SFG Solution

Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo

Chapter 3__________________________________________________________________________
3-1) a)
b)
c)
G H
d) Feedback ratio =
e)
3-2)
Characteristic equation: 1 2 1 0
Ö 3 2 1 0
3‐1


3-3)
G 1
1 − G1 H 1
H2
G2
G1
1 − G1 H 1
G1G2 H2
G3 +
1 − G1 H 1 G2
1
1 1
1
3‐2


3-4)
G2
1 + G2 G3 H 3
+ G2
X G1 G3 Y
1 + G2G3 H 3 + G2 H 2
-
H1
3‐3

Automatic Control Systems, 9th Edition
A Chapter 3 Solution
ns Golnarraghi, Kuo

+ G1G2 G3
X Y
1 + G 2 G3 H 3 + G 2 H 2
-
H1
G3
3
3-5)
3‐4


3-6) MATLAB
syms s
G=[2/(s*(s+2)),10;5/s,1/(s+1)]
H=[1,0;0,1]
A=eye(2)+G*H
B=inv(A)
Clp=simplify(B*G)
G=
[ 2/s/(s+2), 10]
[ 5/s, 1/(s+1)]
H=
1 0
0 1
A=
[ 1+2/s/(s+2), 10]
[ 5/s, 1+1/(s+1)]
B=
[ s*(s+2)/(s^2-48*s-48), -10/(s^2-48*s-48)*(s+1)*s]
[ -5/(s^2-48*s-48)*(s+1), (s^2+2*s+2)*(s+1)/(s+2)/(s^2-48*s-48)]
Clp =
[ -2*(24+25*s)/(s^2-48*s-48), 10/(s^2-48*s-48)*(s+1)*s]
[ 5/(s^2-48*s-48)*(s+1), -(49*s^2+148*s+98)/(s+2)/(s^2-48*s-48)]
3‐5

ns Golnarraghi, Kuo

3-7)
33-8)
3‐6

ns Golnarraghi, Kuo

3-9)
3
3-10)
3
3-11)
3‐7

ns Golnarraghi, Kuo

3-12)
3-13)
syms t
f=100*(1‐0.33*exp(‐6*t)‐0
0.7*exp(‐10*t))
F=laplace(f)
syms s
F=eval(F)
Gc=F*s
M=30000
syms K
Olp=simplify(KK*Gc/M/s)
Kt=0.15
Clp= simplify(Olp/(1+Olp*KKt))
s=0
Ess=eval(Clp)

f =
100‐30*exp(‐6 6*t)‐70*exp(‐‐10*t)

F =
80*(11*s+75)/s/(s+6)/(s+110)

ans =
3‐8

ns Golnarraghi, Kuo

(880*s+6000)/s/(s+6)/(s+110)

Gc =
(880*s+6000)/(s+6)/(s+100)

M =
30000

Olp =
1/375*K*(11**s+75)/s/(s+66)/(s+10)

Kt =
0.1500

Clp =
2
20/3*K*(11*s s+75)/(2500*s^3+40000*ss^2+150000*ss+11*K*s+75*K)

s
s =
0

E
Ess =
2
20/3
3
3-14)
3‐9


3-15)
‐1 ‐1
Note: If G(s) = g(t), then {e‐asG(s)} = u(t ‐ a) • g(t ‐ a)
syms t s
f=100*(1‐0.3*exp(‐6*(t‐0.5)))
F=laplace(f)*exp(‐0.5*s)
F=eval(F)
Gc=F*s
M=30000
syms K
Olp=simplify(K*Gc/M/s)
Kt=0.15
Clp= simplify(Olp/(1+Olp*Kt))
s=0
Ess=eval(Clp)
digits (2)
Fsimp=simplify(expand(vpa(F)))
Gcsimp=simplify(expand(vpa(Gc)))
Olpsimp=simplify(expand(vpa(Olp)))
Clpsimp=simplify(expand(vpa(Clp)))

f =
100‐30*exp(‐6*t+3)

F =
(100/s‐30*exp(3)/(s+6))*exp(‐1/2*s)

F =
(100/s‐2650113767660283/4398046511104/(s+6))*exp(‐1/2*s)

Gc =
(100/s‐2650113767660283/4398046511104/(s+6))*exp(‐1/2*s)*s

M =
30000

Olp =
‐1/131941395333120000*K*(2210309116549883*s‐2638827906662400)/s/(s+6)*exp(‐1/2*s)

Kt =
0.1500

Clp =
3‐10

ns Golnarraghi, Kuo

2
20/3*K*(2210 03091165498 883*s‐263882 279066624000)*exp(‐1/2*s)/(‐87960930 022208000000*s^2‐
5
52776558133 324800000*s++2210309116 6549883*K*eexp(‐1/2*s)*s‐‐2638827906 6662400*K*exxp(‐1/2*s))

s =
0

Ess =
220/3

Fsimp =
‐.10e3*exp(‐.550*s)*(5.*s‐6
6.)/s/(s+6.)

Gcsimp =
‐.10e3*exp(‐.550*s)*(5.*s‐6
6.)/(s+6.)

Olpsimp =
‐.10e‐2*K*exp p(‐.50*s)*(17
7.*s‐20.)/s/(s++6.)

Clpsimp =
55.*K*exp(‐.50
0*s)*(15.*s‐1
17.)/(‐.44e4*ss^2‐.26e5*s+1
11.*K*exp(‐.550*s)*s‐13.*K
K*exp(‐.50*s)))
3-16)
3‐11


3-17)
3-18)
1
5 6 3 0.5
1
0.5
1
0.5 1.5 0.5 0.5 0.5
0.5 0.5
0.5 0.5
0.5
u1 0.5 z1
1
3
0.5
1/s -1 1/s 1/s x1 0.5
-6
0.5 0.5 x3 x2 0.5
1 -5
1.5 1
u2 0.5 0.5
-0.5 z2
3‐12


3-19)
Ö
Ö
B1
B0 1/s 1 1/s
u y
x
-A1
-A0
3-20)
3‐13

ns Golnarraghi, Kuo

3
3-21)
3
3-22)
3‐14

ns Golnarraghi, Kuo

33-23)
3‐15

ns Golnarraghi, Kuo

3-24)
3
3-25)
3
3-26)
3
3-27)
3‐16

ns Golnarraghi, Kuo

33-28)
3‐17

ns Golnarraghi, Kuo

33-29)
3‐18

ns Golnarraghi, Kuo

3-30) Use Mason’ss formula:
3-31) MATLAB
syms s K
G=100//(s+1)/(s+5)
g=ilaplace(G/s)
H=K/s
YN=simmplify(G/(1+G*H))
Yn=ilapplace(YN/s)

G =
100/(ss+1)/(s+5)

g =
‐25*exxp(‐t)+5*expp(‐5*t)+20

H =
K/s
3‐19


YN =

100*s/(s^3+6*s^2+5*s+100*K)

Apply Routh‐Hurwitz within Symbolic tool of ACSYS (see chapter 3)

RH =

[ 1, 5]
[ 6, 100*k]
[ ‐50/3*k+5, 0]
[ 100*k, 0]
Stability requires: 0<k<3/10.

3‐20

ns Golnarraghi, Kuo

3‐32)

3‐21

ns Golnarraghi, Kuo

3‐33) M
MATLAB solu
utions are in
n 3‐34.

3‐34) M
MATLAB
clear all
1 5 6 10] % Define polynomial
p = [1 p s^3+5*s^2
2+6*s+10=0
(p)
roots(
G=tf(1
1,p)
step(G
G)

3‐22


p =
1 5 6 10

ans =
‐4.1337
‐0.4331 + 1.4938i
‐0.4331 ‐ 1.4938i
Transfer function:
1
‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐
s^3 + 5 s^2 + 6 s + 10

3‐23


Alternatively:
clear all
syms s
G=1/( s^3 + 5*s^2 + 6*s + 10)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^3+5*s^2+6*s+10)
y =
1/10+1/5660*sum((39*_alpha^2-91+160*_alpha)*exp(_alpha*t),_alpha =
RootOf(_Z^3+5*_Z^2+6*_Z+10))
s =
0
yfv =
0.1000

Problem finding the inverse Laplace.
Use Toolbox 2‐5‐1 to find the partial fractions to better find inverse Laplace
clear all
B=[1]
A = [1 5 6 10 0] % Define polynomial s*(s^3+5*s^2+6*s+10)=0
[r,p,k]=residue(B,A)
B =
1
A =
1 5 6 10 0
r =
-0.0152
-0.0424 + 0.0333i
-0.0424 - 0.0333i
0.1000
p =
-4.1337
-0.4331 + 1.4938i
-0.4331 - 1.4938i
0
k =
[]
1 −0.0152 −0.0424 + 0.0333i −0.0424 - 0.0333i
So partial fraction of Y is: + + +
s s − 4.1337 s − 0.4331 + 1.4938i s − 0.4331 - 1.4938i
3‐24

ns Golnarraghi, Kuo

3‐35) M
MATLAB solu
utions are in
n 3‐36.

3‐25


3‐36)
clear all
p = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
roots(p)
G=tf(1,p)
step(G)
p =
1 4 3 5 1
ans =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
Transfer function:
1
-----------------------------
s^4 + 4 s^3 + 3 s^2 + 5 s + 1
3‐26


Alternatively:
clear all
syms s t
G=1/(s^4+4*s^3+3*s^2+5*s+1)
y=ilaplace(G/s)
s=0
yfv=eval(G)
G =
1/(s^4+4*s^3+3*s^2+5*s+1)
y =
1-
1/14863*sum((3955*_alpha^3+16873+14656*_alpha^2+7281*_alpha)*exp(_alpha*t),_alp
ha = RootOf(_Z^4+4*_Z^3+3*_Z^2+5*_Z+1))
s =
0
yfv =
1
Problem finding the inverse Laplace.
Use Toolbox 2‐5‐1 to find the partial fractions to better find inverse Laplace
clear all
B=[1]
A = [1 4 3 5 1] % Define polynomial s^4+4*s^3+3*s^2+5*s+1=0
[r,p,k]=residue(B,A)
B =
1
A =
1 4 3 5 1
r =
-0.0235
-0.1068 + 0.0255i
-0.1068 - 0.0255i
0.2372
p =
-3.5286
-0.1251 + 1.1250i
-0.1251 - 1.1250i
-0.2212
k =
[]
3‐27

ns Golnarraghi, Kuo

3-37)
3-38) MATLAB
M
Use TFFcal in ACSY
YS (go to ACSYS foldeer and type in
n TFcal in th
he MATLAB
B Command
d
Windoow).
TFcal
3‐28

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Automatic Control Systems, 9th Edition Chapter 3 Solutions Golnaraghi, Kuo

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