Part I Solutions

1. (a) Unit step input, X = 1/s

Y =
2
ss2s
2
9
=

1
s


2
s2

3
s3 j

*
3
s3 j
with

1
=
2
s2s
2
9

s=0
=
2
29
=
1
9

2
=
2
s s
2
9

s=2
=
2
213
=
1
13

3
=
2
s s2 s3 j

s=3 j
=
2
3 j 23 j 6 j
=
1
9
1
23 j
=
23 j
913
Hence
yt =
1
9

1
13
e
2t

1
913
[23 j e
3 j t
23 j e
3 j t
]
=
1
9

1
13
e
2t

1
913
[ 23 j cos 3t j sin 3t 23 j cos 3t j sin 3t ]
=
1
9

1
13
e
2t

2
913
[ 2cos 3t 3sin 3t ]
=
1
9

1
13
e
2t

213
913
sin 3t , =tan
1

2
3

With an impulse input, X = 1,

Y =
2
s2s
2
9
=

1
s2

2
s3 j

*
2
s3 j

1
=
2
s
2
9

s=2
=
2
13

2
=
2
s2s3 j

s=3 j
=
2
23 j 6 j
=
1
3
j
23 j
23 j
23 j
=
32 j
313
And
yt =
2
13
e
2t

1
313
[32 j e
3 j t
32 j e
3 j t
]
=
2
13
e
2t

1
39
[ 32 j cos 3t j sin 3t 32 j cos 3t j sin 3t ]
=
2
13
e
2t

2
39
[3cost 3t 2sin 3t ]
=
2
13
e
2t

2
313
sin 3t , =tan
1

3
2

1
Part I Solutions
(b) It is not obvious from y(t) that all the terms cancel out at t = 0, but initial value theorem can be used to
show that y(0) = 0. As for yt , the pure sinusoidal term will not go away. There is no one final value
and the final value theorem does not apply.
2
Part I Solutions
4.
(a)
Y =
10
s1
2
s3
=
a
s1

b
s1
2

c
s3
b=
10
s3

s=1
=
10
2
=5
c=
10
s1
2

s=3
=
10
4
=
5
2
10
s3
=a s1b{c-terms with s1
2
}
Differentiate once,
10
s3
2
=a{c-terms with s1}
Set s = 1, a = 10/4 = 5/2,
yt =
5
2
e
t
5t e
t

5
2
e
3t
=5e
t

1
2
t
5
2
e
3t
(b)
Y =
s3
s
2
2s5
For
s
2
2s5=0 , s=
2420
2
=12j
Or we can see that
s
2
2 s5= s
2
2 s14= s1
2
2
2
But for now, we do the long, slow way,
Y =
s3
s
2
2s5
=
a
s12j

a *
s12j
a=
s3
s12j

s=12j
=
12j3
12j12j
=
1 j
2j
=
1 j
2
yt =
1
2
1j e
12j t

1
2
1 j e
12j t
=
1
2
e
t
[ 1 j cos 2t j sin 2t1 j cos2t j sin2t ]
=
1
2
e
t
2cos2tsin 2t
=2e
t
sin2t , =tan
1
1=/ 4
1
Part I Solutions
(c) Y =
e
4s
s2 s
2
3s2
=
e
4s
2s s
2
3/ 2 s1
The roots of s
2
3/ 2 s1=0 are s=
3
4

1
2
9
4
4=
3
4
j
7
4
Or we can make use of
s
2

3
2
s1= s
2

3
2
s
9
16

9
16
1= s
3
4

7
16
For now, we do it the long way. Consider first, without the time delay,
1
s s
2

3
2
s1
=
a
s

b
s
3
4
j
7
4

b*
s
3
4
j
7
4

a=
1
s
2
3/ 2 s1

s=0
=1
b=
1
s
[
s
3
4
j
7
4

]

s=
3
4
j
7
4
=
1

3
4
j
7
4

j
27
4

=
8
3 j 7 j 7
=
8
737 j
7 j 37
7 j 37
=
87 j 37
4997
=
8
112
7 j 37=
1
2
j
37
14
yt =
1
2
{
1e
3
4
t
[

1
2
j
37
14
cos
7
4
t j sin
7
4
t their conjugate terms
]}
=
1
2
{
1e
3
4
t
cos
7
4
t 3
7
7
sin
7
4
t
}
We finally put the time delay back in,
yt 4=
1
2
{
1e
3
4
t 4
[
cos
7
4
t 43
7
7
sin
7
4
t 4
]}
u t 4
(d) This is like part (c). Consider first
1
s s
2
9
=
a
s

b
33j

b*
33j
a=
1
s
2
9

s=0
=
1
9
b=
1
s s3j

s=3j
=
1
3j6j
=
1
18
=b *
2
Part I Solutions
Without dead time,
yt =
1
9

1
18
e
3 j t
e
3 j t

=
1
9
1cos 3t
Now with dead time,
yt 2=
[
1
9
1cos3t 2
]
ut 2
3
Part I Solutions
6. The two s in the original equation cancel out. So,
Y
X
=
3s2s2
5s
3
6 s
2
2s3
With X = 1/s,
yt =lim
s0
[
s
3s2s2
5s
3
6 s
2
2s3
1
s ]
=
322
3
=4
This result is only valid if all three roots of 5s
3
6 s
2
2s3=0 have negative real parts. We check with
MATLAB using
roots([5 6 2 3])
and found 1.26, +0.030.69j. So the final value theorem does not apply and the value 4 obtained above is
meaningless.
1
Part I Solutions
8. The roots of s
2
2s2=0 are s=1
1
2
48=1j .
For
Y
X
=
10 s s1
s2s
2
2s2
we have zeros at 0 and 1, and poles at 2 and 1 j. The response has time dependent functions e
2t
and
e
t
sin t .
For
Y
X
=
10
s2s
2
2s2
we expect y(t) to have the same time depdent functions as the first transfer function.
With X = 1/s,
yt =lim
s0
[
s
10
s2 s
2
2s2
1
s ]
=
5
2
This 5/2 is the steady state gain of the transfer function. The response y(t) will reach a final value of 5/2 in an
oscillatory manner.
If we write s
2
2s2=2
1
2
s
2
s1 , and equate
1
s
2
s1=
2
s
2
2s1
,
we find
=
1
2
, and 2=1 , or =
1
2
2=
1
2
.
If
Y
X
=
10
s2s
2
2
,
the poles are 2 and j 2 . We expect y(t) to have the functional dependence e
2t
and sin 2t . When
X = 1/s, the e
2t
term will decay away and y(t) will eventually become a pure sine wave that oscillates about
the mean of 5/2 and with a frequency of 2 . There is no final value.
1
Part III Solutions
10. The Laplace transform of

1
d c
1
d t
=c
o
c
1
, c
1
0=0 , and
2
d c
2
dt
=c
1
c
2
, c
2
0=0
would give
C
1
s
C
o
s
=
1

1
s1
, and
C
2
s
C
1
s
=
1

2
s1
C
2
s
C
o
s
=
C
2
s
C
1
s
C
1
s
C
o
s
=
1

2
s1
1

1
s1
(a) Now, Co(s) = 6,
C
2
s=
6

2
s1
1
s1
So,
c
2
t =0
. We can confirm this with the final value theorem. And with the numerical values

1
=
4
0.02
=200 s ,
2
=
3
0.02
=150 s
we can either do partial factions or simple table look up to find,
c
2
t =
6
50
e
t / 200
e
t /150

which indeed approaches zero as time increases.

(b) = 4/2 = 2 min
C
1
s
C
o
s
=
1
s1
,
C
2
s
C
o
s
=
1
s1
2
, ,
C
5
s
C
o
s
=
1
s1
5
The plotting is an exercise in using MATLAB.
(c) If the poles are distinct, we identify the dominant pole (the largest time constant, ) and choose the time of
simulation to be at least 5 (say 6), since 1e
5
~0.99 .
If there are multiple poles, as in part (b), we have
Ot
4
e
t /

and it will take much longer than 5 or 6 to

have the term decays away (i.e., reaching the new steady state). (To find the time t where
t
4
e
t /
=
, with
1 , we'll need a trial and error calculation for a chosen .)
1
Part I Solutions
17.
Y
F
=
K
p

p
s1
, with F=

s
2
Y =
K
p
s
2

p
s1
=
a
s

b
s
2

p
s1
b=
K
p

p
s1

s=0
=K
p
c=
K
p
s
2

s=1/
p
=K
p

p
2
K
p

p
s1
=a sb{c -terms with s
2
}
Differentiate once,

K
p

p
s1
2
=a{c -terms with s}
So setting s = 0 gives
a=K
p

p
And the time domain response is
yt =K
p
[

p
t
p
e
t /
p
]
The large time asmptote has slope K
p
, and intercept
p
:
yt ~K
p
t
p

1
Part I Solutions
21.
First in closing the small internal loop,
K / S
1K
v
K / s
=
K
sK
v
K
C
R
=
K
sK
v
K
1
K
sK
v
K
=
K
s
2
K K
v
sK
C
R
=
1
1
K
s
2
K
v
s1
If K = , =1/K = , and
2=K
v
, = 0.7,
Kv = 2 (0.7) (1/2) = 0.7
1
Part I Solutions
24.
f
1
=y
1
y
1
y
2
f
1
~y
1
[ y
1
s
y
2
s
y
2
s
y '
1
y
1
s
y '
2
] , with y '
1
=y
1
y
1
s
, and y '
2
=y
2
y
2
s
f
2
=y
2
y
1
y
2
f
2
~y
2
[ y
1
s
y
2
s
y
2
s
y '
1
y
1
s
y '
2
]
At steady state,
0=y
1
s
y
1
s
y
2
s
0=y
2
s
y
1
s
y
2
s
The linearized equations are:
d y '
1
dt
=y '
1
y
2
s
y '
1
y
1
s
y '
2
d y '
2
d t
=y '
2
y
2
s
y '
1
y
1
s
y '
2
In matrix form,
d
d t [
y '
1
y '
2
]
=
[
1 y
2
s
y
1
s
y
2
s
1 y
1
s
][
y '
1
y '
2
]
The characteristic polynomial is
s1 y
2
s
s1 y
1
s
y
1
s
y
2
s
=0
After expansion and cancellation of terms,
s
2
y
2
s
y
1
s
s y
2
s
y
1
s
1=0
1
Part I Solutions
25. There are three poles. The transfer function is third order.
(a) [ s-(-2+j )] [ s-(-2- j )]= [ (s+2)- j ] [ (s+2)+ j ]= (s+2)
2
+1
G ( s)=
( s+1)o
( s+4) ( s
2
+4s+5)
=
o
20
( s+1)
(
1
4
s+1)(
1
5
s
2
+
4
5
s+1)
The steady state gain is given as 2, so 2 =/20 or =40. Hence,
G( s)=
2( s+1)
(
1
4
s+1)(
1
5
s
2
+
4
5
s+1)
(b) The term (s +4) gives rise to e
-4t
, and ( s
2
+4s+5) gives e
-2t
sin(t +) in the time domain. The
time constants are and .
We can double check with (1/ 5s
2
+4/ 5s+1) ,
t= 1/ .5 , 2t= 4/ 5 , = (1/ 2)( 4/5)( .5)= 2/ .5
So, t/= (1/ .5) (.5/ 2)= 1/ 2.
(c) With = 2/ .5= 0.89, the response will only be very slightly underdamped.
A reasonable settling time can be either 3/ (for within 5%) or 4/ (within 2%), meaning 3/2 or 4/2.
Note: in the rough hand sketch, we casually labeled ~5/2 only because the drawing is close to being
at the steady state, and so we denoted that as roughly 5/.
(d) Now
Y
X
= G=
40( s+1)
s( s+4)(s
2
+4s+5)
With the additional pole at s =0, a step input will lead to a ramp response.
1
Part I Solutions
29.
e=RH b
C=ab=F eGe , b=Ge
So
b=Ge=G RH b
b=
G R
1G H
And
e=R
[
1
H G
1G H
]
=R
1
1G H
C=
[
FG
1G H
]
R
1
Part I Solutions
30.
C
R
=
2 K
ss1
1
2 K
ss1
=
2 K
ss12 K
C
R
=
1

1
2 K
s
2

1
2 K
s1
The transfer function has unity gain, so there is no steady state error.
If the overshoot is 0.1, then = 0.59,
=
1
2 K
, 2=
1
2 K
, =
1
4 K
2 K=
1
4
2
K
K = 0.35
7
1
Part I Solutions
31.
(a)
f t =2t 2t 2ut 2
The second term on the right really is the function gt 2=gt 2ut 2 , where gt =2t . You
cannot write -2t + 4.
Here,
F s=
2
s
2

2
s
2
e
2s
=
2
s
2
1e
2s

(b)
f t =t 2t 2ut 2t 4ut 4
F s=
1
s
2

2
s
2
e
2s

1
s
2
e
4 s
=
1
s
2
12e
2s
e
4 s

(c) The answer to this part is based on parts (a) and (b), and we need to superimpose four functions:
f t =2t 2t 2ut 22t 6ut 62t 8ut 8
F s=
2
s
2
1e
2s
e
6 s
e
8 s

1
Part I Solutions
32. The algebraic relations based on Fig. PI.32:
E
2
= E
1

G
*
M
And skipping one step, we can still see from the diagram that
E
1
= RCe
s

C
1
, with

C
1
=

G
*
M
After substituting for E1 in the E2 equation:
E
2
= RC e
s

G
*
M

G
*
M
E
2
= RC

G M , after defining
G=

G
*
1e
s

From these reduced block diagram (see sketch on the right),
the location where we usually have the controller function is:
G
c
=
G
1G

G
=
G
1G

G
*
1e
s

So finally,
C
R
=
G
c
G
p
1G
c
G
p
=
GG
p
1G

G
*
1e
s
GG
p
Alternate route: use Mason's gain formula.
There is only one forward path with the path gain:
F1 =GG
p
There are three negative feedback loops: the big one plus two smaller ones within. The system
determinant is
= 1 G G
p
G

G
*
G

G
*
e
s

or
= 1 GG
p
G

G
*
1e
s

Note that the last term is negative because as we go through this loop, we encounter two minus signs.
Dividing these two quantities gives us the transfer function above.
1
Part I Solutions
33.
q=C
v
R
l1

Ph

s

1/ 2
, Ph=
P
o
g hP
1
g
c
To linearize the nonlinear term:
q~ql
s
, h
s

q
l

s.s.
l '
q
h

s.s.
h' , l ' =ll
s
, h' =hh
s
q
l

s.s.
=C
v

Ph
s

s

1/ 2
ln R R
l
s
1
=ql
s
, h
s
ln RC
1
q
h

s.s.
=C
v
R
l
s
1
1
2
g
g
c

Ph
s

s

1/2
C
2
where we have defined C1 and C2 as shorthand notations. The differential equation becomes:
A
d h'
dt
=q'
o
C
1
l ' C
2
h'
A
d h'
dt
C
2
h' =q'
o
C
1
l '
A
C
2
dh'
d t
h' =
1
C
2
q'
o

C
1
C
2
l '

d h'
dt
h' =K
1
q'
o
K
2
l ' , =
A
C
2
, K
1
=
1
C
2
, K
2
=
C
1
C
2
After Laplace transform:
H s=
[
K
1
s1
]
Q
o
s
[
K
2
s1
]
Ls
1
Part II Solutions
1. (a)
G
c
=K
c

D
s1

D
s1
, G
p
=
K
p

p
s1
With simple unity feedback,
C
R
=
G
c
G
p
1G
c
G
p
=
K
c
K
p

D
s1

D
s1
p
s1 K
c
K
p

p
s1
C
R
=
K
c
K
p

D
s1

p
s
2

p
K
c
K
p

D
s1K
c
K
p

Rewriting it as
C
R
=
K

2
s
2
2s1
where we have the closed-loop steady state gain and natural time period defined as
K=
K
c
K
p
1K
c
K
p
, and =

p
1K
c
K
p

1/ 2
To find the damping ratio,
=
1
2

p
K
c
K
p

D
1K
c
K
p

1K
c
K
p

p

1/2
=
1
2

D
K
c
K
p

p

p
1K
c
K
p

(b) From the natural time period equation, if decreases, so does .

(c) Load change problem. We expect G
L
=K
d
/
p
s1 , i.e., same process time constant p, and
C
L
=
G
L
1G
c
G
p
Offset due to load change = 0
K
d
1K
c
K
d
, where the zero represents no change in R.
(d)
1
Part II Solutions
(e) We can figure out with a simple root locus sketch, without doing much work, that the system with a real
PID will not have complex closed-loop poles (or underdamped behavior).
2
Part II Solutions
2. The characteristic equation is
1K
c
s1
s1s2
=0
(a)
s1s2K
c
s1=0
s
2
3K
c
s2K
c
=0
For a stable system, we need
3K
c
0
, and
2K
c
0
So
2 K
c
3
(b) The term s1/ s1 is the first order Pad approximation of e
2s
. The presence of the open-loop
positive zero (s = 1) makes the system unstable when Kc > Kcu, the ultimate gain. Otherwise, both systems
with the respective characteristic equations,
1K
c
1
s1s2
=0 , and 1K
c
1
s2
=0
are always stable.
FYI. To find the Kcu rigorously, we need to use
1K
c
e
2s
s2
=0
and Bode plots as explained in Chapter 8 and MATLAB Session 7. We should find Kcu = 2.38.
(c) To explain stability using frequency response, we write
G
*
=s1
1
s1
1
s2
For (s + 1) and after substitution s=j , 1j =

1
2
, and 1j =tan
1
. So its
magnitude plot is like a first order lead, but its phase angle plot is like that of a first order lag.
1
Part II Solutions
(The G* magnitude plot is identical to that of 1/(s + 2). The (s + 1) and (s + 1) contributions cancel each
other. In the phase angle plot, all three terms contribute a total of 90 each.)
2
Part II Solutions
3. (a) The characteristic equation is
s s2s
2
1K
c
2s1=0
Expanding,
s
4
2 s
3
s
2
21K
c
s2 K
c
=0
So the necessary conditions for stability is
21K
c
0 , K
c
1
and
2 K
c
0
That is, we need Kc > 0 for positive proportional gains.
Now with the Routh array
1 1 2 K
c
2 21K
c
0
b
1
2 K
c
c
1
0
2 K
c
where
b
1
=
221K
c

2
0 , meaning
K
c
0
, or
K
c
0
This requirement contradicts Kc > 0 from the coefficient test.
We cannot find a proportional controller if Kc > 0.
(b) With a PI controller,
1K
c

I
s1

I
s
2s1
s s2s
2
1
=0
we now add one more open-loop pole at s = 0. It is unlikely to work.
With a PD controller,
1K
c

D
s1
2s1
s s2s
2
1
=0
By adding just one more open-loop zero, 1/
D
, this appears to be the more sensible thing to try.
(c) Use rlocus( ) in MATLAB,
A system with PD control is stable if
D
is large enough.
1
Part II Solutions
4. The closed-loop characteristic equation is
1K
c
K
s
p
s1
=0
The closed-loop transfer function is
C
R
=
G
c
G
p
1G
c
G
p
=
K
c
K
s
p
s1 K
c
K
=
1

p
K
c
K
s
2

1
K
c
K
s1
(a) The system has unity steady state gain; there is no offset. We do not need integral control. We can use P or
PD control.
(b)
(c)

p
K
c
K
s
2

1
K
c
K
s1 =
2
s
2
2s1
=

p
K
c
K
1/ 2
, =
1
2
1
K
c
K
K
c
K

p

1/ 2
=
1
2
1

K
c
K
p
Now
=1/ 2 , K = 0.6, p = 3,
K
c
=
1
2
1
30.6
=0.28
The closed-loop poles are /j

1
2
/ . With Kc = 0.28, and = 4.24, the poles are at 0.167 0.167j.
(d) The time constant is / = 4.24/0.707 = 6. Can double check with

p
K
c
K
1/2
2 K
c
K
p

1/ 2
=2
p
=6
(e) /=2
p
is independent of . Results in parts (c) to (e) are consistent with the root locus plot.
1
Part II Solutions
6. The characteristic equation is
1
K
s2s4
=0
s
2
6 s8K=0
The closed-loop poles are s=3
1
2
3648K .
When the system is critically damped, 3648K=0 or K = 1. Thus the system is overdamped
when K < 1 and underdamped when K > 1.

1
8K

s
2

6
8K

s1=0

2
s
2
2s1=0
=
1
8K
, =
1
2
6
8K
8K=
3
8K
, and thus 8K=

2
When = 0.707, K = 10.
The steady state gain should be K/(8 + K). So when K = 10, the steady state error is 1 K/(8 + K) = 0.44, quite
large.
The time constant is /=1/ 8K8K / 3=1/ 3 , which is obvious from the closed-loop poles. So
95% settling time would be roughly 3/=1 [time units], and if we choose 98% settling time, the tmie
constant would be roughly 4/=4/ 3 .
If the overshoot is 0.1, then from 0.1=exp/

1
2
, =0.59 , and
8K=3/
2
, or K = 17.7
The load function should also have (s + 2) (s + 4) in its denominator.
1
Part II Solutions
7.
1
K
c
e
0.35 s
5.1s11.2 s1
=0
(a) Define (time constants are in minutes)
Gs=
K
c
e
0.35 s
5.1s11.2 s1
With Kc = 7.5, = 0.8 rad/min,
G j =7.5
1
15.1
2
0.8
2
1
11.2
2
0.8
2
=1.29
G j =tan
1
5.10.8tan
1
1.20.80.350.8180 /
=76.2
o
43.8
o
16
o
=136
o
(b) This part follows Example 7.4A. Use MATLAB. First enter
p = conv([5.1 1], [1.2 1]);
g = tf(1,p);
tdead = 0.35;
Then follow the example, and after using margin(), should find Kcu = 19.1
When there is no dead time, it is a simple second order system and this is always stable.
(c) Use Kc = 19.1/1.7 = 11.2
(We can do a MATLAB margin() calculation to confirm that.)
(d) This follows Example 6.3D. After generating the results in part (b), put together
tmp = [freq; mag; phase]'
Should find where the frequency is approximately 1.02, that magnitude ~ 0.12, and phase angle ~ 150.
So we use Kc = 1/0.12 = 8.3. (Again, we can do a MATLAB calculation to confirm that Kc = 8.3 will have
a PM ~ 30.)
1
Part II Solutions
9. The characteristic equation is
1
21s
ss2
=0
If is a positive number, the roots will always have a negative real part and the system is always stable.
1/2 s
2
1 s1=0
=1/ 2 , 2=1 , and thus =1/ 221=1/ 2
To be underdamped, we want
=
1
2
1 , lead to 12 and 0.41
1
Part II Solutions
11.
Case (a): the characteristic equation is
1
K
c
K
p
1
D
s

p
s1
=0
Case (b): the characteristic equation is
1
K
c
K
p
1
D
s

p
s1
=0
They are identical. Their root locus plots are also identical. Can take on either one of the two possibilities:
But the two cases have different closed-loop functions.
Case (a):
C
R
=
K
c
K
p
1
D
s

p
s1K
c
K
p
1
D
s
=
K
c
K
p
1
D
s

p
K
c
K
p

D
s1K
c
K
p

C
R
=
K
1
1
D
s

1
s1
; with K
1
=
K
c
K
p
1K
c
K
p
, and
1
=

p
K
c
K
p

D
1K
c
K
p
Cae (b):
C
R
=
K
c
K
p

p
s1K
c
K
p
1
D
s
=
K
1

1
s1
They have the same steady state gains K1 and time constant 1, but case (a) has the response of a lead-lag
element, while case (b) is just first order.
Both cases have offset = 1 K1 = 1/(1 + Kc Kp).
1
Part II Solutions
12. The characteristic equation is
1K
c

I
s1

I
s

1
s1s2
=0
The MATLAB statements are similar to those in Example 7.5A:
Gp = tf(1, conv([1 1], [2 1]));
taui = 2.5 %or 1.5 , 0.5
Gc = tf([taui 1], [taui 0]);
rlocus(Gc*Gp)
sgrid(0.7,1)
rlocfind(Gc*Gp)
(a) From the MATLAB results for = 0.7,
I
Gain and closed-loop poles
I = 2.5
Kc ~ 1.16,
poles at 0.33 and 0.580.59j
I = 1.5
Kc ~ 0.57,
poles at 0.330.34j and 0.83
I = 0.5
Kc ~ 0.1,
poles at 0.210.22j and 1.07
1
Part II Solutions
(b) The case with

= 0.5 is the least desirable. The system can become unstable with low Kc and for = 0.7,
the dominant poles at 2.1 0.22j are the slowest of all three cases. (Recall that the real part of the
complex pole is /.)
For

= 1.5 and 2.5, the dominant poles are 0.330.34j and 0.33, respectively. So in terms of speed
and settling time, they behave the same. The difference is that with

= 2.5, the complex pole is faster

and so oscillations will be damped out quicker than when we use

= 1.5, in which case the complex poles

are the slower ones (c.f. real pole at 0.83.).
2
Part II Solutions
13. The closed-loop characteristic equation is
1K
c

D
s1
12 s1 s1
=0
The possibilities (can be from doing MATLAB) are:
Only case (1) can have an underdamped system. In all cases, we have a second order system with no positive
zero; the system is stable for all Kc > 0.
With a PI controller, we have
1K
c

I
s1

I
s 12 s1s1
=0
The possibilities (can be from doing MATLAB) are:
All choices of

lead to an underdamped system. It can become unstable when

< 1.
Now given

= 0.5, the closed-loop characteristic equation is

1K
c

1
2
s1
1
2
s12 s1 s1
=0
1
2
s12 s
2
13 s1K
c

1
2
s1=0
12 s
3
13 s
2
1K
c
s2 K
c
=0
So simply based on the coefficients, we must have
1
Part II Solutions
1K
c
0
, or
K
c
1
(Or simply Kc > 0 for positive proportional gains)
Now the Routh array:
12 1K
c
13 2 K
c
b
1
2 K
c
with
b
1
=
131K
c
24 K
c
13
0
131K
c
24 K
c
, or
1.18K
c
So we need (for positive proportional gains)
0K
c
1.18
Repeat with s = j substitution:
12
3
j13
2
1K
c
j 2 K
c
=0
The real parts:
2 K
c
13
2
=0 , K
c
=13/ 2
2
The imaginary parts:
12
2
1K
c
=0
Substituting for Kc:
12
2
1
13
2

2
=0
will lead to

n
2
=0.18 ,
K
cu
=1.18
Finally, with PI control, there is no offset.
2
Part II Solutions
17.
G
p
=
2
20 s1
has open-loop pole at -1/20 or -0.05
G
v
=
0.5
s1
has open-loop pole at -1
(a) Now with two additional open-loop poles at 0 and 10, and zeros at 0.1 and 0.5, the system must have a
real PID controller.
Typically, I > D, so we should have I = 10 and D = 2.
And 1/
D
= 10, meaning = 0.05.
G
c
=K
c

I
s1

I
s


D
s1

D
s1

=K
c

10 s1
10 s

2s1
0.1 s1

(b) The order of the system with Gp, Gv, and the real PID controller is 4.
(c) You can tell what is on the real axis easily, but you need MATLAB to get the shape of the root locus plot.
1
Part II Solutions
18. The closed-loop characteristic equation is, after cancellation,
1K
1
s20
10
s
=0
s
2
20 s10 K=0
The poles are at
s=
2040040 K
2
(a) The system is overdamped when 400 40K > 0 or K < 10;
critically damped when K = 0, with the two repeated closed-loop poles at 10;
and underdamped when 400 40K < 0 or K > 10;
(b)
(c) With integration in Gp, the system has no offset. We can confirm that by finding the closed-loop steady
state gain.
C
R
=
G
c
G
p
1G
c
G
p
=
10 K
s s2010 K
C
R
=
1

1
10 K

s
2

2
K
s1
, which has unity gain
To find K such that the system has a damping ratio of 0.7, match

1
10 K

s
2

2
K
s1=
2
s
2
2s1

2
=
1
10 K
, =
1
2
2
K
10 K
1/ 2
=

10
K
If = 0.7, K = 10/0.49 = 20.4
1
Part II Solutions
19.
Parts (a) and (b):
Fig. PII.19(a) can first be modified to
So
C=
[
G
c
G
p
1G
c
G
p
]
R
[
G
p
G
f
G
L
1G
c
G
p
]
L
To elimintae the effect of disturbance L, we want
G
p
G
f
G
L
=0
, or
G
f
=G
L
/G
p
.
Fig. PII.19(b) can be rearranged to
So
C=
[
G
c
G
p
1G
c
G
p
]
R
[
C
c
G
p
G
f
G
L
1G
c
G
p
]
L
To eliminate the effect of L, we want
G
c
G
p
G
f
G
L
=0
, or
G
f
=G
L
/G
c
G
p
.
Part (c):
Fig. PII19(a) is better because we can compute Gf without having to worry about Gc. In Fig. PII.19(b),
not only does Gf depends on Gc, but the function Gf can easily end up to have a higher order nominator
polynomial.
Part (d): Fig. PII.19(c) is
Using the (dummy) variable b,
C=K
c
G
p
b
b=1
1

I
s
RC
D
s C =1
1

I
s
R1
1

I
s

D
sC
Substitute for b,
1
Part II Solutions
C=K
c
G
p
[
1
1

I
s
R1
1

I
s

D
sC
]
C
R
=
K
c
1
1

I
s
G
p
1 K
c
1
1

I
s

D
sG
p
With Fig. PII.19(d),
again with
C=K
c
G
p
b
b=
1

I
s
RC1
D
sC =
1

I
s
R1
1

I
s

D
sC
C
R
=
K
c
1

I
s
G
p
1 K
c
1
1

I
s

D
sG
p
Part (e): System with an ideal PID
C
R
=
K
c
1
1

I
s

D
sG
p
1 K
c
1
1

I
s

D
sG
p
So the systems in parts (c) to (e) all have the same closed-loop characteristic polynomial.
2
Part II Solutions
20. With a simple unity feedback system, the characteristic equation is
1K
c

I
s1

I
s

0.5
s2

=0
Now I = 1,
1K
c

s1
s

0.5
s2

=0
s
2
2sK
c
0.5s1=0
s
2
0.5 K
c
2 s0.5 K
c
=0
For stability, we need
0.5 K
c
20
, and
0.5 K
c
0
meaning,
K
c
4
So the ultimate gain is Kcu = 4, and we can confirm that with direct substitution.

2
2 j 0.5 K
c
j 0.5 K
c
=0
Imaginary parts: 20.5 K
c
=0 , or
K
cu
=4
Real parts:
2
=0.5 K
c
, or
n , u
=2
1
Part II Solutions
29. Features of the plots:
Phase lag goes from 0 to 250. It appears that the phase lag would eventually reach 270 at very
frequencies
At large frequencies, the magnitude plot has slope approximately 3
At frequency around ~ 4 rad/min, |G| is slightly larger than the value at very low frequencies
A logical guess is that
Gs=
K

1
s1
2
s
2
2s1
where
K ~ 1.1
must be less than
1/ is in between 4 and 10 rad/min
1/
1
is between 1 and 10 rad/min; from the fact that the phase lag of G drops quite a bit very soon (1/
1
is probably between 1 and 4)
For a closed-loop experiment, the magnitude and phase lag will be that of the closed-loop function C/R.
1
Part II Solutions
34. The phase angle plot clearly indicates that presence of dead time. From the magnitude plot, the slope at
high frequency is 1, so the function must be first order with dead time:
Gs=
K e
s
s1
From the given corner frequency, = 1/2.5 = 0.4 s
From the low frequency asymptote, K = 5
The phase angle equation is (in degrees)
G j =tan
1

180

Now = 0.4 and given when = 1 rad/s, and the phase lag = 33
33

=tan
1
0.4
180

, so = 0.19 s
and
Gs=
5e
0.19 s
0.4 s1
1
SI.33.
The key is to move the branch-off point to the right of G
2
so the loops do not overlap. To do that, we use
the small letter a to denote the variable immediately after G
1
, and the algebra relating a to y is
equivalent to rewriting:
Y = aF + G
2
= a(F/G
2
+ 1)G
2
This algebraic step is shown in the block diagram below:
The remaining task is straightforward. The feedback loop is
G
1
G
2
1G
1
G
2
H
Hence, the closed-loop function is
Y
U
=
G
1
G
2
F
1G
1
G
2
H
Alternative route: use the Mason's gain formula
There are two forward paths. The sum of the forward path gains is
G
1
G
2
+ G
1
F = G
1
(G
2
+ F)
There is one loop and the system determinant is
= 1 + G
1
G
2
H
Dividing these two quantities gives us the transfer function.
SI.34.
(a) We can close the inner loop without any problem; it is equivalent to
1/ s
1a
1
s
=
1
sa
1
=G
where we have assigned the function G for this intermediate step (see figure below). And also using
Problem SI.33 as a hint, we know we can move the branch-off point to the right of the integrator, with the
block diagram appears as:
After that, the remaining outer feedback loop is
+
_
u y
a
0
b
0
sb
1
s
1
G
+
_
u y
G
1
H
F/G
2
G
2
a
G/s
1Ga
0
/s
=
1/[s sa
1
]
1a
0
/[s sa
1
]
=
1
s sa
1
a
0
Hence, the closed-loop function is
Y
U
=
b
1
sb
0
s sa
1
a
0
=
b
1
sb
0
s
2
a
1
sa
0
(34.1)
This is a common way how electrical engineers represent a differential equation. We generally derive the
function from physics and put the whole thing in one block as in the final result here.
Alternative route: use the Mason's gain formula
There are two forward paths. The sum of the forward path gains is
Fi = b
1
/s

+ b
0
/s
2
There are two negative feedback loops and the system determinant is
= 1 + a
1
/s

+ a
0
/s
2
Dividing these two quantities and multiplying throughout by s
2
gives us the transfer function in (34.1).
(b) Using the notations xi in the given block diagram as a guide, we have the two differential equations in
canonical form:
x
1
= x
2
x
2
=u a
1
x
2
a
0
x
1
and the output equation:
y =b
0
x
1
b
1
x
2
In matrix form, the model is
d
d t
x =
[
0 1
a
0
a
1
]
x
[
0
1
]
u
(34.2)
and
y =[b
0
b
1
] x
(34.3)
SI.35.
(a) This follows Problem SI.34. We can close the inner loop without any problem; it is equivalent to
1/s
1a
2
s
=
1
sa
2
=G
1
where we have assigned the function G
1
for this intermediate step (see figure below). And also using
Problem SI.33 as a hint, we know we can move the first branch-off point to the right of the integrator,
with the block diagram appears as:
We now close the second loop, which is equivalent to:
G
1
/s
1G
1
a
1
/s
=
1/ s sa
2

1a
1
/s sa
2

=
1
s sa
2
a
1
=G
2
where we have assigned the function G
2
for this intermediate step (see figure below). And moving the
last branch-off point, again using Problem SI.33 as a guide, the block diagram appears as:
The remaining task is to close the final loop, which is equivalent to:
G
2
/s
1G
2
a
0
/s
=
1/[s
2
sa
2
a
1
s]
1a
0
/[s
2
sa
2
a
1
s]
=
1
s
2
sa
2
a
1
sa
0
The closed-loop transfer function is
Y
U
=
b
2
s
2
b
1
sb
0
s
2
sa
2
a
1
sa
0
=
b
2
s
2
b
1
sb
0
s
3
a
2
s
2
a
1
sa
0
(35.1)
This is a common way how electrical engineers represent a differential equation. We generally derive the
function from physics and put the whole thing in one block as in the final result here.
Alternative route: use the Mason's gain formula
There are three forward paths. The sum of the forward path gains is
Fi = b
2
/s

+ b
1
/s
2

+ b
0
/s
3
+
_
u y
b
0
a
0
s
1
s
2
b
2
G
2
sb
1
+
_
u y
a
1
b
0
b
1
s
1
a
0
s
1
sb
2
G
1
There are three negative feedback loops and the system determinant is
= 1 + a
2
/s + a
1
/s
2

+ a
0
/s
3
Dividing these two quantities and multiplying throughout by s
3
gives us the transfer function in (35.1).
(b) Using the notations xi in the given block diagram as a guide, we have the three differential equations in
canonical form:
x
1
= x
2
x
2
= x
3
x
3
=u a
2
x
3
a
1
x
2
a
0
x
1
and the output equation:
y =b
0
x
1
b
1
x
2
b
2
x
3
In matrix form, the model is
d
d t
x =
[
0 1 0
0 0 1
a
0
a
1
a
2
]
x
[
0
0
1
]
u
(35.2)
and
y =[b
0
b
1
b
2
] x
(35.3)
SI.33.
This problem is very similar to I.29 in the text and is used as a hint for the next problem SI.34. Derive the closed-loop
transfer function for the block diagram in Fig. SI.33:
Figure SI.33
SI.34.
For the block diagram in Fig. SI.34:
Figure SI.34
(a) Derive the closed-loop transfer function.
(b) Derive the state-space model equations.
SI.35. For the block diagram in Fig. SI.35:
Figure SI.35
(a) Derive the closed-loop transfer function.
(b) Derive the state-space model equations.
+
_
u y
G
1
H
F
G
2
+
_
x
1
x
2
x
2

u y
a
1
a
0
b
0
b
1
s
1
s
1
+
_
x
1
x
3

u y
a
2
a
1
b
0
b
1
s
1
s
1
a
0
s
1
x
2
x
3
b
2
Part III Solutions
III.2.
(a) Key features from Fig. PIII.2a:
High frequency asymptote of the magnitude plot has a slope approximately 2
Phase lag varies from 0 to 180
Low frequency asymptote of the magnitude plot is 10 (= K
p
)
The magnitude curve rises above 10 before approaching the high frequency asymptote
All these observations are consistent with G
p
being an underdamped second-order function.
From the magnitude plot, the corner frequency is approximately 0.3 rad/s. So
1/ 0.3, or 3.3 s, and
2
11
Also given that the function has a 25% overshoot in a unit step response experiment,
OS = 0.25 (or 0.4). So
2 (2)(0.4)(3.3) = 2.7
G
p
=
10
11 s
2
2.7 s1
(b) The plots now are for |G
c
G
p
| and G
c
G
p
.
The phase angle now varies from 0 to 90 at very high frequencies. No phase change at low
frequency, but G
c
brings in phase lead at high frequencies; G
c
must be a PD controller.
The system is always stable.
Compare the phase plots in (a) and (b), the corner frequency due to the PD controller (1/
D
) is likely
to be higher than 1/ = 0.3
From the magnitude plot at low frequencies, |G
c
G
p
| 20, so K
c
2
The slope of the high frequency asymptote in the magnitude plot is approximately 1 (no longer 2).
The PD controller must be ideal, not real.
The key features can be summarized as:
Corner Frequency asymptotes
Function frequencies Log magnitude slope Phase lag
1/(11s
2
+ 2.7s + 1) 0.3 0 to 2 0 to 180
(
D
s + 1) 1/
D
0 to +1 0 to +90
Net value at very high frequencies 1 90
The high and low frequency asymptotes of G
c
G
p
are shown next:
1
Part III Solutions
(c)
The phase angle now begins at 90 at very low frequencies, then goes below 180 before
approaching 180 at very high frequency. So the system can become unstable. We can jump to the
conclusion that G
c
is a PI controller. (If nothing else, the integrator contributes a constant 90.)
From the magnitude plot, the slope is about 1 at low frequencies, suggesting again the presence of
an integrator. The slope at high frequency is about 2, consistent with a PI controller together with a
second-order function.
Comparing the phase plots in (a) and (c), it is likely that the corner frequency of the (
I
s + 1) term,
1/
I
, is higher than 1/ = 0.3.
The key features can be summarized as:
Corner Frequency asymptotes
Function frequencies Log magnitude slope Phase lag
1/s 1 90
1/(11s
2
+ 2.7s + 1) 0.3 0 to 2 0 to 180
(
I
s + 1) 1/
I
0 to +1 0 to +90
Net value at very high frequencies 2 180
Asymptotes of G
c
and G
p
that may explain Fig. PIII.2c are sketched below:
2
CENG 120/MAE 143B Records
What is my PIN?
It is made up of your last four numbers of your PID in pairs and with the positions swapped.
Say, with A12345678, the PIN is 7856
Midterms Course
Midterm 1 Midterm 2 40% basis Final 60% basis Total Grade
100% 31 30 44 100
PIN
0432 28 29 37.4 44 60.0 97.4 A
6792 30 27.5 37.7 43 58.6 96.3 A
2184 27 30 37.4 42.5 58.0 95.4 A
4557 31 29 39.3 40.5 55.2 94.6 A
4082 26.5 29.5 36.8 41 55.9 92.7 A
7431 24.5 28 34.5 42 57.3 91.7 A
6578 22.3 30 34.4 41.5 56.6 91.0 A
8114 18.5 30 31.9 42 57.3 89.2 A
1902 25.5 26 33.8 40 54.5 88.3 A
7967 25.5 30 36.5 38 51.8 88.3 A
2541 27 24.5 33.8 38 51.8 85.6 B+
3301 24 29 34.8 37 50.5 85.3 B+
6511 28.5 23 33.7 37.5 51.1 84.9 B+
3740 26 30 36.8 35 47.7 84.5 B+
1629 22.5 28 33.2 37.5 51.1 84.3 B
3486 16.5 27 28.6 40.5 55.2 83.9 B
8289 29 30 38.7 32.5 44.3 83.0 B
3259 23 29.5 34.5 35.5 48.4 82.9 B
3053 29 20 32.0 37 50.5 82.5 B
9270 25 25 32.8 35.75 48.8 81.5 B
2973 22 27 32.2 36 49.1 81.3 B
5842 22.5 26 31.8 36 49.1 80.9 B
8691 29.6 17.5 30.8 36.5 49.8 80.5 B
1392 18 22 26.3 38.5 52.5 78.8 B
0459 20 14 22.2 41.25 56.3 78.5 B
8379 28 10 24.7 38 51.8 76.5 B
1687 16 21 24.3 37 50.5 74.8 B-
4188 22 8 19.5 40 54.5 74.1 B-
2720 14.5 27 27.4 34 46.4 73.7 B-
1102 25 16 26.8 33 45.0 71.8 B-
5295 14 23 24.4 34 46.4 70.7 B-
8487 11 12 15.1 40.5 55.2 70.3 B-
1744 22.5 14 23.8 33.5 45.7 69.5 B-
5987 14 14 18.4 37.5 51.1 69.5 B-
chosen
gaps
6142 11 21.2 21.1 35 47.7 69.0 B-
7750 17 19 23.6 33.25 45.3 69.0 B-
7082 18 19 24.3 32 43.6 67.9 B-
9880 25 21 30.1 27.5 37.5 67.6 B-
1221 26.5 22.5 32.1 26 35.5 67.6 B-
5846 12.5 17.5 19.7 34.5 47.0 66.8 B-
0389 25 19.5 29.1 27.5 37.5 66.6 B-
8668 21 19 26.2 29.5 40.2 66.4 B-
8795 13.5 13 17.4 35.5 48.4 65.8 B-
4429 13.5 26 26.0 29 39.5 65.6 B-
7102 12.5 21.5 22.4 31.5 43.0 65.4 B-
1331 13 25 25.1 28.5 38.9 63.9 C
2884 14.5 22 24.0 28.5 38.9 62.9 C
1620 19 19.5 25.3 27.5 37.5 62.8 C
4059 9 9 11.8 37.25 50.8 62.6 C
1788 18 12.5 19.9 31 42.3 62.2 C
7000 11 22 21.8 29.5 40.2 62.0 C
7667 17.5 24.5 27.6 25 34.1 61.7 C
3335 8 14 14.5 34.5 47.0 61.5 C
9116 17.5 16 22.0 27 36.8 58.8 C-
5809 20.5 14.5 22.9 26 35.5 58.3 C-
1809 12 5 11.1 34.5 47.0 58.1 C-
6003 18 21.5 25.9 23 31.4 57.3 C-
7550 16 16.5 21.3 26 35.5 56.8 C-
0704 21.5 17.5 25.5 22.25 30.3 55.9 C-
0509 17 8 16.3 25 34.1 50.4 D
8281 9 12 13.8 26 35.5 49.3 D
2726 10.5 16.5 17.8 23 31.4 49.1 D
2941 13 16 19.1 22 30.0 49.1 D
8264 11.5 10 14.1 25 34.1 48.2 D
0655 11 14 16.4 21.5 29.3 45.7 F
0594 5.5 9.5 9.9 26 35.5 45.3 F
0757 6 12 11.9 23.5 32.0 43.9 F
Average 19.1 20.3 25.9 33.3 45.4 71.3
Std. Dev. 6.7 6.9 7.8 6.2 8.5 14.1
chosen
gaps
MAE 143B/CENG 120 Midterm 1 Solutions Name: _____________________________
1. For the following Laplace transform variable
Y =
e
3s
s s
2
4
Derive y(t).
This is essentially Problem I.4(d) in the homework, just a slight change in the values of the frequency and time shift.
1
s s
2
4
=
a
s

b
s2j

b*
s2j
a=
1
s
2
4

s=0
=
1
4
b=
1
s s2j

s= 2j
=
1
2j4j
=
1
8
= b*
Without dead time,
yt =
1
4

1
8
e
2 j t
e
2 j t

And using Euler's identity on the second term,

yt =
1
4
1cos2t
Now with dead time,
yt 3=
[
1
4
1cos2t 3
]
ut 3
Alternate way to find the coefficients. Write
1
s s
2
4
=
a
s

b sc
s
2
4
Expanding the fractions and matching the nominator:
1 =as
2
+4a +bs
2
+cs
Matching coefficients in s: c =0, a =1/4, and b =1 a =1/4. So we have
1
s s
2
4
=
1
4
1
s

s
s
2
4

You can see the answer from here. The second term is the Laplace transform of cos 2t.
2. In the following differential equation:
dA
dt
= k
1
1 A B
2
,
B =B(t), and the initial condition is A(0) =As, a constant. The coefficient k1 is also a constant.
(a) Derive the transfer function A(s)/B(s).
(b) What is the steady-state gain?
This is a 1D variation of Problem I.24. There are two nonlinear terms here. Their linearized forms (about steady-state
quantities, meaning so must the initial value) are:
B
2
~B
2
s +2Bs(B Bs)
AB
2
~AsB
2
s +B
2
s (A As) +2AsBs(B Bs)
The equation at steady state is
k1 (1 As) B
2
s =0
So if we substitute for the linearized terms and subtract off the steady-state terms, and using
deviation variables A' =A As, and B' =B Bs, we have
dA'
dt
= k
1[
2B
s
B' B
s
2
A' 2A
s
B
s
B ' ]
dA'
dt
k
1
B
s
2
A' = 2k
1
B
s
1A
s
B ' , with now A'(0) =0
So we have
A s
B s
=
K
sa
where
a = k
1
B
s
2
, and K = 2k
1
B
s
1 A
s

The steady-state gain is K/a, i.e.,

2k
1
B
s
1 A
s

k
1
B
s
2
=
2 1 A
s

B
s
3. Consider the following transfer function:
Y
U
=
b
1
s b
0
s
2
a
1
sa
0
(a) Derive one state-space representation of this function.
(b) Draw the corresponding block diagram for the function.
(a) This is the reverse of Problem SI.34. And making use of Example 4.3 in the text, we rewrite
Y
U
=
b
1
s b
0
s
2
a
1
s a
0
as
Y
U
=
X
1
U
Y
X
1
where
X
1
U
=
1
s
2
a
1
s a
0
, (42.1)
and

Y
X
1
= b
1
s b
0
. (42.2)
Now regarding (42.1), we define state variables variables x1, and x2 =dx1/dt. With this, we can write (42.1) as
d
dt [
x
1
x
2
]
=
[
0 1
a
0
a
1
] [
x
1
x
2
]

[
0
1
]
u (42.3)
Next, with (42.2), the equivalent time domain equation is
y=
[
b
0
b
1]
[
x
1
x
2
]
(42.4)
(b) We can obtain the result by applying Example 4.1 to (42.3) and then add on the algebraic relation in (42.4). The
resulting block diagram is
+
_
x
1
x
2 x
2

u
y
a
1
a
0
b
0
b
1
s
1
s
1
4. Derive the transfer function Y/U from the following block diagram:
This is really Problem I.32 in the text; just using simpler notations.
We added e and f in the diagram to help us. (Really only e is crucial.)
e =U H1f +H1H2f Y , with obviously f =G1e
Note that the last two terms in e are affected by the negative sign at the
summer point.
We also have
Y =G1G2e
Substituting for f in e:
e = U H1G1e + H1H2G1e Y
e (1 +H1G1 H1H2G1) =U Y
e [1 +H1G1(1 H2)] =U Y
Finally substitute for e in Y:
Y = G
1
G
2
UY
1H
1
G
1
1H
2

Y [ 1G
1
G
2
H
1
G
1
1H
2
] = G
1
G
2
U
Y
U
=
G
1
G
2
1G
1
G
2
G
1
H
1
1H
2

Alternate route: use Mason's gain formula.

There is only one forward path with the path gain:
F1 =G1G2
There are three negative feedback loops: the big one plus two smaller ones within. The system determinant is
= 1 G
1
G
2
G
1
H
1
G
1
H
1
H
2

or
= 1 G
1
G
2
G
1
H
1
1H
2

Note that the last term is negative because as we go through this loop, we encounter two minus signs. Dividing these
two quantities gives us the transfer function above.
+
_
U
G
1
H
1
G
2
H
2
+
_
+
+
Y
e
f
CENG 120/MAE 143B Midterm 2 Solutions Name: _____________________________
Points: 30 total (1: 12; 2: 3; 3: 6; 4: 9)
Points will only be given to work that we can trace all the actual derivations involved.
1. The block diagram shown on the right represents some control system
for a process with function Gp.
(a) Derive the closed-loop characteristic polynomial.
(b) What kind of controller do we have here?
(a) The block diagram is very much like that of Problem II.19. Consider the
error e added to the summing point in the block diagram:
e = Kc(R Y) K
D
sY , and of course, Y = Gpe
So
Y = Gp [Kc(R Y) K
d
sY] , or [1+ Gp(Kc + K
D
s)] Y = KcGpR
and the closed-loop transfer function is:
Y
R
=
K
c
G
p
1+G
p
( K
c
+K
D
s )
The characteristic equation is, of course,
1 + Gp (Kc + K
D
s) = 0
Alternative route: Use Mason's gain rule.
There are two loops, and the system determinant is hence
= 1 + Gp Kc + Gp K
D
s
But we still need to come back and derive the closed-loop function later for the steady-state error.
(b) From the term (Kc + K
D
s), the system clearly is an ideal PD controller, but one in which we evaluate the derivative of
the controlled variable instead of the error.
___
An alternative for Part (c) next. They could derive via the position error constant route. If so, they need E = R Y, now is
E = R
K
c
G
p
1+G
p
(K
c
+K
D
s)
R , or after cleaning up E =
(
1+G
p
K
D
s
1+G
p
( K
c
+K
D
s)
)
R
Next, we apply the final value theorem using R = 1/s:
e
s.s.
= lim
s -0
[ s E] =
1
1+lim K
c
G
p
(as s>0 forces all other terms to drop out)
lim
s-0
K
c
G
p
=
3 K
c
2
, so e
s.s.
=
1
1+3 K
c
/ 2
=
2
2+3 K
c
+
_
R
K
c
K
D
s
G
p
Y
+
_
e
We continue with Problem 1 on the first page here.
(c) Derive an expression for the steady-state error of the system if the process function is:
G
p
=
3
( s+1)(s+2)
(d) With the process function given in Part (c), derive an expression for the damping ratio of the closed-loop system.
(e) Given that KD > 0 and Kc > 0, what is the upper limit of Kc for a stable system?
(c) With the given second-order overdamped function, the closed-loop transfer function becomes
Y
R
=
3 K
c
(s+1)( s+2)+3( K
c
+K
D
s)
or
Y
R
=
3 K
c
s
2
+3(1+K
D
) s+(2+3 K
c
)
which is in the form of
Y
R
=
K
s
2
+2o
n
s+o
n
2
We can also rearrange the function as
Y
R
=
3 K
c
/ (2+3 K
c
)
1
(2+3 K
c
)
s
2
+
3(1+K
D
)
(2+3 K
c
)
s+1
to be in the form of
Y
R
=
K
ss
t
2
s
2
+2ts+1
With either form, we should see that the steady-state gain of this system is
K
s.s.
=
3 K
c
2+3 K
c
and the steady-state error is e
s.s.
= 1
3 K
c
2+3 K
c
=
2
2+3 K
c
(d) To find the system damping ratio, we define (just need either or ):
o
n
=1/t =(2+3 K
c
)
And using the characteristic polynomial (can be from different sources, including Part a):
=
1
2
3(1+K
D
)
(2+3 K
c
)
.
(2+3 K
c
) =
1
2
3(1+K
D
)
.
( 2+3 K
c
)
With the natural frequency form, we can arrive at the same result without the first intermediate step.
(e) With this second-order system with no positive open-loop zeros and the coefficients of the characteristic polynomial
all positive, the system is always stable for Kc > 0. (So theoretically there is no upper limit. Practically speaking,
you'll hit saturation.)
2. Consider a unity feedback system with the process function
G
p
=
K
s ( t
p
s+1)
which we actually analyzed in Problem II.4 with a proportional controller. If now someone suggested the use of a PI
controller, what should be your correct response?
No need. There's integrating action already in Gp. Only need P or PD controllers.
3. Consider a unity feedback system with the closed-loop characteristic equation 1 + GcGp = 0, and the functions
G
c
= K
( s +5)
( s +20)
, and G
p
=
10
s ( s+5)
what is the value of the gain K that provides a closed-loop unit-step response that has a 5% overshoot?
First, we need to find for 5% overshoot using Eq. (3.24) in the text:
0.05 = exp(
n
.
1
2
)
8.97 (1
2
) =
2

2
= 0.476, and = 0.69
Now, we can simply repeat the calculations in Problem II.18. The characteristic polynomial from its solution (really just
one simple step) is
s
2
+ 20s + 10K = 0
and from that, we also have
= 10/K, or K = 10/
2
So with
2
= 0.476, K = 21 (20.99)
4. Consider a unity feedback system with the closed-loop characteristic equation 1 + GcGp = 0. The process function is
G
p
=
2 ( s+1)
s ( s+2) ( s+1)
2
and we are using a proportional controller. What is the range of the proportional gain with which we have a stable
system?
This is essentially Problem II.3 and by moving the open-loop poles away from the imaginary axis, we can now stabilize
it. Also one of the (s + 1) terms cancels too, just like Problem 3 or II.18. As the term range suggests, we would use
the Routh-Hurwitz test.
The characteristic equation is
1 +
2 K
c
s ( s+2) ( s+1)
= 0
or after expansion,
s
3
+ 3s
2
+ 2s + 2Kc = 0
To have a stable system, all the coefficients must be positive, meaning we need Kc > 0.
Now the Routh array:
1 2
3 2 K
c
b
1
2 K
c
where we need
b
1
=
( 2) ( 3) 2 K
c
3
>0 , or Kc < 3.
So for a stable system, we need 0 < Kc < 3.
Note: If you don't cancel the (s + 1) term, which is simple algebra, you are asking for trouble. You'll have to work with a
fourth order equation. Nonetheless, the same, correct answer is buried in the 4th row c1 coefficient, which will first
appear as one messy quadratic relation.
P.C. Chau 2008 Supplementary Problems II
SII.38.
Biological pathways are often regulated by a combination of nonlinear positive and negative
feedbacks. Here we look into the simplest possible linear interactions. A biological process is
presented by a first-order function, which provides itself a positive feedback (Figure SII.36). The
system as a whole is controlled by a simple proportional controller. By having enzymes that alter
the values of K and K
c
, a cell can switch activities to be growing or decaying in different ways.
Figure SII.36
(a) Under what circumstance is the process open-loop stable?
(b) For a situation under which the process is open-loop unstable, what values of K
c
can provide
a stable system?
(c) For Part (b), sketch the root-locus plot of the system.
SII.47
Biological systems can deal with disturbance by adaptation or desensitization even under a
continued presence of the signal. This behavior can be explained with integral feedback control
(Proc. Nat. Acad. Sci., April 25, 2000, 97: 4649-4653) as illustrated in Fig. SII.47.
Figure SII.47
In this view by biologists, D is some external stimulus, YR is the desired, prestimulus value, and Y
is the system output. Integral control is effected through the feedback loop in which the time
integral of the error between Y and YR is fed back into the system. And the following equations,
with some static gain K, can be used to describe the action:
dx /dt = e
e = y
R
y
y = K DX
C R
+
+
_
+
K
c
K
+ s a
K
D
_
+
1
s
+
Y
E
X
Y
R
+
(a) As a control engineer, you certainly dislike how these biologists twisted our nominal view.
Redraw the block diagram so that it resembles closer to what we are familiar with. Hint: it
should be a unity feedback system.
(b) Derive the transfer functions of the system,
(c) Show that if there is no change in our desired output, then even with a step input in D, the
continued persistent signal, the eventual value of the output remains the same.
(d) Part (c) can be true only if the system is stable as well. What is the stability criterion here?
SII.48
In a study of how yeast cells adapt to osmotic pressure changes (Science, January 25, 2008, 319:
482-484), the model in Fig. SII.48 is proposed:
Figure SII.48. The conceptual model is in the left panel.
The quasi-block diagram is in the right panel.
In this network and conceptual diagram, u, the input, is the salt concentration, and Ao is the
conversion factor to osmotic pressure in equivalent glycerol concentration units. Inside the yeast
cell, the internal osmotic pressure is regulated by the glycerol concentration x, but we cannot
measure it easily. Instead, we can monitor the activity of the Hog1 protein, y, which is generated
via the glycerol-mediated MAPK signal transduction pathway.
A mathematical model is also proposed in this work. Here, we have made some notation changes
(as different from Fig. SI.48):
dx
1
dt
= A
o
ux
1
x
2
dx
2
dt
= A
o
ux
1
x
2
where the state variable x1 represents the cellular glycerol content (the quantity x in Fig. SII.48),
and x2 the activity of the protein Hog1 (the quantity y in Fig. SII.48) and the only output of the
system. The conversion factor is denoted by Ao (just A in the figure).
(a) Put the model in state-space representation.
(b) Derive the transfer function X2/U. What is the steady-state gain?
(c) Derive the transfer function X1/U. What is the steady-state gain? Comment on the choice of
using x2 as the measured variable to monitor the system.
(d) Draw the correct block diagram with all necessary details.
SII.49
We continue with Problem SII.48. The authors performed frequency response experiments to
obtain the Bode plots in Fig. SII.49a for the activity of the Hog1 protein (state variable x2).
Figure SII.49a
They also collected step input time response data as shown in Fig. SII.49b.
Figure SII.49b
From the supplementary material of the paper, these values are provided:
Wild type Pbs2 mutant
Ao, M
1

8.0 x 10
3
3.7 x 10
3
, s
1
3.4 x 10
5
0.8 x 10
5
, s
1
10.6 x 10
3
10.6 x 10
3
, s
1
8.2 x 10
4
8.2 x 10
4

(a) Using the result in Problem SII.48, compute the poles and the natural frequency for both the
wild type yeast and the mutant.
(b) Construct the Bode plots for both the wild type yeast and the mutant. Explain the asymptotic
limits of the magnitude and phase angle curves.
(c) Perform a unit step input of the model using the the wild type yeast and the mutant
parameters.
Part II Solutions
SII.38.
(a) The equivalent open-loop process function can be written as
G =
K/ sa
1K/ sa
=
K
saK
So the function is stable if
a K > 0,
or in terms of the steady-state gain of the original first-order function,
K/a < 1 .
(b) The system characteristic equation is
1 K
c
K
saK
=0 ,
sa K K
c
1 = 0 .
So the system is stable if
a K K
c
1 0 ,
K
c
1 a/ K ,
K
c
1a/ K
For an open-loop unstable process, K/a < 1, so if we increase K
c
large enough, the system will become
stable.
(c) The root locus plot is a line on the real axis, beginning at the point +(K a), the open-loop pole and
moves toward negative infinity. The ultimate gain is when K
cu
= 1 a/K.
SII.47
This problem is based on Yi, et al., Proc. Nat. Acad. Sci., 2000, 97: 4649-4653. In the problem
statement, we have changed their notations and signs a bit to make them closer to textbook
conventions. The system that they were modeling is the signal transduction in bacterial chemotaxis.
The chemoattractant is the disturbance which binds to a receptor, and the output is the phosphorylated
form of a protein (CheY) that stimulates tumbling. The integral of the error is a representation on the
level of methylation on the receptor complex; the more methylation, the more effective it becomes to
phosphorylate the protein CheY.
(a) The block diagram can be rearranged as
1
K
c
G
+
_
Y R
K
D
_
+ 1
s
+
Y E X Y
R
+
Part II Solutions
There are different ways to get this block diagram. One is by simple eye-balling. The other is to derive
the transfer functions of the original diagram (Fig. SI.43) and use that as a guide. From the original
diagram,
Y = K DX , and X =
1
s
Y
R
Y ,
and the rearranged diagram should preserve these relations. Indeed, the one we have above does.
Furthermore, both block diagrams have the characteristic equation:
1 + K/s = 0, or as s + K = 0
(b) We continue with the equations above, leading to
Y = K D
K
s
Y
R
Y ,
s K Y = s K DKY
R
,
Y =
[
s K
sK
]
D
[
K
sK
]
Y
R
.
So we have
Y = G
D
D G
R
Y
R
,
with the two transfer functions:
G
D
=
s K
sK
, and G
R
=
K
sK
.
(c) We can see immediately that the steady-state gain of GR is 1 and of GD is zero. So the system has
perfect command tracking and disturbance rejection. If the second point is not clear, we can use the
final value theorem to confirm that. Take no change in set point and a unit step change in D, then we
have
yt = lim
s0
{
s
s K
sK
1
s
}
= 0
(d) With the characteristic equation derived in Part (a), we can see that for stability, we need K > 0.
2
Part II Solutions
SII.48
(a) The given equations are almost in state-space form already. We just need to put them in matrix form:
d
dt [
x
1
x
2
]
=
[

1
][
x
1
x
2
]
A
o
[

1
]
u (48.1)
y=x
2
= [ 0 1]
[
x
1
x
2
]
(48.2)
(b) To derive the transfer function, we can use
G(s) = C(sI A)
1
B, (48.3)
where
A =
[

1
]
, B = A
o
[

1
]
, and C = [0 1]. (48.4)
With the modal matrix A, we have
det(sI A) = (s + )(s + ) + (48.5)
and
s I A
1
=
1
det s IA [
s
1 s
]
So using (48.3) and B from (48.4),
s I A
1
B =
A
o
det s IA [
s
s
]
(48.6)
Finally using C from (48.4), and writing Y = X2, we arrive at
Y(s) = G(s)U(s), with G s =
A
o
s
det s I A
or
Y s =
A
o
s
s s
U s (48.7)
The s in the nominator is quite unusual; the response here is dependent entirely on the rate of change of
the input. On the other hand, this is exactly how system biologists interpret (or define) what is
considered an adaptive signaling systemone that responds to changes in input rather than the
absolute amount of input.
And without a constant coefficient in the nominator, the steady-state gain of the transfer function in
(48.7) is zero. (You can use U = 1/s and the final value theorem to do this if you want to.)
Let's re-derive the result using the good old fashion way to confirm that. The two ODEs are:
3
Part II Solutions
dx
1
dt
= A
o
ux
1
x
2
(48.8)
dx
2
dt
= A
o
ux
1
x
2
(48.9)
Take the derivative of (48.9) and substitute (48.8):
d
2
x
2
dt
2
=
[
x
2
A
o
ux
1
]

dx
2
dt
A
o
du
dt
And further back substitute for x1 using (48.8):
d
2
x
2
dt
2
=
[
A
o
u x
2

dx
2
dt
]
x
2

dx
2
dt
A
o
du
dt
A
o
u
d
2
x
2
dt
2

dx
2
dt
x
2
= A
o
du
dt
A
o
u A
o
u
d
2
x
2
dt
2

dx
2
dt
x
2
= A
o
du
dt
(48.10)
Taking that these are in deviation variables with zero initial values, we have
X
2
U
=
A
o
s
s
2
s
(48.11)
which indeed is identical to (48.6)
In more generic notations, this model is like
X
2
U
=
b
1
s b
0
s
2
a
1
s a
0
(48.12)
where now b1 = Ao, b0 = 0, a1 = + , and a0 = + .
(c) If x1 is the output, (48.1) remains the same but the output equation (48.2) will be replaced by
y =x
1
= [1 0 ]
[
x
1
x
2
]
(48.13)
(Below, we simply use X1 (or x1 ) to avoid confusion with Part (b) results.) Using C = [1 0] and (48.6),
we have
X
1
s =
A
o
[ s ]
s s
U s (48.7)
The transfer function, when we expand out all the terms, is
G
1
s =
A
o
s A
o

s
2
s
So the steady-state gain is simply Ao, the unit conversion.
4
Part II Solutions
When external osmotic pressure changes, the cell adjusts the level of x1 accordingly to match that.
When we monitor the system using x2, however, we cannot see that. As shown in Part (b), the quantity
x2 responds to the rate of change of osmotic pressure, not to the actual level. It clearly is not a good
choice as a measured variable (not to mention x2 interacts with the responses through ), but the
researchers in this work might have no choice as there is no easy way to measure x1 directly.
(d) There are many ways to draw this block diagram. One possibility is to follow the state-space equation
(48.1) and draw the system to resemble two interacting loops. In doing do, we have duplicated
(Aou x) in the diagram (see below).
Another possibility is to consolidate the error (Aou x). This way, it is closer to the suggested diagram
in the original paper. We can also better see how using the process of making X2 as a way to monitor
the behavior of the system, X2 itself affects the system via the interaction , which is purposely
weakened in the mutant.
5
+
_
U
s
1
_
s
1

1
+
+
A
0

X
2
= Y
X
1
_
+
_
U
s
1
_

+
A
0
X
2
= Y
X
1
s
1 +
Part II Solutions
SII.49
(a) From SII.48, we have the transfer function:
Y
U
=
A
o
s
s
2
a
1
s a
0
where a1 = + , and a0 = + . With the numerical values given, we have for the wild type:
a1 = 1.14 x 10
2
, and a0 = 4.27 x 10
5

And for the mutant,
a1 = 1.14 x 10
2
, same, and a0 = 1.7 x 10
5

The poles are the roots of the characteristic polynomial, so for the wild type, they are
p1, p2 = 5.7 x 10
3
j 3.18 x 10
3
And for the mutant, both of them are real:
p1 = 9.7 x 10
3
, p2 = 1.72 x 10
3
The natural frequency
n
of the transfer function is a0. So they are 6.53 x 10
3
and 4.1 x 10
3
respectively for the wild type and mutant.
(b) To do the Bode plot, the transfer function is really a product of a second order function and the
derivative s. For
G(s) = s, G(j) = j.
So the magnitude curve, |G| = , on the log-log plot is a straight with slope +1. With the real part of
G(j) being zero, the phase angle is always +90.
And for the second order function, we know the break frequency is at
n
.
The key features in the Bode plot are:
Corner Frequency asymptotes
Function frequencies Log magnitude slope Phase lag
s +1 +90
1/(s
2
+ a
1
s + a
0
)
n
0 to 2 0 to 180
Net value at very high frequencies 1 90
The plots from MATLAB are:
Indeed, the magnitude curves begin with a slope of +1 and at very high frequencies, the slope becomes
1. Likewise, the phase angle changes from +90 to 90 from very low to very high frequencies. It is
hard to read with the small inserted figure, but the break frequencies are consistent with the values in
Part (a). Furthermore, the curves for the mutant is shifted a bit to the left (lower frequencies) as it has a
lower break frequency.
6
Part II Solutions
(c) The unit step responses from MATLAB are:
The curves resemble the ones from the paper qualitatively, with the large time asymptotes at zero as the
steady state gain is zero. The data in the paper were from some step input but the step input value was
not given. (We could estimated that easily by comparing the unit step response and their actual step
response.) We are skipping this part because there are some inconsistencies in the support material of
the paper. The values of the poles reported are not identical to the fitted parameters.
7