Solution

5.13(a)

Y (s) K K
= 2
= 2 2 where ε is damping coefficient
U ( s ) ( τs +1 ) τ s +2 ετs+1

M
Let U ( s )=
s

KM
Thus Y ( s )= 2 2
s ( τ s + 2 ετs+1 )

For critically damped , ε =1,

−t

[
Thus y ( t ) =KM 1− 1+ ( ) t
τ
e τ
]
−t
y
KM [ t
= 1− 1+ e
τ ( ) τ
]
−t
t y
( )
1+ e τ =1−
τ KM

y
When =0.95 , the response is 0.05 KM
KM

t s −tτ
( )
1+
τ
e =1−0.95=0.05

ts ts
( )
ln 1+
τ
− =ln0.05=−3
τ

Thus E=ln 1+ ( tτ )− tτ +3
s s

ts
Let x= ≫ E=ln ( 1+ x )−x +3
τ
By usingtry∧error method (Microsoft Office Excel), makes E ≈ 0

x E
0 3
1 2.693147
2 2.098612
3 1.386294
4 0.609438
4.1 0.529241
4.2 0.448659
4.3 0.367707
4.4 0.286399
4.5 0.204748
4.6 0.122767
4.7 0.040466
4.71 0.032219
4.72 0.023969
4.73 0.015716
4.74 0.007459
4.75 -0.0008
4.76 -0.00906
4.77 -0.01733
4.78 -0.0256
4.79 -0.03387
4.8 -0.04214
4.9 -0.12505
5 -0.20824
6 -1.05409
7 -1.92056
8 -2.80278
9 -3.69741
10 -4.6021
 4

0
0 2 4 6 8 10 12
E

-1

-2

-3

-4

-5
x

Thus , a value of t=4.75t ists , the settling time .

b)

Y (s) K
=
U ( s ) ( τS +1 )2

U ( s)
Let a=
s2

Ka α α α α4
Therefore, Y ( s )= 2
= 1 + 22 + 3 +
2
s ( τs+1 ) s s τs+1 (τs+1)2

Both α 3and α 4 terms are exponentials that go to zero for large values of times, thus a linear response.

Ka
Value α 2 , → α 2=
( τs+1 )2
|s=0

α 2=Ka
Then by defining Q(S),

Ka
Q ( s )=
( τs+1 )2

dQ −2 Kaτ
=
ds ( τs+1 )3

Value α 1 , → α 1= ( 11! ) [ −2( τs+1Ka)τ ]

3 |s=0

α 1=−2 Ka τ

The long-time response is ;

y L ( t ) =Kat−2 Kaτ

¿ Ka(t−2 τ )

y L ( t ) =a(t−2 τ ) .: K=1

The output lags the input by 2 times equal to 2 τ ,

2τ

INPUT
.: x=at OUTPUT
.: YL=a(t-2τ )

Actual response
time
0

Basically the output graph will be shifted 2 τ to the right of the input.
Then it can be said that the output lags the input by 2 τ