EE 4314 Homework2 Solutions

3.32

a).

y + 2
n
y +
n
2
y = 0,

y 0
( )
= y
0
,

y 0
( )
= 0 (1)

Take the laplace transform of equation (1), we get:



s
2
Y s
( )
s y
0
+ 2
n
sY s
( )
+
n
2
Y s
( )
= H s
( )

then



G s ( ) =
sy
0
s
2
+ 2
n
s +
n
2




=
k
1
s s
1
+
k
1
*
s s
1
*


where



s
1
=
n
+ j
n
1
2




s
2
=
n
j
n
1
2




k
1
=

n
e
j cos
1

( )
2
n
1
2
e
j / 2


then



y t
( )
=
e

n
t
2 1
2
e
j
n
1
2
t +

2
cos
1

[
\
|

)
j
+ e
j
n
1
2
t +

2
cos
1

[
\
|

)
j
|
|
|
|
|
|
|
|



y t ( ) = y
0
e
t
1
2
sin
d
t cos
1

( )


b).

dy t
( )
dt
= 0 t =
n

d




t
Max
=
2

d
n



y t ( )
t
Max
y
n
= y
0
e
n
d
1
2
sin cos
1

( )




y
n
=
y
0
1
2
1
2
e
n
d
(2)

For

= ln
y
0
y
n
=
d


From (2):

y
1
= y
0
e

d
ln
y
0
y
n
=
d


For

ln
y
1
y
1
ln
y
i
y
i


We have

y
n
= y
n1
y
n
,



y
n
= y
0
e
n
d
y
0
e
n1 ( )
d
= y
0
e
n
d
1e

d
( )
,

y
n
y
n
=
y
0
e
n
d
y
0
e
n
d
1e

d
( )

y
n
y
n
=
y
i
y
i
for all

i, n.


3.43
(a)

s
4
+ 8s
3
+ 32s
2
+ 80s +100 = 0

The Routh array is,



s
4
: 1 32 100


s
3
: 8 80


s
2
: 22 100


s
1
: 80-800/22=43.6


s
0
: 100
No roots not in the LHP.

(b)

s
5
+10s
4
+ 30s
3
+ 80s
2
+ 344s + 480 = 0

The Routh array is,



s
5
: 1 30 344


s
4
: 10 80 480


s
3
: 22 296


s
2
: -545 480


s
1
: 490


s
0
: 480

2 roots not in the LHP.

(c)

s
4
+ 2s
3
+ 7s
2
2s + 8 = 0

The Routh array is,



s
4
: 1 7 8


s
3
: 2 -2


s
2
: 8 8


s
1
: -4


s
0
: 8

2 roots not in the LHP.

(d)

s
3
+ s
2
+ 20s + 78 = 0

The Routh array is,



s
3
: 1 20


s
2
: 1 78


s
1
: -58


s
0
: 78

2 roots not in the LHP.


(e)

s
4
+ 6s
2
+ 25 = 0
The Routh array is,



s
4
: 1 6 25


s
3
: 4 12


s
2
: 3 25


s
1
: 12-100/3=-21.3


s
0
: 25

2 roots not in the LHP.


3.44


s
5
+ 5s
4
+10s
3
+10s
2
+ 5s + K = 0

The Routh array is,



s
5
: 1 10 5


s
4
: 5 10

K


s
3
:

a
1


a
2



s
2
:

b
1


K


s
1
:

c
1



s
0
:

K

where



a
1
=
5 10
( )
1 10
( )
5
= 8



a
2
=
5 5
( )
1 K
( )
5
=
25 K
5




b
1
=
a
1
( )
10
( )
5
( )
a
2
( )
a
1
=
55 + K
8




c
1
=
b
1
( ) a
2
( ) a
1
( )K
b
1
=
K
2
+ 350K 1375
( )
5 55 + K ( )


For stability: all elements in the first column must be positive. The following
conditions must be satisfied.
1.

b
1
=
55 + K
8
> 0 K > 55

2.

c
1
=
K
2
+ 350K 1375
( )
5 55 + K ( )
> 0 55 < K < 3.88

3.

K > 0

By intersecting all 3 conditions, we have



0 < K < 3.88


Matlab Code:

K = 0 : 0.1 : 3.8;

figure();
hold on

for i = 1 : length(K)

h = tf(1,[1 5 10 10 5 K(i)]);
rlocus(h)
end

hold off

Result:


3.46



The transfer function for the above system is

Let

K
1
=
1
K



Y s
( )
R s
( )
=
K
1
s + z
( )
s + p
( )
K
0
s
2
a
2
( )
1+
K
1
s + z
( )
s + p
( )
K
0
s
2
a
2
( )
=
K
1
K
0
s + z
( )
s
3
+ ps
2
+ K
1
K
0
a
2
( )
s + K
1
K
0
z pa
2



Assume

K
0
=1, we can construct Routh array as follow



s
3
: 1

K
1
a
2



s
2
:

p

K
1
z pa
2



s
1
:

K
1
z + pa
2
+ K
1
p pa
2
p
=
K
1
z + K
1
p
p



s
0
:

K
1
z pa
2


For stability: all elements in the first column must be positive. The following
conditions must be satisfied.



p > 0,



K
1
p K
1
z > 0 if

K
1
> 0 p > z



K
1
z pa
2
> 0 if

K
1
> 0 z >
pa
2
K
1
= Kpa
2


3.47

(a)

Y s ( )
R s ( )
=
Ae
sT
s s +1 ( )
1+
Ae
sT
s s +1 ( )
=
Ae
sT
s
2
+ s + Ae
sT


The characteristic equation is:

s
2
+ s + Ae
sT


(b) Using

e
Ts
1Ts, the characteristic equation is



s
2
+ 1TA
( )
s + A = 0

The Routh array is,



s
2
: 1 A


s
1
: 1-TA 0


s
0
: A

For stability: all elements in the first column must be positive. The following
conditions must be satisfied.


A > 0,


TA <1


Using

e
Ts

1
T
2
s






1+
T
2
s






, the characteristic equation is



s
3
+ 1+
2
T





s
2
+
2
T
A





s +
2
T
A = 0

The Routh array is,



s
3
: 1

2
T
A








s
2
:

1+
2
T







2A
T



s
1
:

1+
2
T






2
T
A






2A
T
1+
2
T






0


s
0
:

2A
T


For stability: all elements in the first column must be positive.

Matlab Code:

A = 1 : 1 : 10;
T = 0.1: -0.01 : 0.01;

figure();
hold on

for i = 1 : length(A)

r = roots([1 (1+(2/T(i))) ((2/T(i))-A(i))
(2*A(i)/T(i))])

scatter(real(r), imag(r), 'x')

end

hold off
grid on


3.22

Using block-diagram algebra.

Define dummy variables

r
1
,

r
2
and

r
in
as shown in the figure below.



We have



r
1
= G
2
r
in
(r
1
+ r
2
)H
2
( )
G
4
(1)



r
2
= G
3
r
in
r
1
+ r
2
( )H
2
( )
G
5
(2)

Let

r
0
= r
1
+ r
2


(1) + (2);


r
0
= G
2
G
4
r
in
G
4
H
2
r
0
+ G
3
G
5
r
in
G
5
H
2
r
0



1+ G
4
H
2
+ G
5
H
2
( )
r
0
= G
2
G
4
+ G
3
G
5
( )
r
in



r
0
r
in
=
G
2
G
4
+ G
3
G
5
1+ G
4
H
2
+ G
5
H
2
( )


Define

G
7
=
(G
2
G
4
+ G
3
G
5
)G
1
G
6
1+ G
4
H
2
+ G
5
H
2
( )
(3)

Define dummy variable

e
3
as shown in the figure below.


We now have,



e
3
= R s
( )
G
7
H
4
e
3
G
7
H
3
e
3




e
3
=
R s
( )
1+ G
7
H
4
+ G
7
H
3
( )


Since



Y s
( )
= e
3
G
7


We now have,



Y s
( )
R s
( )
=
G
7
1+ G
7
H
4
+ G
7
H
3
( )
(4)

Substitute (3) into (4), we get



Y s ( )
R s ( )
=
G
1
G
6
G
2
G
4
+ G
3
G
5
( )
1+ G
2
H
4
+ G
2
H
5
( )
1+
G
1
G
6
H
4
G
2
G
4
+ G
3
G
5
( )
1+ G
2
H
4
+ G
2
H
5
( )
+
G
1
G
6
H
3
G
2
G
4
+ G
3
G
5
( )
1+ G
2
H
4
+ G
2
H
5
( )





=
G
1
G
6
G
2
G
4
+ G
3
G
5
( )
1+ G
2
H
4
+ G
2
H
5
( )
+ G
1
G
6
H
4
G
2
G
4
+ G
3
G
5
( )
+ G
1
G
6
H
3
G
2
G
4
+ G
3
G
5
( )



Using Masons rule,



G =
Y
our
Y
in
=
G
k

k=1
N

G
k=1
= G
1
G
6
G
2
G
4




G
k= 2
= G
1
G
6
G
3
G
5

k=1
=1

k= 2
=1

=1 L
i
+ L
i
L
j
L
i
L
j
L
k
++ 1
( )
m
+

L
i=1
= G
4
H
2

L
i= 2
= G
5
H
2

L
i=1
L
j=1
= G
1
G
2
G
4
G
6
H
4

L
i= 2
L
j= 2
= G
1
G
3
G
5
G
6
H
4

L
i= 3
L
j= 3
= G
1
G
2
G
4
G
6
H
3

L
i= 4
L
j= 4
= G
1
G
3
G
5
G
6
H
3

therefore

=1G
4
H
2
G
5
H
2
+ G
1
G
2
G
4
G
6
H
4
+ G
1
G
3
G
5
G
6
H
4
+ G
1
G
2
G
4
G
6
H
3
+ G
1
G
3
G
5
G
6
H
3

Y s
( )
R s
( )
=
G
1
G
2
G
4
G
6

+
G
1
G
3
G
5
G
6

=
G
1
G
2
G
4
G
6
+ G
1
G
3
G
5
G
6
1G
4
H
2
G
5
H
2
+ G
1
G
2
G
4
G
6
H
4
+ G
1
G
3
G
5
G
6
H
4
+ G
1
G
2
G
4
G
6
H
3
+ G
1
G
3
G
5
G
6
H
3

4.2
(a) For

K =10 and

y = 10r, we have:

Case a:



Y
R
=
1
K
3

1
= 0.01

Case b:



Y
R
=
K
1+
2
K






3

2
= 0.364

Case c:



Y
R
=
K
3
1+
3
K
3

3
= 0.099

(b) Sensivity

S
K
G
,

G =
Y
R


Case a:



dG
dK
= 3
1
K
2




S
K
G
=
K
G
dG
dK
=
K

1
K
3
3
1
K
2
( )
= 3

Case b:



S
K
G
= 0.646

Case c:



S
K
G
= 0.03

Case c is the least sensitive.

(c)

Case b:



S
K
G
= 2.354

Case c:



S
K
G
= 0.99

The closed-loop system is much more sensitive to errors in the
feedback path than in the forward path.


4.4

G s
( )
=
A
s s + a
( )


(a)

T s
( )
=
G s
( )
1+ G s
( )
=
A
s s + a
( )
1+
A
s s + a
( )
=
A
s
2
+ as + A




dT
dA
=
s
2
+ as + A
( )
A
s
2
+ as + A
( )
2




S
A
T
=
A
T
dT
dA
=
s s + a
( )
s s + a
( )
+ A


(b)



dT
da
=
sA
s
2
+ as + A
( )
2




a
T
dT
da
=
a s
2
+ as + A
( )
A
sA
s
2
+ as + A
( )
2




S
a
T
=
as
s s + a
( )
+ A



(c)



T s
( )
=
G s
( )
1+ G s
( )




dT
d
=
G s
( )
2
1+ G s
( ) ( )
2

T
dT
d
=
1+ G ( )
G
G
2
1+ G ( )
2
=
G
1+ G




S

T
=
A
s s + A
( )
1+
A
s s + a
( )
=
A
s s + a
( )
+ A


- If

a = A =1, the transfer function is most sensitive to variations in a and
A near

=1 rad /sec
- The steady-state response is not affected by variations in A and a.
- The steady-state response is heavily dependent on

since

S

T
0 ( ) =1.0

4.9

(a) For a unity feedback system to be Type 1 the open loop transfer
function must have a pole at

s = 0. Thus in this case, since G has no
such pole, it is necessary for D to have a pole at

s = 0.




(b)


Y s
( )
=
1
s
2
+ D s
( )
+ K
W s
( )



lim
s0
s
1
s
2
+ D s ( ) + K






1
s

= 0

if and only if




lim
s0
s
1
D s ( ) =

if and only if

=1 since D(s) has a pole at the origin. Therefore
the system will reject step disturbances with zero error.


4.19

(a) System (a):


E = RY =
R s
( )
1+ G s
( )



E s
( )
=
s 4s +1
( )
4s
2
+ s + K
0
K
1
R s
( )

Using final value theorem:



e
ss,ramp
=
1
K
1
=
1
K
v
K
1
= K
v
= 1


System (b):



E = RY =
1+ GK
2
G
1+ G
R



E s
( )
=
4s +1+ K
3
K
0
1K
2
( )
4s +1+ K
3
K
0
R s
( )

Using final value theorem:



e
ss,ramp
=
1+ K
3
K
0
1K
2
( )
1+ K
3
K
0
= 0

for

K
0
=11+ K
3
1K
2
( )
= 0



e
ss,ramp
=
4
1+ K
3
=
1
K
v


for

K
v
=1K
3
= 3



K
2
=
4
3
, K
3
= 3

(b)

Let

K
0
= K
0
+K
0
, system (a):



e
ss,ramp
= lim
s0
s
s 4s +1
( )
4s
2
+ s + K
0
+K
0
( )
1
s
= 0

System (b):



e
ss,ramp
=
1+ K
3
K
0
+K
0
( )
1K
2
( )
1+ K
3
K
0
+K
0
( )
K
0
=1
=
K
0
1+ 3 1+K
0
( )
0

System type of system (b) is not robust. The system (a) is preferred over
system (b) because it is more robust to parameter changes.









4.20

(a)



T s ( ) =
Y s ( )
R s ( )
=
10 k
p
s + k
I ( )
s s +1 ( ) s +10 ( )
1+
10 k
p
s + k
I ( )
s s +1 ( ) s +10 ( )




E s ( ) = 1T s ( ) ( )
R s ( )



=
s s +1 ( ) s +10 ( ) +10 k
p
s + k
I
( )
10 k
p
s + k
I
( )
s s +1 ( ) s +10 ( ) +10 k
p
s + k
I
( )

1
s
2


For

=1,



e
ss
= lim
s0
s
s s +1 ( ) s +10 ( )
s s +1 ( ) s +10 ( ) +10 k
p
s + k
I
( )








1
s
2




=
10
10k
I
=
1
k
I


for characteristic equation:

s
3
+11s
2
+10s +10 k
p
s + k
I ( )
= 0

The Rouths array is,



s
3
: 1

10 1+ k
p ( )



s
2
: 11

10k
I



s
1
:

110 1+ k
p
( )
10k
I
11



s
0
:

10k
I


For stability: all elements in the first column must be positive. The
following conditions must be satisfied;



k
I
> 0 and

11 1+ k
p ( )
k
I
> 0.

(b)

= 0.9



E s ( ) =
s s +1 ( ) s +10 ( ) + 9 k
p
s + k
I
( )
10 k
p
s + k
I
( )
s s +1 ( ) s +10 ( ) + 9 k
p
s + k
I
( )








R s ( )



=
s s +1
( )
s +10
( )
k
p
k
I
s s +1
( )
s +10
( )
+ 9 k
p
s + k
I
( )
R s
( )

Using final value theorem, for

R s
( )
=
1
s
2




e
ss


(c) for

R s
( )
=
1
s



lim
s0
sE s
( )
= lim
s0
s s +1
( )
s +10
( )
k
p
s k
I
s s +1
( )
s +10
( )
+ 9 k
p
s + k
I
( )




=
k
I
9k
I
=
1
9


The system is type 0.

K
p
is defined such that

e
ss
=
1
1+ K
p
.

K
p
= 8.
Without the magnitude an equivalent result is that

K
p
= 10.