ2 þ ð6vÞ2
 
pffiffiffiffi 1 6v
For v < 8; fðvÞ ¼  tan :
8  v2


pffiffiffiffi 6v
For v < 8; fðvÞ ¼  p þ tan1 :
8  v2
24 Solutions to Skill-Assessment Exercises

b.

c.
 Solutions to Skill-Assessment Exercises 25

7.2.

7.3
The frequency response is 1 /8 at an angle of zero degrees at v ¼ 0. Each pole rotates 90
in going from v ¼ 0 to v ¼1. Thus, the resultant rotates 180 while its magnitude goes
to zero. The result is shown below.

7.4.

a. The frequency response is 1/48 at an angle of zero degrees at v ¼ 0. Each pole rotates
90 in going from v ¼ 0 to v ¼ 1. Thus, the resultant rotates 270 while its
magnitude goes to zero. The result is shown below.
26 Solutions to Skill-Assessment Exercises

1 1
b. Substituting jv into GðsÞ ¼ ¼ 3 and
ðs þ 2Þðs þ 4Þðs þ 6Þ s þ 12s þ 44s þ 48
2

ð48  12v2 Þ  jð44v  v3 Þ

simplifying, we obtain GðjvÞ ¼ The Nyquist diagram
v6 þ 56v4 þ 784v2 þ 2304:
crosses the real axis when the imaginary part of GðjvÞ is ffizero. Thus, the Nyquist
pffiffiffiffiffiffi
diagram crosses the real axis at v2 ¼ 44; or v ¼ 44 ¼ 6:63 rad/s. At this
1
frequency GðjvÞ ¼  : Thus, the system is stable for K < 480.
480
7.5

If K ¼ 100, the Nyquist diagram will intersect the real axis at 100/480. Thus, 480
480
GM ¼ 20 log ¼ 13:62 dB. From Skill-Assessment Exercise Solution l0.4, the 180
100
frequency is 6.63 rad/s.

7.6
a.
 Solutions to Skill-Assessment Exercises 27

b. The phase angle is 180 at a frequency of 36.74 rad/s. At this frequency the gain is
99.67 dB. Therefore, 20 logK ¼ 99.67, or K ¼ 96,270. We conclude that the
system is stable for K < 96,270.
c. For K  10,000, the magnitude plot is moved up 201ogl0,000 ¼ 80 dB. Therefore,
the gain margin is 99.67  80 ¼ 19.67 dB. The 180 frequency is 36.7 rad/s. The gain
curve crosses 0 dB at v ¼ 7.74 rad/s, where the phase is 87.1 . We calculate the phase
margin to be 180  87.1 ¼ 92.9 .

7.7
1nð%=100Þ
Using z ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ; We find z = 0.456, which corresponds to 20%
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
p2 þ 1n2 ð%100Þ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
4
over-shoot. Using Ts ¼ 2; vBW ¼ ð1  2z Þ þ 4z4  4z 2 þ 2 ¼ 5:79rad=s:
2
Tsz

7.8
160 ð6750000101250v2 Þþj1350ðv2 1350Þv
For both parts find that GðjvÞ ¼ * v6 þ2925v4 þ1072500v2 þ25000000 .
27
For a range of values for v, superimpose Gðjv) on the a. M and N circles, and on the
b. Nichols chart.

a.
28 Solutions to Skill-Assessment Exercises

Plotting the closed-loop frequency response from a. or b. yields the following plot:
 Solutions to Skill-Assessment Exercises 29

7.9

The open-loop frequency response is shown in the following figure:

The open-loop frequency response is 7 at v ¼ 14.5rad/s. Thus, the estimated

bandwidth is vwB ¼ 14.5rad/s. The open-loop frequency response plot goes through
zero dB at a frequency of 9.4 rad/s, where the phase is 151.98 . Hence, the phase margin
is 180  151.98 ¼ 28.02 . This phase margin corresponds to
 pffiffiffiffiffiffiffiffi2
z ¼ 0:25: Therefore; %OS ¼ e zp 1z x100 ¼ 44:4%;
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
4
Ts ¼ ð1  2z 2 Þ þ 4z 4  4z2 þ 2 ¼ 1:64s and
vBW z
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
p
Tp ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi ð1  z 2 Þ þ 4z4  4z2 þ 2 ¼ 0:33s
vBW 1  z 2

7.10

The initial slope is 40 dB/dec. Therefore, the system is Type 2. The initial slope intersects
0 dB at v ¼ 9.5 rad/s. Thus, Ka ¼ 9.52 ¼ 90.25 and Kp  Kv ¼ 1.

7.11
10 10
a. Without delay, GðjvÞ ¼ ¼ ; from which the zero dB frequency is
ðjv þ 1Þ vðv þ jÞ
10 pffiffiffiffiffiffiffiffiffiffiffiffiffiffi
found as follows: M ¼ 2 pffiffiffiffiffiffiffiffiffiffiffiffi ¼ 1. Solving for v; v v2 þ 1 ¼ 10; or after
v vþ1
30 Solutions to Skill-Assessment Exercises

squaring both sides and rearranging, v4 þ v2  100 ¼ 0. Solving for the roots, v2 
10.51, 9.51. Taking the square root of the positive root, we find the 0 dB frequency to
be 3.08 rad/s. At this frequency, the phase angle, f ¼ ffðv þ jÞ ¼ ffð3:08 þ jÞ
¼ 162 : Therefore the phase margin is 180  162 = 18 .

b. With a delay of 0.1 s,

f ¼ ffðv þ jÞ  vT ¼ ffð3:08 þ jÞ  ð3:08Þð0:1Þð180=piÞ ¼ 162  17:65

¼ 179:65 .

Therefore the phase margin is 180  179.65 = 0.35 . Thus, the system is stable.
c. With a delay of 3 s,

f ¼ ffðv þ jÞ  vT ¼ ffð3:08 þ jÞ  ð3:08Þð3Þð180=piÞ ¼ 162  529:41

¼ 691.41 ¼ 28.59 deg.

Therefore the phase margin is 28.59  180 ¼ 151.41 deg. Thus, the system is unstable.

7.12

Drawing judicially selected slopes on the magnitude and phase plot as shown below
yields a first estimate.

We see an initial slope on the magnitude plot of 20 dB/dec. We also see a final 20 dB/
dec slope with a break frequency around 21 rad/s. Thus, an initial estimate is
1
G1 ðsÞ ¼ . Subtracting G1(s) from the original frequency response yields the
sðs þ 21Þ
frequency response shown below.
 Solutions to Skill-Assessment Exercises 31

Drawing judicially selected slopes on the magnitude and phase plot as shown yields a
final estimate. We see first-order zero behavior on the magnitude and phase plots with
a break frequency of about 5.7 rad/s and a dc gain of about 44 dB ¼ 20log(5.7K), or
K ¼ 27.8. Thus, we estimate G2(s) ¼ 27.8 (s þ 7). Thus, GðsÞ ¼ G1 ðsÞG2 ðsÞ ¼
27:8ð8 þ 5:7Þ
: It is interesting to note that the original problem was developed from
sðs þ 21Þ
30ðs þ 5Þ
GðsÞ ¼ .
sðs þ 20Þ

CHAPTER 8

8.1

Identifying appropriate variables on the circuit yields

32 Solutions to Skill-Assessment Exercises

Writing the derivative relations

dvC1
C1 ¼ iC1
dt
diL
L ¼ vL ð1Þ
dt
dvC2
C2 ¼ iC2
dt
Using Kirchhoff's current and voltage laws,
1
iC1 ¼ iL þ iR ¼ iL þ ðvL  vC2 Þ
R
vL ¼ vC1 þ vi
1
iC2 ¼ iR ¼ ðvL  vC2 Þ
R
Substituting these relationships into Eqs. (1) and simplifying yields the state equations as

dvC1 1 1 1 1
¼ vC þ iL  vC þ vi
dt RC1 1 C1 RC1 2 RC1
diL 1 1
¼  vC1 þ vi
dt L L
dvC2 1 1 1
¼ vC  vC vi
dt RC2 1 RC2 2 RC2
where the output equation is
vo ¼ vC2
Putting the equations in vector-matrix form,
2 1 1 1 3 2 1 3
 
6 RC1 C1 RC1 7 6 RC1 7
6 7 6 7
6 1 7 6 1 7
x¼6 6 0 7 6
0 7x þ 6 7vi ðtÞ
7
6 L 7 6 L 7
4 1 1 5 4 1 5
 0 
RC2 RC2 RC2
y ¼ ½ 0 0 1x
8.2

Writing the equations of motion

ðs2 þ s þ 1ÞX1 ðsÞ  sX2 ðsÞ ¼ FðsÞ

sX1 ðsÞ þ ðs þ s þ 1ÞX2 ðsÞ
2  X3 ðsÞ ¼ 0
X2 ðsÞ þ ðs2 þ s þ 1ÞX3 ðsÞ ¼ 0

Taking the inverse Laplace transform and simplifying,

€x1 ¼ _x1  x1 þ x_ 2 þ f
€x2 ¼ x_ 1  x_ 2  x2 þ x3
€x3 ¼ _x3  x3 þ x2
 Solutions to Skill-Assessment Exercises 33

Defining state variables, zi ;

z1 ¼ x1 ; z2 ¼ x_ 1 ; z3 ¼ x2 ; z4 ¼ x_ 2 ; z5 ¼ x3 ; z6 ¼ x_ 3

Writing the state equations using the definition of the state variables and the inverse
transform of the differential equation,
z_ 1 ¼ z2
z_ 2 ¼ €x1 ¼ _x1  x1 þ x_ 2 þ f ¼ z2  z1 þ z4 þ f
z_ 3 ¼ x_ 2 ¼ z4
z_ 4 ¼ €x2 ¼ x_ 1  x_ 2  x2 þ x3 ¼ z2  z4  z3 þ z5
z_ 5 ¼ x_ 3 ¼ z6
z_ 6 ¼ €x3 ¼ _x3  x3 þ x2 ¼ z6  z5 þ z3
The output is z5 : Hence, y ¼ z5 : In vector-matrix form,
2 3 2 3
0 1 0 0 0 0 0
6 1 1 0 7 6 7
6 1 0 0 7 617
6 0 0 0 1 0 0 77 6 07
z_ ¼ 6
6 0 7 z þ6
6
7f ðtÞ; y ¼ ½ 0 0 0 0 1 0z
7
6 1 1 1 1 0 7 607
4 0 0 0 0 0 1 5 4 05
0 0 1 0 1 1 0

8.3
First derive the state equations for the transfer function without zeros.
X ðsÞ 1
¼ 2
RðsÞ s þ 7s þ 9
Cross multiplying yields

ðs2 þ 7s þ 9ÞX ðsÞ ¼ RðsÞ

Taking the inverse Laplace transform assuming zero initial conditions, we get

€x þ 7_x þ 9x ¼ r

Defining the state variables as,

x1 ¼ x
x2 ¼ x_
Hence,
x_ 1 ¼ x2
x_ 2 ¼ €x ¼ 7_x  9x þ r ¼ 9x1  7x2 þ r
Using the zeros of the transfer function, we find the output equation to be,

c ¼ 2_x þ x ¼ x1 þ 2x2
34 Solutions to Skill-Assessment Exercises

Putting all equation in vector-matrix form yields,

" # " #
0 1 0
x_ ¼ xþ r
9 7 1
c ¼ ½ 1 2x

8.5
The state equation is converted to a transfer function using

GðsÞ ¼ CðsI  AÞ1 B ð1Þ

where



4 1:5 2
A¼ ; B¼ ; and C ¼ ½ 1:5 0:625 :
4 0 0

Evaluating (sI  A) yields


s þ 4 1:5
ðsI  AÞ ¼
4 s

Taking the inverse we obtain


1 1 s 1:5
ðsI  AÞ ¼ 2
s þ 4s þ 6 4 s þ 4
Substituting all expressions into Eq. (1) yields
3s þ 5
GðsÞ ¼
s2 þ 4s þ 6

8.6

Writing the differential equation we obtain

d2x
þ 2x2 ¼ 10 þ df ðtÞ ð1Þ
dt 2
Letting x ¼ xo þ dx and substituting into Eq. (1) yields
d 2 ðxo þ dxÞ
þ 2ðxo þ dxÞ2 ¼ 10 þ df ðtÞ ð2Þ
dt 2
Now, linearize x2 :

2 dðx2 Þ
ðxo þ dxÞ  x2o ¼ dx ¼ 2xo dx
dx xo
from which

ðxo þ dxÞ2 ¼ x2o þ 2xo dx ð3Þ

 Solutions to Skill-Assessment Exercises 35

Substituting Eq. (3) into Eq. (1) and performing the indicated differentiation gives us the
linearized intermediate differential equation,
d 2 dx
þ 4xo dx ¼ 2x2o þ 10 þ df ðtÞ ð4Þ
dt 2
The force of the spring at equilibrium is 10 N. Thus, since F ¼ 2x2 ; 10 ¼ 2x2o from
which
pffiffiffi
xo ¼ 5

Substituting this value of xo into Eq. (4) gives us the final linearized differential equation.
d 2 dx pffiffiffi
2
þ 4 5dx ¼ df ðtÞ
dt
Selecting the state variables,
x1 ¼ dx
x2 ¼ dx
Writing the state and output equations
x_ 1 ¼ x2 pffiffiffi
x_ 2 ¼ €dx ¼ 4 5x1 þ df ðtÞ
y ¼ x1
Converting to vector-matrix form yields the final result as
" # " #
0 1 0
x¼ pffiffiffi xþ df ðtÞ
4 5 0 1
y ¼ ½ 1 0 x

8.7

We first find the desired characteristic equation. A 5% overshoot requires

%
 log
100 p
 ffi ¼ 0:69: Also, vn ¼ pffiffiffiffiffiffiffiffiffiffiffiffiffi2 ¼ 14:47 red/s Thus, the
z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
% Tp 1  z
p2 þ log2
100
Characteristic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 19:97s þ 209:4: Adding a pole
at 10 to cancel the zero at 10 yields the desired characteristic equation (s2 +
19.97s + 209.4) (s + 10) = s3 + 29.97s2 + 409.1s + 2094. The compensated system
matrix in phase-variable form is
2 3
0 1 0
A  BK ¼ 4 0 0 1 5. The characteristic equation for this
ðk1 Þ ð36 þ k2 Þ ð15 þ k3 Þ

system is jsI  ðA  BKÞj ¼ s3 þ ð15 þ k3 Þs2 þ ð36 þ k2 Þs þ ðk1 Þ: Equating coeffi-

cients of this equation with the coefficents of the desired characteristic equation yields
the gains as

K ¼½k1 k2 k3  ¼ ½2094 373:1 14:97

36 Solutions to Skill-Assessment Exercises

8.8
2 3

 2 1 1
The controllability matrix is CM ¼ B AB A2 B ¼ 4 1 4 9 5. Since |CM| ¼ 80,
1 1 16
CM is full rank that is rank 3. We conclude that the system is controllable.

8.9


First check controllability.
2 3 The controllability matrix is CMz ¼ B AB A2 B ¼
0 0 1
4 0 1 17 5. Since jCM z j ¼ 1; CMz is full rank, that is rank 3. We conclude
1 9 81
that the system is controllable. Wenow  find the desired characteristic equation. A 20%
%
 log
100 4
overshoot requires z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 ffi ¼ 0:456: Also, vn ¼ zT ¼ 4:386 rad/s.
% s
p2 þ log2
100
Thus, the characteristic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 4s þ 19:24: Adding a pole
at 6 to cancel the zero at 6 yields the resulting desired characteristic equation,

ðs2 þ 4s þ 19:24Þðs þ 6Þ ¼ s3 þ 10s2 þ 43:24s þ 115:45:

ðs þ 6Þ sþ6
Since GðsÞ ¼ ¼ 3 ; We can write the
ðs þ 7Þðs þ 8Þðs þ 9Þ 2s þ 24s þ 191s þ 504
2
3 2 3
0 1 0 0
phase-variable representation as Ap ¼ 4 0 0 1 5; Bp ¼ 4 0 5; Cp ¼
504 191 24 1
[6 1 0] The compensated system matrix in phase-variable form is
2 3
0 1 0
Ap Bp Kp ¼ 4 0 0 1 5
ð504 þ k1 Þ ð191 þ k2 Þ ð24 þ k3 Þ

The characteristic equation for this system is | sI  (Ap  BpKp)| = s3 + (24 + k3)s2 + (191
+ k2)s + (504 + k1). Equating coefficients of this equation with the coefficients of the
desired characteristic equation yields the gains as Kp ¼ [k1 k2 k3] = [ 388.55 147.76
14]. We now develop the transformation matrix to transform back to the z-system.
2 3

 0 0 1
CMz ¼ Bz Az Bz A2z Bz ¼ 4 0 1 17 5 and
1 9 81
2 3
h i 0 0 1
CMp ¼ Bp Ap Bp A2p Bp ¼ 4 0 1 24 5
1 24 385
 Solutions to Skill-Assessment Exercises 37

Therefore,
2 32 3 2 3
0 0 1 191 24 1 1 0 0
1
p ¼ CMz CMx ¼ 40 1 17 54 24 1 0 5 ¼ 4 7 1 05
1 9 81 1 0 0 56 15 1

2 3
1 0 0
Hence; Kz ¼ Kp p1 ¼ ½388:55  147:76  144 7 1 05
49 15 1
¼ ½40:23 62:24  14:

8.10 2 3
ð24 þ l1 Þ 1 0
For the given system ex ¼ ðA  LCÞex 4 ð191 þ l2 Þ 0 1 5ex . The characteristic
ð504 þ l3 Þ 0 0
polynomial is given by j½sI  ðA  LCÞj ¼ s3 þð24 þ l 1 Þs2 þð191þl2 Þsþð504 þ l 3 Þ.
Now we find the desired characteristic equation. The dominant poles from Skill-
Assessment Exercise 12.3 come from (s2 + 4s + 19.24). Factoring yields ( 2 +
j3.9) and ( 2  j3.9). Increasing these poles by a factor of 10 and adding a third pole 10
times the real part of the dominant second-order poles yields the desired characteristic
polynomial, (s + 20 + j39)(s + 20  j39)(s + 200) ¼ s3 + 240s2 + 9921s + 384200.
Equating coefficients 2 of the desired
3 characteristic equation to the system's characteristic
216
equation yields L ¼ 4 9730 5.
383696

8.11 2 3 2 3
C 4 6 8
The observability matrix is OM 4 CA 5 ¼ 4 64 80 78 5, where
2 3 CA2 674 848 814
25 28 32
A2 ¼ 4 7 4 11 5. The matrix is of full rank, that is, rank 3, since
77 95 94
|OM| ¼ 1576. Therefore the system is observable.

8.12

The system is represented in cascade form by the following state and output equations:
2 3 2 3
7 1 0 0
6 7 6 7
z_ ¼ 4 0 8 1 5z þ 4 0 5u
0 0 9 1
y ¼ ½1 0 0z
38 Solutions to Skill-Assessment Exercises
2 3 2 3
Cz 1 0 0
The observability matrix is OMz ¼ 4 Cz Az 5 ¼ 4 7 1 0 5; where A2z ¼
Cz A2z 49 15 1

2 3
49 15 1
4 0 1 1
64 17 5. Since GðsÞ ¼ ¼ 3 ;
ðs þ 7Þðs þ 8Þðs þ 9Þ s þ 24s þ 191s þ 504
2
0 0 81

we can write the observable canonical form as

2 3 2 3
24 1 0 0
x_ ¼ 4 191 0 1 5xþ4 0 5u
504 0 0 1

y ¼ ½1 0 0 x

2 3 2 3
Cx 1 0 0
The observability matrix for this form is OMx ¼ 4 Cx Ax 5 ¼ 4 24 1 0 5;
Cx A2x 385 24 1
2 3
385 24 1
where A2x ¼ 4 4080 191 0 5:
12096 504 0

We next find the desired characteristic equation. A 10% overshoot requires

 
%
 log
100 4
z ¼ sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 ffi ¼ 0:591: Also, vn ¼ zT ¼ 67:66: rad/s. Thus, the char-
% s
p2 þ log2
100
acteristic equation is s2 þ 2zvn s þ v2n ¼ s2 þ 80s þ 4578:42: Adding a pole at 400,
or 10 times the real part of the dominant second-order poles, yields the resulting
desired characteristic equation, (s2 þ 80s þ 4578:42Þðs þ 400Þ ¼ s3 þ 480s2 þ
36580s þ 1:831x106 . For 2 the system represented
3 in observable canonical form
ð24 þ l1 Þ 1 0
ex_ ¼ ðAx  Lx Cx Þex ¼ 4 ð191 þ l2 Þ 0 1 5ex : The characteristic polynomial is
ð504 þ l3 Þ 0 0
given by |[sI  (Ax  LxCx)]| ¼ s3 + (24 + l1)s2 + (191 + l2)s+ (504 + l3). Equating
coefficients of the desired 2 characteristic
3 equation to the system's characteristic
456
equation yields Lx ¼ 4 36; 389 5:
1; 830; 496
 Solutions to Skill-Assessment Exercises 39

Now, develop the transformation matrix between the observer canonical and cascade
forms.
2 31 2 3
1 0 0 1 0 0
6 7 6 7
P ¼ O1
Mz OMx ¼ 4 7 0 5 4 24
1 1 05
49 15 1 385 24 1
2 32 3 2 3
1 0 0 1 0 0 1 0 0
¼ 4 7 1 0 54 24 1 0 5 ¼ 4 17 1 0 5:
56 15 1 385 24 1 81 9 1

Finally,
2 32 3 2 3 2 3
1 0 0 456 456 456
4
Lz ¼ PLx ¼ 17 1 0 54 36; 389 5 ¼ 4 28; 637 5  4 28; 640 5:
81 9 1 1; 830; 496 1; 539; 931 1; 540; 000