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Reduction of Multiple
Subsystems
SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Designing a Closed-Loop Response
a. Drawing the block diagram of the system:
Motor,
Power load and
Pots Pre amp amp gears
ui + uo
10 K 150 0.16
Π s+150 s (s+1.32)
-
76.39K
Thus, T(s) =
s3+151.32s2+198s+76.39K
b. Drawing the signal flow-diagram for each subsystem and then interconnecting them yields:
10 1 1 1
Π K 150 s x3 0.8 s x2 s x1 0.2
ui uo
pre gears
pot
amp -150 -1.32
power motor
amp and
10 load
-
Π
pot
5-2 Chapter 5: Reduction of Multiple Subsystems
.
x 1 = x2
.
x 2 = - 1.32x2 + 0.8x3
. 10
x 3 = -150x3 +150K( (q i − 0.2x1 )) = -95.49Kx1 - 150x3 + 477.46Kθi
π
θo = 0.2x1
In vector-matrix notation,
0 1 0 0
.
x = 0 -1.32 0.8 x + 0 θ
i
-95.49K 0 -150 477.46K
θo = 0.2 0 0 x
⎛ 10 ⎞ ⎛ 1⎞ ⎛ 1⎞ ⎛ 1⎞ 76.39
c. T1 =
⎝ π ⎠ ( K )(150)⎝ s ⎠ (0.8)⎝ s ⎠ ⎝ s ⎠ (0.2) = s 3
Nontouching loops:
198
GL1GL2 = 2
s
Δ1 = 1
T1Δ1 76.39K
T(s) = = 3
Δ s +151.32s2 +198s+76.39K
10
0.16K
π
d. The equivalent forward path transfer function is G(s) = s(s+1.32) .
Therefore,
2.55
T(s) = 2
s +1.32s+2.55
The poles are located at -0.66 ± j1.454. ωn = 2.55 = 1.597 rad/s; 2ζωn = 1.32, therefore, ζ = 0.413.
Solutions to Case Studies Challenges 5-3
−ζπ / 1−ζ
2
4 4 π π
%OS = e x100 = 24% ; Ts = ζω = 0.66 = 6.06 seconds; Tp = = 1.454 =
n ωn 1-ζ2
2.16 seconds; Using Figure 4.16, the normalized rise time is 1.486. Dividing by the natural frequency,
1.486
Tr = = 0.93 seconds.
2.55
e.
%OS
- ln ( 100 )
0.51K 0.51K
f. Since G(s) = s(s+1.32) , T(s) = 2 . Also, ζ = = 0.517 for 15%
s +1.32s+0.51K %OS
π + ln ( 100 )
2 2
1.32 1.32
overshoot; ωn = 0.51K ; and 2ζωn = 1.32. Therefore, ωn = = 2(0.5147) = 1.277 = 0.51K .
2ζ
a. Use the observer canonical form for the vehicle dynamics so that the output yaw rate is a state
variable.
1
1 1 1 1
1 -1 2 s -0.125 0.437 s 1 s s 1
u y
x4 x3 x2 x1
-1.483
-2
-0.24897
-1
xÝ1 = x2
xÝ2 = −1.483x 2 + x 3 − 0.125x4
xÝ3 = −0.24897x2 − (0.125* 0.437)x4
xÝ4 = 2x1 + 2x 2 − 2x4 − 2u
In vector-matrix form:
⎡0 1 0 0 ⎤ ⎡0⎤
⎢ 0 −1.483 1 −0.125 ⎥ ⎢0⎥
xÝ= x+ u
⎢ 0 −0.24897 0 −0.054625⎥ ⎢0⎥
⎢⎣ 2 2 0 −2 ⎥⎦ ⎢⎣ −2 ⎥
⎦
y = [1 0 0 0]x
c.
Program:
numg1=-0.25*[1 0.437];
deng1=poly([-2 -1.29 -0.193 0]);
'G(s)'
G=tf(numg1,deng1)
numh1=[-1 0];
denh1=[0 1];
'H(s)'
H=tf(numh1,denh1)
'Ge(s)'
Ge=feedback(G,H)
'T(s)'
T=feedback(-1*Ge,1)
[numt,dent]=tfdata(T,'V');
[Acc,Bcc,Ccc,Dcc]=tf2ss(numt,dent)
Computer response:
ans =
G(s)
Transfer function:
-0.25 s - 0.1093
--------------------------------------
s^4 + 3.483 s^3 + 3.215 s^2 + 0.4979 s
ans =
H(s)
Transfer function:
-s
ans =
Ge(s)
Transfer function:
-0.25 s - 0.1093
--------------------------------------
s^4 + 3.483 s^3 + 3.465 s^2 + 0.6072 s
Answers to Review Questions 5-5
ans =
T(s)
Transfer function:
0.25 s + 0.1093
-----------------------------------------------
s^4 + 3.483 s^3 + 3.465 s^2 + 0.8572 s + 0.1093
Acc =
Bcc =
1
0
0
0
Ccc =
0 0 0.2500 0.1093
Dcc =
SOLUTIONS TO PROBLEMS
1.
a. Combine the inner feedback and the parallel pair.
Multiply the blocks in the forward path and apply the feedback formula to get,
50(s-2)
T(s) = 3 2 .
s +s +150s-100
b.
Program:
'G1(s)'
G1=tf(1,[1 0 0])
'G2(s)'
G2=tf(50,[1 1])
'G3(s)'
G3=tf(2,[1 0])
'G4(s)'
G4=tf([1 0],1)
'G5(s)'
G5=2
'Ge1(s)=G2(s)/(1+G2(s)G3(s))'
Ge1=G2/(1+G2*G3)
'Ge2(s)=G4(s)-G5(s)'
Ge2=G4-G5
'Ge3(s)=G1(s)Ge1(s)Ge2(s)'
Ge3=G1*Ge1*Ge2
Solutions to Problems 5-7
'T(s)=Ge3(s)/(1+Ge3(s))'
T=feedback(Ge3,1);
T=minreal(T)
Computer response:
ans =
G1(s)
Transfer function:
1
---
s^2
ans =
G2(s)
Transfer function:
50
-----
s + 1
ans =
G3(s)
Transfer function:
2
-
s
ans =
G4(s)
Transfer function:
s
ans =
G5(s)
G5 =
ans =
Ge1(s)=G2(s)/(1+G2(s)G3(s))
Transfer function:
50 s^2 + 50 s
-------------------------
s^3 + 2 s^2 + 101 s + 100
ans =
Ge2(s)=G4(s)-G5(s)
Transfer function:
s - 2
5-8 Chapter 5: Reduction of Multiple Subsystems
ans =
Ge3(s)=G1(s)Ge1(s)Ge2(s)
Transfer function:
50 s^3 - 50 s^2 - 100 s
-------------------------------
s^5 + 2 s^4 + 101 s^3 + 100 s^2
ans =
T(s)=Ge3(s)/(1+Ge3(s))
Transfer function:
50 s - 100
-----------------------
s^3 + s^2 + 150 s - 100
2.
Push G1(s) to the left past the pickoff point.
H1
-
+ +
G1 G2 G3
+
1
G1
⎛ G1 ⎞ ⎛ 1⎞ (G G + 1)G3
Thus, T (s) = ⎜⎜ ⎟⎟ ⎜⎜ G2 + ⎟⎟ G3 = 1 2
⎝ 1 + G1 H1 ⎠ ⎝ G1 ⎠ (1+ G1H1)
3.
a. Split G3 and combine with G2 and G4. Also use feedback formula on G6 loop.
Solutions to Problems 5-9
Multiplying the blocks of the forward path and applying the feedback formula,
5-10 Chapter 5: Reduction of Multiple Subsystems
4.
Push G2(s) to the left past the summing junction.
Collapse the summing junctions and add the parallel transfer functions.
G3 ( s ) + G1 ( s )G2 ( s )
T (s) =
⎡ G2 ( s )G4 ( s ) ⎤
1 + [G3 ( s ) + G1 ( s )G2 ( s )] ⎢ H +
⎣ G3 ( s ) + G1 ( s )G2 ( s ) ⎥⎦
G3 ( s ) + G1 ( s )G2 ( s )
=
1 + H [G3 ( s ) + G1 ( s )G2 ( s )] + G2 ( s)G4 ( s )
5.
a. Push G7 to the left past the pickoff point. Add the parallel blocks, G3+G4.
5-12 Chapter 5: Reduction of Multiple Subsystems
G7(G3+G4)
Push 1+G G to the left past the pickoff point.
6 7
Add the parallel feedback paths to get the single negative feedback,
G5 G2(1+G6G7) G8
H(s) = G + G (G +G ) - G . Thus,
7 7 3 4 1
5-14 Chapter 5: Reduction of Multiple Subsystems
T(s) =
b.
Program:
G1=tf([0 1],[1 7]); %G1=1/s+7 input transducer
G2=tf([0 0 1],[1 2 3]); %G2=1/s^2+2s+3
G3=tf([0 1],[1 4]); %G3=1/s+4
G4=tf([0 1],[1 0]); %G4=1/s
G5=tf([0 5],[1 7]); %G5=5/s+7
G6=tf([0 0 1],[1 5 10]); %G6=1/s^2+5s+10
G7=tf([0 3],[1 2]); %G7=3/s+2
G8=tf([0 1],[1 6]); %G8=1/s+6
G9=tf([1],[1]); %Add G9=1 transducer at the input
T1=append(G1,G2,G3,G4,G5,G6,G7,G8,G9);
Q=[1 -2 -5 9
2 1 8 0
3 1 8 0
4 1 8 0
5 3 4 -6
6 7 0 0
7 3 4 -6
8 7 0 0];
inputs=9;
outputs=7;
Ts=connect(T1,Q,inputs,outputs);
T=tf(Ts)
Solutions to Problems 5-15
Computer response:
Transfer function:
-----------------------------------------------------------
6.
Combine G6 and G7 yielding G6G7. Add G4 and obtain the following diagram:
G2
Notice that the feedback is in parallel form. Thus the equivalent feedback, Heq(s) = G +
5
G3(G4+G6G7) + G8. Since the forward path transfer function is G(s) = Geq(s) = G1G5, the closed-
Geq(s)
T(s) = 1+G (s)H (s) .
eq eq
Hence,
7.
Combine parallel 2s and s. Apply feedback formula to unity feedback with G(s) = s.
5s2 + 2s
Combine cascade pair and apply final feedback formula yielding T (s) = 2 .
6s + 9s + 6
8.
Push G3 to the left past the pickoff point. Push G6 to the left past the pickoff point.
Solutions to Problems 5-19
Hence,
θ22(s) G1G2G4G5G6G7
=1-G G +G G G +G G G -G G G G G +G G G G G G
θ11(s) 4 5 4 5 6 1 2 3 1 2 3 4 5 1 2 3 4 5 6
9.
Combine the feedback with G6 and combine the parallel G2 and G3.
Combine feedback and parallel pair in the forward path yielding an equivalent forward-path transfer
function of
⎛ G2+G3 ⎞ ⎛ G4 ⎞ ⎛ G6 ⎞
Ge(s) =⎜1+G (G +G )⎟ ⎜G5+G +G ⎟ ⎜1+G ⎟
⎝ 1 2 3 ⎠⎝ 2 3⎠ ⎝ 6⎠
Ge(s)
But, T(s) = 1+G (s)G (s) . Thus,
e 7
10.
Push G3(s) to the left past the pickoff point.
Solutions to Problems 5-21
Collapsing the summing junctions and adding the feedback transfer functions,
1−ζ 2 4 π
%OS = e −ζπ / x100 = 25.4% ; Ts = ζω =0.667; Tp = =0.229.
n ωn 1-ζ2
12.
5 A Bs + C
C(s) = = + 2
s(s + 3s + 5) s s + 3s + 5
2
A=1
5 = s 2 + 3s + 5 + Bs 2 + Cs
∴ B = −1, C = −3
1 s +3 1 s+3
C(s) = − 2 = −
s s + 3s + 5 s (s + 1.5) 2 + 2.75
1.5
(s + 1.5) + 2.75
1 (s + 1.5) + 1.5 1 2.75
= − = −
s (s + 1.5) + 2.75 s
2
(s + 1.5)2 + 2.75
−1.5t 1.5
c(t) = 1 − e (cos 2.75t + sin 2.75t)
2.75
13.
Push 2s to the left past the pickoff point and combine the parallel combination of 2 and 1/s.
Solutions to Problems 5-23
Push (2s+1)/s to the right past the summing junction and combine summing junctions.
2(2s + 1) s 5
Hence, T (s) = , where Heq (s) = 1 + + .
1 + 2(2s + 1)H eq (s) 2s + 1 2s
14.
K G(s) K
Since G(s) = , T (s) = = 2 . Therefore, 2ζωn = 30. Thus, ζ =
s(s + 30) 1 + G(s) s + 30s + K
15/ωn = 0.456 (i.e. 20% overshoot). Hence, ωn = 32.89 = K . Therefore K = 1082.
15.
%OS
K − ln(
) 4
T (s) = 2 ;ζ = 100 = 0.358 ; Ts = = 0.2 . Therefore, ωn =
s + αs + K 2 %OS ζω n
π + ln (
2
)
100
55.89. K = ωn2 = 3124. α = 2ζωn = 40.
16.
10K1
The equivalent forward-path transfer function is G(s) = . Hence,
s[s + (10K2 + 2)]
G(s) 10K1
T (s) = = 2 . Since
1 + G(s) s + (10K2 + 2)s + 10K1
4 π
Ts = = 2, ∴ Re = 2; and Tp = = 1, ∴Im = π . The poles are thus at
Re Im
−2 ± jπ .Hence, ω n = 2 2 + π 2 = 10K1 . Thus, K1 = 1.387. Also, (10K2 + 2)/2 = Re = 2.
Hence, K2 = 1/5.
5-24 Chapter 5: Reduction of Multiple Subsystems
17.
20 Ge(s)
a. For the inner loop, Ge(s) = , and He(s) = 0.2s. Therefore, Te(s) = 1 + G (s)H (s) =
s(s + 12) e e
20
s(s+16) . Combining with the equivalent transfer function of the parallel pair, Gp(s) = 20, the system
400
is reduced to an equivalent unity feedback system with G(s) = Gp(s) Te(s) = s(s+16) . Hence, T(s) =
G(s) 400
1+G(s) = s2+16s+400 .
2
−ζπ / 1−ζ
b. ωn2 = 400; 2ζωn = 16. Therefore, ωn = 20, and ζ = 0.4. %OS = e x100 = 25.38 ;
4 π
Ts = =0.5; Tp = =0.171. From Figure 4.16, ωnTr = 1.463. Hence, Tr = 0.0732.
ζωn ωn 1-ζ2
ωd = Im = ωn 1 - ζ2 = 18.33.
18.
28900
T (s) = 2 ; from which, 2ζωn = 200 and ωn = 28900 = 170. Hence,
s + 200s + 28900
2 π
ζ = 0.588. %OS = e -ζπ/ 1-ζ
x100 = 10.18% ; Tp = = 0.0229 s.
ωn 1 − ζ 2
4
Also, Ts = = 0.04 s.
ζω n
19.
Ei(s) Eg(s) 2
For the generator, Eg(s) = KfIf(s). But, If(s) = R +L s . Therefore, E (s) = s+1 . For the motor,
f f i
1 1 1
consider Ra = 2 Ω, the sum of both resistors. Also, Je = Ja+JL(2 )2 = 0.75+4 = 1; De = DL(2 )2 = 1.
Therefore,
Kt
θm(s) RaJe 0.5
Eg(s) = 1 KtKa = s(s+1.5) .
s(s+J (De+ R ))
e a
20.
2
N2
For the mechanical system, J N
1
( ) s2θ2(s) = T(NN21 ) . For the potentiometer, Ei (s)= 10 θ22π(s) , or
1
s+RC
π R s
θ2(s) = 5 Ei(s). For the network, Eo(s) = Ei(s) 1 = Ei(s) 1 , or Ei(s) = Eo(s) s .
R+Cs s+RC
Solutions to Problems 5-25
1
π s+
Therefore, θ 2 (s) = E o (s) RC . Substitute into mechanical equation and obtain,
5 s
5N1
E o (s) Jπ N2
= .
T(s) s⎛ s + 1 ⎞
⎝ RC ⎠
21.
The equivalent mechanical system is found by reflecting mechanical impedances to the spring.
θ p (s) 2
=
s (4s + 2s + 15s + 5)
3 2
T (s)
Eo (s) 200,000 s
= 1 = 1
Ep (s) + 200,000 s +
−5
10 s 2
Substituting the previously obtained values,
10
Eo (s) ⎛ θ (s) ⎞ ⎛ (s) ⎞ ⎛ ⎞
Eo (s) ⎟ s
= ⎜ p
⎟ ⎜ E p ⎟ ⎜ = π
T (s) ⎝ T(s) ⎠ ⎜⎝ θ p (s) ⎟⎠ ⎜⎝ E p (s)⎟⎠ s⎛⎜ s + 1 ⎞⎟ 4s 3 + 2s 2 + 15s + 5
⎝ 2⎠
( )
22.
a.
r 1 50
1 x4 x3 x2 x1
s2 s +1 s
2 2
−
s
−1
Solutions to Problems 5-27
b.
x3 xx xx
3 22 11
xx x
55 4
- G1
- 1
r x G2 G
1 5 x 5 x G6 x
3 2 1
G3 1 1
x
4
G4
- G
7
5-28 Chapter 5: Reduction of Multiple Subsystems
c.
x
5
x4
x3 x2 x1
G8 - G6
r x5 G x x3 x G x
1 1 4 G3 1 2 7 1
- G2 G4
- G
5
23.
a.
•
x1 = x 2
•
x2 = x 3
•
x3 = −2x1 − 4x2 − 6x 3 + r
y = x1 + x2
Solutions to Problems 5-29
1 1 1 1
r 1 s x s x x
3 2 s 1 1 y
-6
-4
-2
b.
•
x1 = x 2
•
x2 = −3x2 + x 3 + r
•
x3 = −3x1 − 4x 2 − 5x 3 + r
y = x1 + 2x 2
1
c.
•
x1 = 7x1 + x2 + r
•
x2 = −3x1 + 2x2 − x3 + 2r
•
x3 = − x1 + 2x3 + r
y = x1 + 3x 2 + 2x 3
5-30 Chapter 5: Reduction of Multiple Subsystems
-3
24.
10 C(s)
a. Since G(s) = 3 2 = R(s) ,
s + 24s + 191s + 504
• •• •• •
c + 24 c + 191c + 504c = 10r
Let,
c = x1
•
c = x2
••
c = x3
Therefore,
•
x1 = x 2
•
x2 = x 3
•
x3 = −504x1 − 191x2 − 24x 3 + 10r
y = x1
1 1 1
r x3 s x s x 1 y
10 s 2 1
-24
-191
-504
Solutions to Problems 5-31
10 1 1
b. G(s) = ( )( )( )
s + 7 s +8 s + 9
1 1 x 1
r x s 1 x y
10 s 3 1 2 s 1 1
-8 -9
-7
Therefore,
•
x1 = −9x1 + x 2
•
x2 = −8x2 + x 3
•
x3 = −7x3 + 10r
y = x1
25.
20 C(s)
a. Since G(s) = 4 3 2 = R(s) ,
s + 15s + 66s + 80s
• •• • • •• •• •
c + 15 c + 66 c + 80 c = 20r
Let,
c = x1
•
c = x2
••
c = x3
• ••
c = x4
Therefore,
•
x1 = x 2
•
x2 = x 3
•
x3 = x 4
•
x4 = −80x 2 − 66 x3 − 15 x 4 + 20r
y = x1
5-32 Chapter 5: Reduction of Multiple Subsystems
1 x4 1 x 1 x 1 x
r 20 s s 3 s 2 s 1 1 y
-15
-66
-80
20 1 1 1
b. G(s) = ( )( )( )( ). Hence,
s s + 2 s + 5 s +8
1 1 1
1 x x x x
r 20 s 4 1 s 3 1 s 2 1 s 1 1 y
-2 -5 -8
From which,
•
x1 = −8 x1 + x 2
•
x2 = −5 x2 + x 3
•
x3 = −2 x3 + x 4
•
x4 = 20r
y = x1
26.
T1Δ1 G1G2G3G4
T(s) = = 2 + G G G + 2G G + 2G
Δ 2 3 4 3 4 4
27.
Closed-loop gains: G2G4G6G7H3; G2G5G6G7H3; G3G4G6G7H3; G3G5G6G7H3; G6H1; G7H2
G1G3G5G6G7
Δ1 = Δ2 = Δ3 = Δ4 = 1
Solutions to Problems 5-33
28.
1 1
Closed-loop gains: -s2; - s ; - s ; -s2
1
Forward-path gains: T1 = s; T2 = 2
s
Δ1 = Δ2 = 1
1
s+ 2
T1Δ1 + T2Δ2 s s3+1
G(s) = = = 4 2
Δ 1 1 2s +s +2s
1 + (s2 + s + s + s2)
29.
⎛ G2G3G4G5 ⎞
G1⎜(1-G H )(1-G H )⎟
⎝ 2 1 4 2⎠
T(s) = G2G3G4G5G6G7G8 =
1 - (1-G H )(1-G H )(1-G H )
2 1 4 2 7 4
G1G2G3G4G5(1-G7H4)
1-G2H1-G4H2+G2G4H1H2-G7H4+G2G7H1H4+G4G7H2H4-G2G4G7H1H2H4-G2G3G4G5G6G7G8
30.
(s + 1)(s + 2) 2 5 6
a. G (s ) = 2 = 2 − +
( s + 3) (s + 4) (s + 3) s+3 s+4
5-34 Chapter 5: Reduction of Multiple Subsystems
.
x 1 = -3x1 + x2
.
x 2 = -3x2 + r
.
x 3 = -4x3 + r
⎡−3 1 0 ⎤ ⎡ 0⎤
•
x = ⎢ 0 −3 0 ⎥ x + ⎢1⎥r
⎢⎣ 0 0 −4 ⎥⎦ ⎢⎣1⎥⎦
y = [2 −5 6]
(s + 2) 3/ 4 1 5/4 1
b. G(s) = G(s) = 2 2 =− 2 + − 2 −
(s + 5) (s + 7) (s + 5) s + 5 (s + 7) s + 7
1 x 1
s 2 1 s x
1
- 3
-5 -5 4
r 1 y
1
1 1 x
4
1 x
s 1 3
s - 5
4
-7 -7
-1
Writing the state and output equations,
.
x 1 = -5x1 + x2
.
x 2 = -5x2 + r
.
x 3 = -7x3 + x4
.
x 4 = -7x4 + r
3 5
y = - 4 x1 + x2 - 4 x3 - x4
In vector matrix form,
Solutions to Problems 5-35
-5 1 0 0 0
. 0 -5 0 0 1
x = x + r
0 0 -7 1 0
0 0 0 -7 1
3 5
y = - 1 - -1 x
4 4
c.
In vector-matrix form,
5-36 Chapter 5: Reduction of Multiple Subsystems
31.
a.
.
x 1 = x2
.
x 2 = - 7x1 - 2x2 + r
y = 3x1 + x2
In vector matrix form,
b.
Solutions to Problems 5-37
y = [6 2 1]x
c.
.
x 1 = x2
.
x 2 = x3
.
x 3 = x4
.
x 4 = - 4x1 - 6x2 - 5x3 - 3x4 + r
y = x1 + 7x2 + 2x3 + x4
32.
a. Controller canonical form:
From the phase-variable form in Problem 5.31(a), reverse the order of the state variables and obtain,
.
x 2 = x1
.
x 1 = - 7x2 - 2x1 + r
y = 3x2 + x1
y = x1 + 3x2
In vector-matrix form,
• ⎡−2 −7⎤ ⎡1 ⎤
x=⎢ x + ⎢⎣0 ⎥⎦r
⎣ 1 0 ⎥⎦
y = [1 3]x
s+3 1
G(s) = 2 . Divide each term by 2 and get
s +2s+7 s
1 3
+
s 2
s C( s)
G( s) = =
2 7 R( s)
1 + +
s 2
s
Cross multiplying,
1 3 2 7
( s + 2 ) R(s) = (1 + s + 2 ) C(s)
s s
Thus,
1 1
s (R(s) - 2C(s)) + s2 (3R(s) - 7C(s)) = C(s)
R(s) 1
-2
-7
Writing the state and output equations,
.
x 1 = - 2x1 + x2 + r
.
x 2 = - 7x1 + 3r
y = x1
In vector matrix form,
• ⎡−2 1 ⎤ ⎡1⎤
x=⎢ x + ⎢⎣ 3⎥⎦r
⎣ −7 0 ⎥⎦
y = [1 0]x
From the phase-variable form in Problem 5.31(b), reverse the order of the state variables and obtain,
•
x3 = x2
•
x2 = x1
•
x1 = −x 3 − 2x2 − 5x1
y = 6x3 + 2x 2 + x1
Putting the equations in order,
•
x1 = −5x1 − 2x 2 − x3
•
x2 = x1
•
x3 = x2
y = x1 + 2x 2 + 6x3
In vector-matrix form,
5-40 Chapter 5: Reduction of Multiple Subsystems
⎡−5 −2 −1⎤ ⎡1 ⎤
•
x = ⎢ 1 0 0 ⎥ x + ⎢0 ⎥ r
⎢⎣ 0 1 0 ⎥⎦ ⎢⎣0 ⎥⎦
y = [1 2 6]x
s2 + 2s + 6 1
G(s) = 3 2 . Divide each term by 3 and get
s + 5s + 2s + 1 s
1 2 6
+ 2+ 3
s s s C(s)
G(s) = 5 2 1 = R(s)
1+ + 2 + 3
s s s
Cross-multiplying,
⎛1 2 6 ⎞ ⎛ 5 2 1⎞
+
⎝s s + R(s) = ⎝1 + s + s 2 + s3 ⎠ C(s)
2
s ⎠
3
Thus,
1 1 1
(R(s) − 5c(s)) + 2 (2R(s) − 2C(s)) + 3 (6R(s) − C(s)) = C(s)
s s s
Drawing the signal-flow graph,
1 1 1
6 X3(s) X2(s) X1(s)
s 1 s 1 s 1
R(s) C(s)
-5
-2
-1
Writing the state and output equations,
•
x1 = −5 x1 + x 2 + r
•
x2 = −2 x1 + x3 + 2 r
•
x3 = − x1 + 6r
y = [1 0 0]x
Solutions to Problems 5-41
In vector-matrix form,
⎡ −5 1 0⎤ ⎡1 ⎤
•
x = ⎢−2 0 1⎥ x + ⎢2 ⎥ r
⎢⎣ −1 0 0⎥⎦ ⎢⎣6 ⎥⎦
y = [1 0 0]x
From the phase-variable form in Problem 5.31(c), reverse the order of the state variables and obtain,
.
x 4 = x3
.
x 3 = x2
.
x 2 = x1
.
x 1 = - 4x4 - 6x3 - 5x2 - 3x1 + r
y = x4 + 7x3 + 2x2 + x1
Putting the equations in order,
.
x 1 = - 3x1 - 5x2 - 6x3 - 4x4 + r
.
x 2 = x1
.
x 3 = x2
.
x 4 = x3
y = x1 + 2x2 +7x3 + x4
In vector-matrix form,
⎡−3 −5 −6 −4 ⎤ ⎡ 1⎤
• ⎢1 0 0 0 ⎥ ⎢ 0⎥
x= X+ r
⎢0 1 0 0 ⎥ ⎢ 0⎥
⎢ 0 0 1 0 ⎥⎦ ⎢⎣ 0⎥⎦
⎣
y = [1 2 7 1]x
s3+2s2+7s+1 1
G(s) = 4 3 2 . Divide each term by 2 and get
s +3s +5s +6s+4 s
1 2 7 1
+ + +
s 2 3 4
s s s C( s )
G( s ) = =
3 5 6 4 R( s )
1 + + + +
s 2 3 4
s s s
5-42 Chapter 5: Reduction of Multiple Subsystems
Cross multiplying,
1 2 7 1 3 5 6 4
( s + 2 + 3 + 4 ) R(s) = (1 + s + 2 + 3 + 4 ) C(s)
s s s s s s
Thus,
1 1 1 1
s (R(s) - 3C(s)) + s2 (2R(s) - 5C(s)) + s3 (7R(s) - 6C(s)) + s4 (R(s) - 4C(s)) = C(s)
R(s) 2
7
1
-3
-5
-6
-4
33.
a.
1 1 1
x x1
1 50 s x3 1 s 2 1 s
r c= y
-2 -5 -7
-1
Writing the state equations,
•
x1 = −7 x1 + x 2
•
x2 = −5 x2 + x 3
•
x3 = −50 x1 − 2 x3 + 50r
y = x1
In vector-matrix form,
⎡ −7 1 0 ⎤ ⎡0 ⎤
• ⎢ ⎥ ⎢ ⎥
x = ⎢ 0 −5 1 ⎥ x + ⎢ 0 ⎥ r
⎢ ⎥ ⎢ ⎥
⎣−50 0 −2⎦ ⎣50 ⎦
y = [1 0 0]x
b.
1 x3 1 x 1 x1
1 s 10 s 2 s
r c= y
-8
-25
-1
5-44 Chapter 5: Reduction of Multiple Subsystems
In vector-matrix form,
⎡ 0 1 0⎤ ⎡ 0⎤
• ⎢ ⎥ ⎢ ⎥
x = ⎢−25 −8 10⎥ x + ⎢ 0⎥ r
⎢ ⎥ ⎢ ⎥
⎣ −1 0 0 ⎦ ⎣ 1⎦
y = [1 0 0]x
c.
1 x2
1
1 100 1 s 1 s x1
r c= y
-1
-1 Tach feedback
before integrator
-1
.
x 1 = x2
.
x 2 = -x2 - x2 + 100(r-x1) = -100x1 -2x2 +100r
y = x1
In vector-matrix form,
0 1 0
x = x + r
- 100
0 -2 100
y = 1 0 x
1 1
d. Since 2 = 2 , we draw the signal-flow as follows:
(s+1) s +2s+1
Solutions to Problems 5-45
1 1
1 10 s x2 s x1 2
r c= y
-2
-1
-1
y = 2x1 + x2
In vector-matrix form,
0 1 x + 0 r
x=
-21 -12 10
y= 2 1 x
34.
a. Phase-variable form:
10
T(s) = 3 2
s +3s +2s+10
1 x3 1 1
x2 s x1
10 s s
r= u c= y
-3
-2
-10
y = x1
In vector-matrix form,
0 1 0 0
x = 0 0 1 x + 0 u
-10 -2 -3 10
5-46 Chapter 5: Reduction of Multiple Subsystems
y= 1 0 0 x
b. Parallel form:
5 -10 5
G(s) = s + s+1 + s+2
1
s x1
1
5
1
1 -10 s x2 1
r=u r=u c=y
-1
5 1
s x3 1
-2
-1
y = x 1 + x 2 + x3
In vector-matrix form,
⎡−5 −5 −5⎤ ⎡ 5 ⎤
•
x = ⎢10 9 10 ⎥ x + ⎢ −10 ⎥u
⎢⎣−5 −5 −7⎥⎦ ⎢⎣ 5 ⎥⎦
y = [1 1 1]x
35.
10(s2 + 5s + 6)
a. T (s) =
s 4 + 16s3 + 99s2 + 244s + 180
Drawing the signal-flow diagram,
Solutions to Problems 5-47
5
1 1 1 1
10 s s s s 6
r y
x4 x x x1
3 2
16
99
244
180
In vector-matrix form,
⎡ 0 1 0 0 ⎤ ⎡0⎤
• ⎢ 0 0 1 0 ⎥ ⎢0⎥
x= x+ r
⎢ 0 0 0 1 ⎥ ⎢0⎥
⎢⎣−180 −244 −99 −16⎥⎦ ⎢⎣10 ⎥⎦
y = [6 5 1 0]x
10(s + 2)(s + 3) 1/ 3 10 / 3 15 12
b. G(s) = = − + −
(s + 1)(s + 4)(s + 5)(s + 6) s + 1 s + 4 s + 5 s + 6
1
s
1 x1 1
-1
3
− 10 1
1 3 s 1
r=u y
x 1
-4 2
15 1 1
s
x3
-5
-12 1
1
s
x4
-6
-1
• 1
x1 = (u − x1 − x2 − x3 − x 4 ) − x1
3
• −10
x2 = (u − x1 − x 2 − x3 − x4 ) − 4x2
3
•
x3 = 15(u − x1 − x2 − x3 − x 4 ) − 5x 3
•
x4 = −12(u − x1 − x 2 − x3 − x4 ) − 12x4
y = x1 + x2 + x 3 + x 4
In vector-matrix form,
⎡− 4 − 1 − 1 − 1 ⎤ ⎡ 1 ⎤
⎢ 3 3 3 3⎥ ⎢ 3 ⎥
• 10 2 10 10 10
x=⎢ − ⎥ x + ⎢− ⎥u
3 3 3 3
⎢−15 −15 −20 −15⎥ ⎢ 153 ⎥
⎢ 12 12 12 0 ⎥⎦ ⎢ −12 ⎥
⎣ ⎣ ⎦
y = [1 1 1 1]x
36.
Program:
'(a)'
'G(s)'
G=zpk([-2 -3],[-1 -4 -5 -6],10)
Solutions to Problems 5-49
'T(s)'
T=feedback(G,1,-1)
[numt,dent]=tfdata(T,'v');
'Find controller canonical form'
[Acc,Bcc,Ccc,Dcc]=tf2ss(numt,dent)
A1=flipud(Acc);
'Transform to phase-variable form'
Apv=fliplr(A1)
Bpv=flipud(Bcc)
Cpv=fliplr(Ccc)
'(b)'
'G(s)'
G=zpk([-2 -3],[-1 -4 -5 -6],10)
'T(s)'
T=feedback(G,1,-1)
[numt,dent]=tfdata(T,'v');
'Find controller canonical form'
[Acc,Bcc,Ccc,Dcc]=tf2ss(numt,dent)
'Transform to modal form'
[A,B,C,D]=canon(Acc,Bcc,Ccc,Dcc,'modal')
Computer response:
ans =
(a)
ans =
G(s)
Zero/pole/gain:
10 (s+2) (s+3)
-----------------------
(s+1) (s+4) (s+5) (s+6)
ans =
T(s)
Zero/pole/gain:
10 (s+2) (s+3)
------------------------------------------
(s+1.264) (s+3.412) (s^2 + 11.32s + 41.73)
ans =
Acc =
1
0
0
0
Ccc =
5-50 Chapter 5: Reduction of Multiple Subsystems
Dcc =
ans =
Apv =
0 1.0000 0 0
0 0 1.0000 0
0 0 0 1.0000
-180.0000 -244.0000 -99.0000 -16.0000
Bpv =
0
0
0
1
Cpv =
ans =
(b)
ans =
G(s)
Zero/pole/gain:
10 (s+2) (s+3)
-----------------------
(s+1) (s+4) (s+5) (s+6)
ans =
T(s)
Zero/pole/gain:
10 (s+2) (s+3)
------------------------------------------
(s+1.264) (s+3.412) (s^2 + 11.32s + 41.73)
ans =
Acc =
Bcc =
Solutions to Problems 5-51
1
0
0
0
Ccc =
Dcc =
ans =
A =
-5.6618 3.1109 0 0
-3.1109 -5.6618 0 0
0 0 -3.4124 0
0 0 0 -1.2639
B =
-4.1108
1.0468
1.3125
0.0487
C =
D =
0
37.
1
1 1 1
1 s
x4
s x3 1 x2 1 x1 -1
s s
r c= y
-1
-1
.
x 1 = x2
.
x 2 = - x1 + x 3
.
x 3 = x4
.
x 4 = x1 - x 2 + r
y = -x 1 + x2
In vector-matrix form,
0 1 0 0 0
-1
x = 0 0 1 0 x + 0 r
0 0 1 0
1 -1 0 0 1
y = c = [-1 1 0 0] x
38.
a.
.. . .
θ 1 + 5θ 1 + 6θ1 - 3θ 2 - 4θ2 = 0
. .. .
-3θ 1 - 4θ1 + θ 2 + 5θ 2 + 5θ2 = T
or
.. . .
θ 1 = - 5θ 1 - 6θ1 + 3θ 2 + 4θ2
.. . .
θ 2 = 3θ 1 + 4θ1 - 5θ 2 - 5θ2 + T
. .
Letting, θ1 = x1 ; θ 1 = x2 ; θ2 = x3 ; θ 2 = x4 ,
1 1
s x2 s
x1
4 3 -5
-6
4
3
1 1
s x4 s x3
T
1
-5
-5
Solutions to Problems 5-53
where x = θ.
y = x3
In vector-matrix form,
0 1 0 0 0
. -6 -5 4 3 0
x= x+ T
0 0 0 1 0
4 3 -5 -5 1
y= 0 0 1 0 x
39.
Program:
numg=7;
deng=poly([0 -9 -12]);
G=tf(numg,deng);
T=feedback(G,1)
[numt,dent]=tfdata(T,'v')
[A,B,C,D]=tf2ss(numt,dent); %Obtain controller canonical form
'(a)' %Display label
A=flipud(A); %Convert to phase-variable form
A=fliplr(A) %Convert to phase-variable form
B=flipud(B) %Convert to phase-variable form
C=fliplr(C) %Convert to phase-variable form
'(b)' %Display label
[a,b,c,d]=canon(A,B,C,D) %Convert to parallel form
Computer response:
Transfer function:
7
------------------------
s^3 + 21 s^2 + 108 s + 7
numt =
0 0 0 7
dent =
1 21 108 7
ans =
(a)
5-54 Chapter 5: Reduction of Multiple Subsystems
A =
0 1 0
0 0 1
-7 -108 -21
B =
0
0
1
C =
7 0 0
ans =
(b)
a =
-0.0657 0 0
0 -12.1807 0
0 0 -8.7537
b =
-0.0095
-3.5857
2.5906
c =
d =
40.
.
x 1 = A1x1 + B1r (1)
y1 = C1x1 (2)
.
x 2 = A2x2 + B2y1 (3)
y2 = C2x2 (4)
y2 = C2x2
In vector-matrix notation,
x1
= A 1 - O xx 1 + B 1 r
x2 B2 C1 A2 2 O
y 2 = O C 2 x1
x2
41.
.
x 1 = A1x1 + B1r (1)
y1 = C1x1 (2)
.
x 2 = A2x2 + B2r (3)
y2 = C2x2 (4)
In vector-matrix form,
x1 A 1 -O x 1 + B1 r
=
x2 O A2 x 2 B2
x1
y = y1 + y 2 = C 1 C 2
x2
42.
.
x 1 = A1x1 + B1e (1)
y = C1x1 (2)
.
x 2 = A2x2 + B2y (3)
p = C2x2 (4)
Substituting e = r - p into Eq. (1) and substituting Eq. (2) into (3), we obtain,
.
x 1 = A1x1 + B1(r - p) (5)
y = C1x1 (6)
.
x 2 = A2x2 + B2C1x1 (7)
p = C2x2 (8)
.
x 1 = A1x1 - B1C2x2 + B1r
.
x 2 = B2C1x1 + A2x2
y = C1x1
5-56 Chapter 5: Reduction of Multiple Subsystems
In vector-matrix form,
x1 = A 1 - B1 C2 x1 + B 1 r
x2 B 2 C1 A2 x2 0
x1
y = C1 0
x2
43.
•
z = P −1 APz + P −1 Bu
y = CPz
44.
45.
Eigenvalues are -1, -2, and -3 since,
|λΙ - A | = (λ + 3) (λ + 2) (λ + 1)
or,
Solutions to Problems 5-57
x3 x2
For λ = -1, x2 = 0, x1 = x3 . For λ = -2, x1 = x2 = 2 . For λ = -3, x1 = - 2 , x2 = x3 . Thus,
.
z = P-1APz + P-1Bu ; y = CPz, where
46.
|λI - A | = (λ - 3) (λ + 2) (λ - 1)
or,
x3
For λ = 1, x1 = x2 = 2 . For λ = -2, x1 = 2x3, x2 = -3x3. For λ = 3, x1 = x3 , x2 = -2x3 . Thus,
.
z = P-1APz + P-1Bu ; y = CPz, where
47.
Program:
A=[-10 -3 7;18.25 6.25 -11.75;-7.25 -2.25 5.75];
B=[1;3;2];
C=[1 -2 4];
[P,d]=eig(A);
Ad=inv(P)*A*P
Bd=inv(P)*B
Cd=C*P
Computer response:
Ad =
Bd =
1.8708
-3.6742
3.6742
Cd =
R(s) + + + C(s)
K K
1 2 G (s) G (s)
- 1 2
- -
2
s
s
K
1
R(s) + + + C(s)
K K G (s) G (s)
1 2 1 2
- - -
2
s
K K
1 2
K
1
1
Solutions to Problems 5-59
K1K2G1(s)G2(s)
Hence, T(s) =
⎛ s s2 ⎞
1 + K1K2G1(s)G2(s) ⎜1 + K + K K ⎟
⎝ 1 1 2⎠
b. Rearranging the block diagram to show commanded pitch rate as the input and actual pitch rate as
the output:
K
1
Commanded Actual
pitch pitch
- rate
rate +
+ s
K G (s) G (s)
2 1 2
- -
2
s
Pushing K2 to the right past the summing junction; and pushing s to the left past the pick-off point
yields,
K
1
Commanded s Actual
pitch - pitch
rate + + rate
K s G (s) G (s)
2 1 2
- -
s
K
2
1
5-60 Chapter 5: Reduction of Multiple Subsystems
K2sG1(s)G2(s) K2sG1(s)G2(s)
T(s) = =
⎛ s K1⎞ 1 + G1(s)G2(s)(s2 + K2s + K1K2)
1 + K2sG1(s)G2(s)⎜1 + K + s ⎟
⎝ 2 ⎠
c. Rearranging the block diagram to show commanded pitch acceleration as the input and actual pitch
K K
1 2
K s Actual
Commanded 2
pitch
pitch - -
acceleration
acceleration + +
G (s) G (s) 2
2 s
1
-
K K
1 2
2
s
K
2
Commanded s Actual
pitch - - pitch
acceleration + + 2 acceleration
s G (s) G (s)
1 2
-
s2G1(s)G2(s) s2G1(s)G2(s)
T(s) = =
⎛ K1K2 K2⎞ 1 + G1(s)G2(s)(s2 + K2s + K1K2)
1 + s2G1(s)G2(s)⎜1 + 2 + s ⎟
⎝ s ⎠
49.
Solutions to Problems 5-61
K1
Establish a sinusoidal model for the carrier: T(s) = 2 2
s +a
1 1
r K1 x2 s x1
1 s
-a
K2
Establish a sinusoidal model for the message: T(s) = 2 2
s +b
1 1
r K2
2 s x4 s x3
-b
y = x1x3
50.
K1K2
The equivalent forward transfer function is G(s) = s(s+a ) . The equivalent feedback transfer function
1
is
K4s
H(s) = K3 + s+a . Hence, the closed-loop transfer function is
2
G(s) K1K2(s+a2)
T(s) = 1 + G(s)H(s) = 3 2
s + (a1+a2)s + (a1a2+K1K2K3+K1K2K4)s + K1K2K3a2
51.
a. The equivalent forward transfer function is
5
s s +2 1 5K
Ge s =K =
1+ 5 s s + 3 s s +3 s 2+2 s +5
s s +2
5-62 Chapter 5: Reduction of Multiple Subsystems
Ge 5K
T s = =
1+ G e s 4 + 5 s 3 + 11 s 2 + 15 s + 5 K
-2 -3
-1
-1
Writing the state and output equations from the signal-flow diagram:
.
x1 = x2
.
x2 = −3x 2 + x 3
.
x3 = x 4
.
x4 = −5Kx1 − 5x 3 − 2 x 4 + 5 Ku
y = x1
In vector-matrix form:
⎡ 0 1 0 0⎤ ⎡ 0 ⎤
. ⎢ 0 −3 1 0 ⎥ ⎢ 0 ⎥
x= x+ u
⎢ 0 0 0 1⎥ ⎢ 0 ⎥
⎢⎣ −5K 0 −5 −2 ⎥⎦ ⎢⎣ 5K⎥⎦
y = [1 0 0 0]x
c.
Program:
for K=1:1:5
numt=5*K;
dent=[1 5 11 15 5*K];
T=tf(numt,dent);
hold on;
subplot(2,3,K);
step(T,0:0.01:20)
title(['K=',int2str(K)])
end
Solutions to Problems 5-63
Computer response:
52.
a. Draw the signal-flow diagram:
1 1 1 1
1 1666.67 0.06 s 15x10 6 s s s 1
u y
x4 x3 x2 x1
-82
-720 -4x10 6
-2x10 7
-1
.
x1 = x2
.
x2 = x3
.
x3 = −2*107 x1 − 4 *106 x2 − 82 x3 + 15*10 6 x4
.
x4 = −100 x1 − 720 x 4 + 100u
y = x1
In vector-matrix form:
⎡ 0 1 0 0 ⎤ ⎡ 0 ⎤
. ⎢ 0 0 1 0 ⎥ ⎢ 0 ⎥
x= x+ u
⎢ −2*107 −4 *10 6 −82 15*106⎥ ⎢ 0 ⎥
⎢⎣ −100 0 0 −720 ⎥⎦ ⎢⎣100⎥⎦
y = [1 0 0 0]x
b.
Program:
numg=1666.67*0.06*15e6;
deng=conv([1 720],[1 82 4e6 2e7]);
'G(s)'
G=tf(numg,deng)
'T(s)'
T=feedback(G,1)
step(T)
Computer response:
ans =
G(s)
Transfer function:
1.5e009
----------------------------------------------------
s^4 + 802 s^3 + 4.059e006 s^2 + 2.9e009 s + 1.44e010
ans =
T(s)
Transfer function:
1.5e009
----------------------------------------------------
s^4 + 802 s^3 + 4.059e006 s^2 + 2.9e009 s + 1.59e010
Solutions to Problems 5-65
53.
-272(s2+1.9s+84)
a. Phase-variable from: G(s) = 3
s +17.1s2+34.58s-123.48
1.9
1 1 1
s s s 84
-272
y
u x x x1
3 2
-17.1
-34.58
123.48
In vector-matrix form:
5-66 Chapter 5: Reduction of Multiple Subsystems
⎡ 0 1 0 ⎤ ⎡ 0 ⎤
.
x=⎢ 0 0 1 ⎥x + ⎢ 0 ⎥u
⎢⎣123.48 −34.58 −17.1⎥⎦ ⎢⎣ −272⎥⎦
y = [84 1.9 1]x
-272(s2+1.9s+84)
b. Controller canonical form: G(s) = 3
s +17.1s2+34.58s-123.48
1.9
1 1 1
s s s 84
-272
y
u x1 x x
-17.1 2 3
-34.58
123.48
In vector-matrix form:
⎡ −17.1 −34.58 123.48⎤ ⎡ −272⎤
.
x=⎢ 1 0 0 ⎥x + ⎢ 0 ⎥u
⎢⎣ 0 1 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
y = [1 1.9 84]x
Cross multiplying,
Solutions to Problems 5-67
Rearranging,
1 1 1
C(s) = s [ -272R(s) - 17.1C(s)] + 2 [ -516.8R(s) - 34.58C(s)] + 3 [ -22848R(s) + 123.48C(s)]
s s
-272
-516.8
1 1 1
22848 s 1 s 1
s 1
u
y
x3 x2 x1
-17.1
-34.58
123.48
1 1 1
-272 s 1 s 1 s
u
x x x1
3 2
y = 98.7x1 − 1.2x 2 + x 3
In vector-matrix form:
⎡ −4.9 1 0 ⎤ ⎡ 0 ⎤
.
x = ⎢ 0 1.8 1 ⎥ x + ⎢ 0 ⎥u
⎢⎣ 0 0 −14⎥⎦ ⎢⎣ −272 ⎥⎦
-14 x1
1
-479.38 1
1
-232.94 s 1
u y
1.8 x
2
440.32 1
1
s
-4.9 x
3
In vector-matrix form:
Solutions to Problems 5-69
⎡ −14 0 0 ⎤ ⎡ −479.38 ⎤
.
x = ⎢ 0 1.8 0 ⎥ x + ⎢ −232.94 ⎥u
⎢⎣ 0 0 −4.9⎥⎦ ⎢⎣ 440.32 ⎥⎦
y = [1 1 1]x
54.
Push Pitch Gain to the right past the pickoff point.
Collapse the summing junctions and add the feedback transfer functions.
55.
Program:
numg1=-0.125*[1 0.435]
deng1=conv([1 1.23],[1 0.226 0.0169])
'G1'
G1=tf(numg1,deng1)
'G2'
G2=tf(2,[1 2])
G3=-1
'H1'
H1=tf([-1 0],1)
'Inner Loop'
Ge=feedback(G1*G2,H1)
'Closed-Loop'
T=feedback(G3*Ge,1)
5-70 Chapter 5: Reduction of Multiple Subsystems
Computer response:
numg1 =
-0.1250 -0.0544
deng1 =
ans =
G1
Transfer function:
-0.125 s - 0.05438
------------------------------------
s^3 + 1.456 s^2 + 0.2949 s + 0.02079
ans =
G2
Transfer function:
2
-----
s + 2
G3 =
-1
ans =
H1
Transfer function:
-s
ans =
Inner Loop
Transfer function:
-0.25 s - 0.1088
------------------------------------------------
s^4 + 3.456 s^3 + 3.457 s^2 + 0.7193 s + 0.04157
ans =
Closed-Loop
Solutions to Problems 5-71
Transfer function:
0.25 s + 0.1088
-----------------------------------------------
s^4 + 3.456 s^3 + 3.457 s^2 + 0.9693 s + 0.1503
56.
5-72 Chapter 5: Reduction of Multiple Subsystems
Linear
Deadzone
Backlash
Linear
57.
a. Since VL(s) = Vg(s) – VR(s), the summing junction has Vg(s) as the positive input and VR(s) as the
negative input, and VL(s) as the error. Since I(s) = VL(s) (1/(Ls)), G(s) = 1/(Ls). Also, since VR(s) =
I(s)R, the feedback is H(s) = R. Summarizing, the circuit can be modeled as a negative feedback
system, where G(s) = 1/(Ls), H(s) = R, input = Vg(s), output = I(s), and error = VL(s), where the
negative input to the summing junction is VR(s).
1
b. T (s ) =
I( s )
=
G( s)
= Ls = 1 . Hence, I(s) = V (s) 1 .
Vg ( s) 1 + G(s)H (s) 1 + 1 R Ls + R Ls + R
g
Ls
Vg (s)
c. Using circuit analysis, I( s ) = .
Ls + R
58.
a.
αβ α β
T1 = 2
, L1 = − , L2 = − , No non-touching loops.
s s s
α β
Δ = 1+ + , Δ1 = 1
s s
Solutions to Problems 5-73
αβ
Hm TΔ s2 αβ
(s) = 1 1 = =
Hr Δ α β s[s + (α + β )]
1+ +
s s
b.
α α β
T1 = , L1 = − , L2 = − , No non-touching loops.
s s s
α β
Δ = 1+ + , Δ1 = 1
s s
α
Hf T1 Δ 1 s α
( s) = = =
Hr Δ α β s + (α + β )
1+ +
s s
c.
α β
T1 = α , L1 = − , L2 = − , No non-touching loops.
s s
α β
Δ = 1+ , Δ1 = 1
+
ss
Qi TΔ α αs
(s) = 1 1 = =
Hr Δ α β s + (α + β )
1+ +
s s
d.
αβ α β
T1 = , L1 = − , L2 = − , No non-touching loops.
s s s
α β
Δ = 1+ + , Δ1 = 1
s s
αβ
Qo TΔ s αβ
(s) = 1 1 = =
Hr Δ α β s + (α + β )
1+ +
s s
e.
K
Let H r ( s ) = . From part d)
s
αβ αβ
q o (∞) = Lim sQo ( s ) = Lim s H r ( s) = K = constant
s →0 s →0 s + (α + β ) α +β
5-74 Chapter 5: Reduction of Multiple Subsystems
⎧ αβ ⎫ ⎧ αβ K ⎫
hm (t ) = L - 1{H m ( s )} = L - 1 ⎨ H r ( s)⎬ = L - 1 ⎨ 2 ⎬
⎩ s[s + (α + β )] ⎭ ⎩ s [s + (α + β )]⎭
From (a)
⎧K K K3 ⎫ − (α + β ) t
= L - 1 ⎨ 21 + 2 + ⎬ = K 1t + K 2 + K 3 e
⎩s s s + (α + β ) ⎭
So Lim hm (t ) = K 1t + K 2 . It is clear that hm (t ) increases at constant speed.
t →∞
59.
a.
U U
We start by finding and using Mason’s Rule
U1 U2
U
U1
T1 = Gc G p ; Loops: L1 = L2 = A 2 Gl Gv , no non-touching loops. Δ = 1 − 2 A 2 Gl Gv ,
U GC G p
Δ 1 = 1 Follows =
U 1 1 − 2 A 2 Gl G v
U
U2
T1 = −Gc G p ; Loops: L1 = L2 = A 2 Gl Gv , no non-touching loops. Δ = 1 − 2 A 2 Gl Gv ,
U − GC G p
Δ 1 = 1 Follows =
U 2 1 − 2 A 2 Gl G v
GC G p
By superposition U = (U 1 − U 2 )
1 − 2 A 2 Gl G v
b.
U
Now we find
Fext
Two forward paths: T1 = T2 = A 2 Gl Gv Loops: L1 = L2 = A 2 Gl Gv , no non-touching loops.
Δ = 1 − 2 A 2 Gl G v . Δ 1 = Δ 2 = 1
U 2 A 2 Gl G v
=
Fext 1 − 2 A 2 Gl Gv
60.
a. The first equation follows from the schematic. The second equation is obtained by applying the
voltage divider rule at the op-amp’s inverting terminal, noting that since the op-amp considered is
ideal, there is no current demand there.
Ri Ri
b. T1 = A ; L = −A ; Δ = 1+ A ; Δ1 = 1
Ri + R f Ri + R f
vo T1 Δ 1 A
= =
vi Δ Ri
1+ A
Ri + R f
vo A 1 Rf
c. = Lim = = 1+
vi A→ ∞ Ri Ri Ri
1+ A
Ri + R f Ri + R f
61.
a. Adding currents at the op-amp’s inverting terminal, under ideal condition we get
vi − v1 v1 − v o
= which after some algebraic manipulations gives
Ri Rf
Rf Ri
v1 = vi + vo
R f + Ri R f + Ri
+
vi Rf Vo
-A
R f + Ri
+
Ri
R f + Ri
Rf Ri Ri
We have that T1 = − A ; L = −A ; Δ = 1+ A ; Δ1 = 1
R f + Ri Ri + R f Ri + R f
Rf
−A
vo T1 Δ 1 Ri + R f
= =
vi Δ Ri
1+ A
Ri + R f
5-76 Chapter 5: Reduction of Multiple Subsystems
Rf Rf
−A −
vo Ri + R f Ri + R f Rf
c. = Lim = =
v i A→ ∞ Ri Ri Ri
1+ A
Ri + R f Ri + R f
62.
a. The three equations follow by direct observation from the small signal circuit.
b. The block diagram is given by
Vi Ri Vo
+
Ri + Rs g m ( Rs || ro )
-
vo g m ( Rs || ro ) Ri
=
vi 1 + g m ( Rs || ro ) Ri + Rs
63.
non-touching loops. Δ 1 = 1
ω 02 ω 02
X 3 T1 Δ 1 s 2 + ω 02 s 2 + ω 02
= = =
R Δ ε ω 02 ε ε mr s 2
1 + mr − mr 1 +
s + ε s 2 + ω 02 s + ε ( s + ε )( s 2 + ω 02 )
b. From part (a)
ω 02 ε
X1 X 3 ε s + ω0 s + ε
2 2
= =
R R s+ε ε mr s 2
1+
( s + ε )( s 2 + ω 02 )
Solutions to Problems 5-77
64.
a.
>> D = -6240;
>> [n,d]=ss2tf(A,B,C,D)
n=
1.0e+009 *
Columns 1 through 3
Columns 4 through 5
-3.91955218234127 -9.08349454230472
d=
1.0e+005 *
Columns 1 through 3
5-78 Chapter 5: Reduction of Multiple Subsystems
Columns 4 through 5
1.32499100000000 0
>> roots(n)
ans =
1.0e+002 *
-1.34317654991673
-0.78476212102923
-0.54257777928519
-0.02545278053809
>> roots(d)
ans =
-92.38329312886714
-66.38046756013043
-21.60623931100260
Solutions to Problems 5-79
Y
Note that s (0) = 68555.14 , follows that
U
b.
>> [r,p,k]=residue(n,d)
r=
1.0e+005 *
-0.73309459854184
-0.51344619392820
-3.63566779304453
-0.68555141448543
p=
-92.38329312886714
-66.38046756013043
-21.60623931100260
k=
5-80 Chapter 5: Reduction of Multiple Subsystems
-6240
c.
⎡ x1 ⎤
⎢x ⎥
[ ]
y = 1 1 1 1 ⎢ 2 ⎥ − 6240 u (t )
⎢ x3 ⎥
⎢ ⎥
⎣ x4 ⎦
65.
a.
A=
0 1.0000 0
0 -68.3000 -7.2000
0 3.2000 -0.7000
>> [V,D]=eig(A)
V=
0 -0.9988 0.1059
0 0.0475 -0.9892
5-82 Chapter 5: Reduction of Multiple Subsystems
D=
0 0 0
0 -67.9574 0
0 0 -1.0426
b.
>> Ad = inv(V)*A*V
Ad =
0 -0.0000 -0.0000
0 -67.9574 0.0000
0 -0.0000 -1.0426
>> B = [0;425.4;0]
B=
425.4000
>> Bd = inv(V)*B
Solutions to Problems 5-83
Bd =
4.2030
-428.1077
-20.5661
66.
a.
D(s)
Δ = 1 − L1 − L2 − L3 + L1 L3 = 1 + H e H h + H i H h + H i H r H act + H e H h H i H r H act
When T1 is eliminated only L3 is left so Δ 1 = 1 − L3 = 1 + H r H i H act
5-84 Chapter 5: Reduction of Multiple Subsystems
Fh TΔ H e H h (1 + H r H i H act )
Finally (s) = 1 1 =
D Δ 1 + H e H h + H i H h + H i H r H act + H e H h H i H r H act
67.
X1 aV 1
a. Following the procedure described in Chapter 3 we define = and
s −
δ
g bh 2
h
V g aV V
ϕ = ( s + ) X 1 ( s) . In time domain x1 − x1 = δ . ϕ = x1 + x1 and we also define
A h bh a
x1 = x 2 . These equations give
⎡ x1 ⎤ ⎡ 0 1⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢ x ⎥ = ⎢ g 0⎥ ⎢ x ⎥ + ⎢ aV ⎥δ
⎣ 2 ⎦ ⎢⎣ h ⎥⎦ ⎣ 2 ⎦ ⎢⎣ bh ⎥⎦
⎡V ⎤⎡ x ⎤
ϕ=⎢ 1⎥ ⎢ 1 ⎥
⎣ a ⎦ ⎣ x2 ⎦
g
b. The eigenvalues can be obtained directly from the transfer function poles. Thus λ12 = ±
h
g
Consider λ1 = , the first eigenvector is found from the solution of Ax 1 = λ1 x 1 or
h
⎡0 1⎤ ⎡ x ⎤ g ⎡ x1 ⎤ g
⎢g ⎥ 1 = . This results in x 2 = x1 . Arbitrarily let x1 = 1 so the first
⎢⎣ h 0⎥ ⎢⎣ x 2 ⎥⎦ h ⎢⎣ x 2 ⎥⎦ h
⎦
⎡ 1 ⎤
eigenvector is v 1 = ⎢ g ⎥ .
⎢ ⎥
⎣ h⎦
g ⎡0 1⎤ ⎡ x ⎤ g ⎡ x1 ⎤
Similarly for λ2 = − ; Ax 2 = λ1 x 2 or ⎢ g ⎥⎢ 1 ⎥ = − resulting in
h ⎢⎣ h 0⎥ ⎣ x 2 ⎦ h ⎢⎣ x 2 ⎥⎦
⎦
⎡ 1 ⎤
x1 . Letting arbitrarily x1 = 1 the second eigenvector is v 2 = ⎢ − g ⎥ .
g
x2 = −
h ⎢ ⎥
⎢⎣ h ⎥⎦
⎡ 1 1 ⎤
c. The similarity transformation matrix is P = [v 1 v 2 ] = ⎢ g g⎥
⎢ − ⎥
⎣ h h⎦
Solutions to Problems 5-85
⎡ g ⎤
⎢− − 1⎥
⎢ h ⎥
⎢ g ⎥ ⎡1 1 h ⎤
⎢⎣− h
1⎥ ⎢
⎦ = ⎢2
⎥
2 g ⎥
P −1 =
g ⎢1 1 h⎥
−2 ⎢ − ⎥
h ⎣2 2 g⎦
68.
R(s) C(s)
1 ++
H ( s) H (s) G ( s)
-
It can be easily verified that the closed loop transfer function for this system is identical to the original.
5-86 Chapter 5: Reduction of Multiple Subsystems
function is,
1 25
⎛ 4 ⎞⎛1⎞ G 2
G(s) = (1000) ⎜ 1 ⎟ ⎝20⎠ . Thus, T(s) = 1+G = 1 25 .
⎝s(s+4(De+2))⎠ s2+4(De+2)s+ 2
%OS
- ln ( 100 ) De+2
25
Hence, ζ = = 0.456; ωn = 2 ; 2ζωn = 4 . Therefore De = 10.9; from
%OS
π2 + ln2 ( 100 )
which DL = 3560.
70.
25
a. T(s) = 2 ; from which, 2ζωn = 1 and ωn = 5. Hence, ζ = 0.1. Therefore,
s +s+25
−ζπ / 1−ζ
2
4
%OS = e x100 = 72.92% ; Ts = ζω = 8.
n
25K1
b. T(s) = 2 ; from which, 2ζωn = 1+25K2 and ωn = 5 K1 . Hence,
s +(1+25K2)s+25K1
%OS
- ln ( 100 )
4 39
ζ= = 0.404. Also, Ts = = 0.2, Thus, ζωn = 20; from which K2 = 25 and
%OS ζωn
π2 + ln2 ( 100 )
71.
K Ge(s)
The equivalent forward path transfer function is Ge(s) = s(1+(1+K )) . Thus, T(s) = 1+G (s) =
2 e
K K
. Prior to tachometer compensation (K2 = 0), T(s) = 2 . Therefore K = ωn2 =
s2+(1+K2)s+K s +s+K
100
100. Thus, after tachometer compensation, T(s) = 2 . Hence, ωn = 10; 2ζωn = 1+K2.
s +(1+K2)s+100
72.
At the N2 shaft, with rotation,θ L (s)
Thus,
( Jeq s2 + Deq s )θ L ( s) + ( Ms2 + f vs) X (s )r = Teq ( s )
But, X(s) = rθ L (s) . Hence,
[(J eq ]
+ Mr 2 )s 2 + (Deq + fv r 2 )s θ L (s) = Teq (s)
where
Jeq = Ja (2) 2 + J = 5
Deq = Da (2)2 + D = 4 + D
r=2
Thus, the total load inertia and load damping is
J L = J eq + Mr2 = 5 + 4M
DL = Deq + fv r 2 = 4 + D + (1)(2)2 = 8 + D
Reflecting JL and DL to the motor yields,
(5 + 4M) (8 + D)
Jm = ; Dm =
4 4
Thus, the motor transfer function is
Kt 1
θ m (s) Ra J m Jm
=
Ea (s) s(s + 1 (D + K t Ka )) s(s + 1 (D + 1))
m m
Jm Ra Jm
The gears are (10/20)(1) = 1/2. Thus, the forward-path transfer function is
⎛ 1 ⎞
⎜ Jm ⎟1
Ge (s) = (500)
⎜ s(s + 1 (D + 1))⎟ 2
⎝ ⎠
m
Jm
Finding the closed-loop transfer function yields,
Ge (s) 250/ J m
T (s) = =
1 + Ge (s) s 2 + m + 1 s + 250
D
Jm Jm
Dm + 1
For Ts = 2, = 4 . For 20% overshoot, ζ = 0.456. Thus,
Jm
Dm + 1
2ζω n = 2(0.456)ω n = =4
Jm
5-88 Chapter 5: Reduction of Multiple Subsystems
250
Or, ω n = 4.386 = ; from which J m = 13 and hence, Dm = 51. But,
Jm
(5 + 4M) (8 + D)
Jm = ; Dm = . Thus, M = 11.75 and D = 196.
4 4
73.
a. The leftmost op-amp equation can be obtained by superposition. Let v o = 0 , then the circuit is
10k
an inverting amplifier thus v1 = − vin = −vin . Now let vin = 0 , the circuit is a non-inverting
10k
v1 = vo − vin and
1 1
vo 0.1μ s 0.1μ R
=− =−
v1 1 1
R+ s+
0.1μ s 0.1μ R
1
+ 0.1μR Vo
Vi
-1 −
1
- s+
0.1μR
1
0.1μR
1 1
s+
vo 0.1μR 0.1μR
= =
vin 1 2
s+
0.1μR 0.1μR
1+
1
s+
0.1μR
4
d. The system is first order so Ts = = 0.2 μR = 1m sec from which
2
0.1μR
1m
R= = 5kΩ
0.2μ
v 2000
e. o = For a unit step input the output will look as follows
vi s + 4000
Step Response
0.5
0.45
0.4
0.35
0.3
Amplitude
0.25
0.2
0.15
0.1
0.05
0
0 0.5 1 1.5
Time (sec) -3
x 10
5-90 Chapter 5: Reduction of Multiple Subsystems
74.
a.
Yh-Y cat
Spring
displacement
Desired Input
force 1 voltage+ F up
1 0.7883( s + 53 .85 ) Fout
100
K 82300
1000 (s 2 + 15.47s + 9283 )( s 2 + 8.119 s + 376.3)
-
Input Controller Actuator Pantograph Spring
transducer dynamics
1
100
Sensor
648.7709 (s+53.85)
Ge(s) = (K/100)*(1/1000)*G(s)*82.3e3 =
(s2 + 8.119s + 376.3) (s^2 + 15.47s + 9283)
648.7709 (s+53.85)
T(s) = Ge/(1+Ge) =
(s^2 + 8.189s + 380.2) (s2 + 15.4s + 9279)
648.8 s + 3.494e04
=
s4 + 23.59 s3 + 9785 s2 + 8.184e04 s + 3.528e06
c.
For G(s) = (yh-ycat)/Fup
Phase-variable form
Ap =
0 1 0 0
0 0 1 0
0 0 0 1
-3.493e6 -81190 - 9785 -23.59
Bp =
0
0
0
1
Cp =
42.45 0.7883 0 0
0.7883
K 1 1 1 1 fout
fdesired v =1
0.01 up 1000 s s s s 42.45 82300
x4 x x2 x1
3
-23.59
-9785
-81190
-3.493x106
-0.01
75.
Y − 520s − 10.3844
= 3 by inspection we write the phase-variable form
U 1 s + 2.6817 s 2 + 0.11s + 0.0126
⎡ x1 ⎤ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡0⎤
⎢ x ⎥ = ⎢ 0 0 1 ⎥ ⎢ x ⎥ + ⎢0 ⎥ u
⎢ 2⎥ ⎢ ⎥⎢ 2 ⎥ ⎢ ⎥ 1
⎢⎣ x 3 ⎥⎦ ⎢⎣− 0.0126 − 0.11 − 2.6817 ⎥⎦ ⎢⎣ x3 ⎥⎦ ⎢⎣1⎥⎦
⎡ x1 ⎤
y = [− 10.3844 − 520 0]⎢⎢ x 2 ⎥⎥
⎢⎣ x3 ⎥⎦
b. We renumber the phase-variable form state variables in reverse order
⎡ x 3 ⎤ ⎡ 0 1 0 ⎤ ⎡ x 3 ⎤ ⎡0 ⎤
⎢ x ⎥ = ⎢ 0 0 1 ⎥ ⎢ x ⎥ + ⎢0 ⎥ u
⎢ 2⎥ ⎢ ⎥⎢ 2 ⎥ ⎢ ⎥ 1
⎢⎣ x1 ⎥⎦ ⎢⎣− 0.0126 − 0.11 − 2.6817 ⎥⎦ ⎢⎣ x1 ⎥⎦ ⎢⎣1⎥⎦
⎡ x3 ⎤
y = [− 10.3844 − 520 0]⎢⎢ x 2 ⎥⎥
⎢⎣ x1 ⎥⎦
And we rearrange in ascending numerical order to obtain the controller canonical form:
520 10.3844
− −
Y
= s2 s3
U1 2.6817 0.11 0.0126
1+ + 2 +
s s s3
We cross-multiply to obtain
1
Y= [− 2.6817 Y ] + 12 [− 520 R − 0.11Y ] + 13 [− 10.3844 R − 0.0126Y ]
s s s
1⎡ 1⎛ 1 ⎞⎤
= ⎢− 2.6817Y + ⎜ [− 520 R − 0.11Y ] + [− 10.3844 R − 0.0126Y ]⎟⎥
s⎣ s⎝ s ⎠⎦
x1 = −2.6817 x1 + x 2
x 2 = −0.11x1 + x3 − 520r
x 3 = −0.0126 x1 − 10.38r
y = x1
⎡ x1 ⎤ ⎡− 2.6817 1 0⎤ ⎡ x1 ⎤ ⎡ 1 ⎤ ⎡ x1 ⎤
⎢ x ⎥ = ⎢ − 0.11 0 1⎥ ⎢ x ⎥ + ⎢ − 520 ⎥u ; y = [1 0 0]⎢ x ⎥
⎢ 2⎥ ⎢ ⎥⎢ 2 ⎥ ⎢ ⎥ 1 ⎢ 2⎥
⎢⎣ x 3 ⎥⎦ ⎢⎣ − 0.0126 0 0⎥⎦ ⎢⎣ x3 ⎥⎦ ⎢⎣− 10.38⎥⎦ ⎢⎣ x3 ⎥⎦
5-94 Chapter 5: Reduction of Multiple Subsystems
d.
>> B=[5.2;-5.2;0];
>> [V,D]=eig(A);
>> Bd=inv(V)*B
Bd =
1.0e+002 *
-0.9936 + 0.0371i
-0.9936 - 0.0371i
1.9797
>> Cd = C*V
Cd =
>> D
D=
-0.0192 + 0.0658i 0 0
0 -0.0192 - 0.0658i 0
0 0 -2.6433
Solutions to Design Problems 5-95
⎡ x1 ⎤
y = [0.9963 0.9963 1]⎢⎢ x 2 ⎥⎥
⎢⎣ x3 ⎥⎦