Solution HW#3

1)
j1)
Pole-Zero Map
4

(-3.25,2.5j)

Imaginary Axis

(1.25,0)

-1

-2

-3

(-3.25,-2.5j)

-4
-5

-4

-3

-2

-1

Real Axis

G( s)

k ( s 1.25)
( s 3.25 2.5 j )(s 3.25 2.5 j )

Because k is unknown, we cannot find the transfer function completely. However, the value of
k does not affect the natural frequency or damping ratio:

n 3.25 2 2.52 4.1 rad/s

cos

1
1
1
s( s 1)
G( s)
2

1
s s 2 ( s 0.5 1.323i )( s 0.5 1.323i )
1 2
s( s 1)
Pole-Zero Map

Characteristic equation s 2 s 2 0

1.5

Compare with standard form

1
s 2 s 2 s 2 2
2s
2 2
s 2 2 n s n2
Natural frequency =
Damping ratio

2 rad/s
1
2 2

0.5

Imaginary Axis

2)

3.25
0.79
4.1

-0.5

-1

-1.5

-2
-2

-1.5

-1

-0.5

0
Real Axis

0.5

1.5

3)

1
s5

+
-

1
s 10

s 10

1
s5

+
-

1
s 10
1

+
-

1
s5

1
s 10 1
1
s 11
1
s 10
s 10

R(s) +

1
( s 5)( s 11)

Y (s)

s 10

Ans. for (a)

NOTE: there is more than one possible answer for part (a), but the answer to part (b) will
always be the same

R(s)

1
1
( s 5)( s 11)

1
( s 5)(s 11) ( s 10)
1 ( s 10)
( s 5)( s 11)

Y ( s)
1
2
R( s) s 17 s 65

Y (s)

Ans. for (b)

4.
a) to find T1(s) we consider that L(s) = 0

R(s)

Kp

V (s)

Km
ms 1

A
as 1

Kh

R(s)

Kp

V (s)

AK m
( a s 1)( m s 1)

+
-

Kh

R(s)

Kp

AK m
( a s 1)( m s 1)
AK m

AK m
( a s 1)( m s 1) AK m K h
1 Kh
( a s 1)( m s 1)

AK m K p

R(s)

V (s)

V (s)

( a s 1)( m s 1) AK m K h

T1 ( s)

20
0.01s 1.01s 1.2
2

Ans1

to find T2(s) we consider that R(s) = 0

A
as 1

L(s)
-

V (s)

Km
ms 1

Kh

A
as 1

L(s)
1

V (s)

Km
ms 1

L(s) -

Kh

V (s)

Km
ms 1

+
+

L(s)

L(s)

AK h
as 1

Km
ms 1
AK h K m

1
a
m

K m ( a s 1)
( a s 1)( m s 1) AK h K m

T2 ( s)

(0.01s 1)
0.01s 2 1.01s 1.2

Note that the denominator for T1(s) and T2(s) are the same
(so there is only one characteristic equation for the system)

V (s)

V (s)

Ans2

b)
20
R( s)
0.01s 1.01s 1.2
1
r (t ) 1 R( s )
s
20
1
V ( s)

2
0.01s 1.01s 1.2 s
2000

1
V ( s) 2

s 101s 120 s
2000
V ( s)
s ( s 1.202)( s 99.8)
16.67
16.87
0.203
V ( s)

s
s 1.202 s 99.8
V ( s)

V (t ) 16.67 16.87e 1.202t 0.203e 99.8t

c)

T1 ( s)

20
2000
2

0.01s 1.01s 1.2 s 101s 120

101
2 120

2000
101
s 2 2(
) 120s 120
2 120

4.56 (over damped)

The system is over-damped as 1

Ans

Ans

5)

R (s )

H 2 (s )
+

G 1 (s )

G 2 (s )

1
s

Y(s)

G 2 (s )

1
s

Y(s)

H 3 (s )

H 1 (s )

H 2 (s )

R (s )

+
-

G 1 (s )

H 3 (s )

1
G 2 (s )

H 1 (s )

H 2 (s )

R (s )

+
-

G 1 (s)G 2 (s)

H 3 (s )
G 2 (s )

H 1 (s )

1
s

Y(s)

R (s )

G 1 (s)G 2 (s)

H 2 (s )

1
s

Y(s)

1
s

Y(s)

H 3 (s )
G 2 (s )

H 1 (s )

R (s )

K
-

G 1 (s)G 2 (s)

H (s )
1 G 1 (s)G 2 (s) H 2 (s) 3
G 2 (s )

+
-

H 1 (s )

R (s )

+
-

G 1 (s)G 2 (s)
1 G 1 (s)G 2 (s)H 2 (s) G 1 (s)H 3 (s)

1
s

Y(s)

H 1 (s )

R(s)

G 1 (s)G 2 (s)
1 G 1 (s)G 2 (s)H 2 (s) G 1 (s)H 3 (s)

G 1 (s)G 2 (s)

1 H 1 (s)
1

G
(
s
)
G
(
s
)
H
(
s
)

G
(
s
)
H
(
s
)
1
2
2
1
3

1
s

Y(s)

R (s )

K
-

R (s )

+
-

R (s )

R (s )

G 1 (s)G 2 (s)
1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s)

KG 1 (s)G 2 (s) / s
1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s)

KG 1 (s)G 2 (s) / s
1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s)
KG 1 (s)G 2 (s) / s
1
1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s)

KG 1 (s)G 2 (s) / s
1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s) KG 1 (s)G 2 (s) / s

KG 1 (s)G 2 (s) / s
Y(s)

R(s) 1 G 1 (s)H 3 (s) G 1 (s)G 2 (s)H 1 (s) H 2 (s) KG 1 (s)G 2 (s) / s

NOTE: There is more than one way to get this answer!

Y(s)

1
s

Y(s)

Y(s)

Y(s)