A control system with negative unity feedback has a process and we wish to use proportional

plus integral compensation, where the steady-state error of this system for a ramp input is zero,
(a) Set K/ = 1 and find a suitable value of KP so the step response will have an overshoot of
approximately 20%. (b) What is th

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A unity feedback system is shown in Figure AP10.5. We want the step response of the system to
have an overshoot of about 10% and a settling time (with a 2% criterion) of about 4 seconds. (a)
Design a lead compensator Gc (s) to achieve the dominant roots desired, (b) Determine the step
response of the system when Gp

A system of the form of Figure 10.1 (a) with unity feedback has We desire the steady-state error
to a step input to be approximately 5% and the phase margin of the system to be approximately
45°. Design a lag network to meet these specifications.

For the system of Problem PI0.30, use a phase-lag compensator and attempt to achieve a phase
margin of approximately 50°. Determine the actual overshoot and peak time for the
compensated system.

A numerical path-controlled machine turret lathe is an interesting problem in attaining sufficient

accuracy [2, 23]. A block diagram of a turret lathe control system is shown. The gear ratio is n =
0.1. J - 10-3, and b - 10-2. It is necessary to attain an accuracy of 5 x 10-4 in., and therefore a
steady-state position

A system has the form shown in Figure 10.22, with A lead compensator is used, with (a)
Determine the overshoot and rise time for Gp (s) = 1 and for p = 3. (b) Select an appropriate
value for p that will give an overshoot of 1 % and compare the results.

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A unity feedback system of the form shown in Figure 10.1(a) has a plant (a) Determine the step
response when Gc(s) = l, and calculate the settling time and steady state for a ramp input r(t) = t,
t > 0. (b) Design a lag network using the root locus method so that the velocity constant is
increased to 10. Determine the

For the system described in Problem P10.13, the goal is to achieve a phase margin of 50° with
the additional requirement that the time to settle (to within 2% of the final value) be less than 4
seconds. Design a lead network to meet the specifications. As before, we require Kv = 2.

An automatic drug delivery system is used in the regulation of critical care patients suffering
from cardiac failure [24]. The goal is to maintain stable patient status within narrow bounds.
Consider the use of a drug delivery system for the regulation of blood pressure by the infusion of
a drug. The feedback control s
An uncompensated control system with unity feedback has a plant transfer function We want to
have a velocity error constant of Kv - 20. We also want to have a phase margin of approximately
45° and a closed-loop bandwidth greater than a) = 4 rad/s. Use two identical cascaded phase-
lead networks to compensate the syst

When a motor drives a flexible structure, the structure's natural frequencies, as compared to the
bandwidth of the servo drive, determine the contribution of the structural flexibility to the errors
of the resulting motion. In current industrial robots, the drives are often relatively slow, and the
structures are relat

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Consider the system is described in state variable form by y(t) = Cx(r) where Assume that the
input is a linear combination of the states, that is, u(t) = -Kx(r) + r(f), where r{t) is the reference
input and the gain matrix is K = [K1 K2]. Substituting u(t) into the state variable equation yields
the closed-loop

Tire plant dynamics of a chemical process are represented by We desire that the system have a
small steady-state error for a ramp input so that Kv = 100. For stability purposes, we desire a
gain margin of 10 dB or greater and a phase margin of 40° or greater. Determine a lead-lag
compensator that meets these specific

A unity negative feedback control system in a manufacturing system has a process transfer
function and it is proposed that we use a compensator to achieve a 5% overshoot to a step input.
The compensator is [4]

A three-axis pick-and-place application requires the precise movement of a robotic arm in three
dimensional space, as shown APlO.l for joint 2. The arm has specific linear paths it must follow
to avoid other pieces of machinery. The overshoot for a step input should be less than 13%. (a)
Let Gc (s) = K, and determine

The heading control of the traditional bi-wing aircraft, is represented by the block diagram. (a)
Determine the minimum value of the gain K when Gc{s) = K, so that the steady-state effect of a
unit step disturbance Td(s) = 1/sis less than or equal to 5% of the unit step (y(oo) = 0.05). (b)
Determine whether the syste

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NASA astronauts retrieved a satellite and brought it into the cargo bay of the space shuttle, as
shown in Figure E10.7(a). A model of the feedback control system is shown in Figure. E10.7(b).
Determine the value of K that will result in a phase margin of 40° when T = 0.6 s.

A stabilized precision rate table uses a precision tachometer and a DC direct-drive torque motor,
as shown in Figure P10.5. We want to maintain a high steady-state accuracy for the speed
control. To obtain a zero steady-state error for a step command design, select a proportional plus
integral compensator. Select the a

A unity feedback system has a plant Select a compensator Gc(s) so that the phase margin is at
least 75°. Use a two-stage lead compensator It is required that the error for a ramp input be
0.5% of the magnitude of the ramp input (Kv = 200).

The Avemar ferry, shown in Figure PI0.9(a), is a large 670-ton ferry hydrofoil built for
Mediterranean ferry service. It is capable of 45 knots (52 mph) [29]. The boat's appearance, like
its performance, derives from the innovative design of the narrow "wave piercing" hulls which
move through the water like racing shel

A magnetically levitated train is operating in Berlin, Germany. The M-Bahn 1600-m line
represents the current state of worldwide systems. Fully automated trains can run at short
intervals and operate with excellent energy efficiency. The control system for the levitation of
the car is shown. Select a compensator so tha

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A unity feedback system has a plant We desire to have a phase margin of 30° and a relatively
large bandwidth. Select the crossover frequency ct>c = 10 rad/s, and design a lead compensator.
Verify the results.

Repeat Example 10.12 when we want the 100% rise time Tr = l second.

A control system with a controller is shown. Select KP and Kf so that the overshoot to a step
input is equal to 5% and the velocity constant Kv is equal to 5. Verify the results of your design.

Two robots are shown cooperating with each other to manipulate a long shaft to insert it into the
hole in the block resting on the table. Long part insertion is a good example of a task that can
benefit from cooperative control. The unity feedback control system of one robot joint has the
process transfer function The

A system's open-loop transfer function is a pure time delay of 0.5 s, so that G(s) = e-s/2. Select a
compensator Gc(s) so that the steady-state error for a step input is less than 2% of the magnitude
of the step and the phase margin is greater than 30°. Determine the bandwidth of the
compensated system and plot the st

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Vehicles for lunar construction and exploration work will face conditions unlike anything found
on Earth. Furthermore, they will be controlled via remote control. A block diagram of such a
vehicle and the control are shown in Figure DP9.7. Select a suitable gain K when T = 0.5 s. The
goal is to achieve a fast step resp
Magnetic particle clutches are useful actuator devices for high power requirements because they
can typically provide a 200-W mechanical power output. The particle clutches provide a high
torque-to-inertia ratio and fast time-constant response. A particle clutch positioning system for
nuclear reactor rods is shown in F

Consider the unity feedback system shown in Figure E10.21. Design the controller gain, K, such
that the maximum value of the output y(t) in response to a unit step disturbance T(i(s) = l/s is less
than 0.1.

An engineering laboratory has presented a plan to operate an Earth-orbiting satellite that is to be

controlled from a ground station. A block diagram of the proposed system is shown. It takes T
seconds for a signal to reach the spacecraft from the ground station and the identical delay for a
return signal. The proposed

The control of a high-speed steel-rolling mill is a challenging problem. The goal is to keep the
strip thickness accurate and readily adjustable. The model of the control system is shown. Design
a control system by selecting K so that the step response of the system is as fast as possible with
an overshoot less than 0.

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The design of Example 10.3 determined a lead network in order to obtain desirable dominant
root locations using a cascade compensator Gc(s) in the system configuration shown in Figure
10.1 (a). The same lead network would be obtained if we used the feedback compensation
configuration. Determine the closed-loop transfer

Using the nyquist function, obtain the polar plot for the following transfer functions: (a) (b) (c)

A block diagram of the yaw acceleration control system for a bank-to-turn missile is shown. The
input is yaw acceleration command (in g's), and the output is missile yaw acceleration (in g's).
The controller is specified to be a proportional, integral (PI) controller. The nominal value of b0
is 0.5. (a) Using the marg

Modern micro analytical systems used for polymerase chain reaction (PCR) require fast, damped
tracking response. The control of the temperature of the PCR reactor can be represented as
shown. The controller is chosen to be PID controller, denoted by Gc(s), with a prefilter, denoted
by Gp(s). The transfer function is [3

A unity feedback system has a plant We desire that the phase margin be equal to 30°. For a
ramp input r(t) ~ t, we want the steady-state error to be equal to 0.05. Design a lag compensator
to satisfy the requirements. Verify the results.

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A DC motor control system with unity feedback has the form. Select K1 and K2 so that the
system response has a settling time (with a 2% criterion) less than 1 second and an overshoot less
than 5% for a step input.

For the system of Problem P10.20, we wish to achieve the same phase margin and Kv, but in
addition, we wish to limit the bandwidth to less than 10 rad/s but greater than 2 rad/s. Use a lead-
lag compensation network to compensate the system. The lead lag network could be of the form
where a is to be selected for the la

The stability and performance of the rotation of a robot (similar to waist rotation) presents a
challenging control problem. The system requires high gains in order to achieve high resolution;
yet a large overshoot of the transient response cannot be tolerated. The block diagram of an
electro hydraulic system for rotat

A magnetic tape recorder transport for modern computers requires a high-accuracy, rapid-
response control system. The requirements for a specific transport are as follows: (1) The tape
must stop or start in 10 ms, and (2) it must be possible to read 45,000 characters per second. This
system was discussed in Problem P7.l

For the system in CP9.8, use the nichols function to obtain the Nichols chart and determine the
phase margin and gain margin.

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A unity feedback system has the process transfer function Design the controller Gc(s) such that
the Bode magnitude plot of the loop transfer function L(s) = Gc(s)G(s) is greater than 20 dB for
« < 0.01 rad/s and less than - 2 0 dB for w < 10 rad/s. The desired shape of the loop transfer
function Bode plot magnitude i

Consider again the wind tunnel control system of Problem P7.31. When K = 326, find T(s) and
estimate the expected overshoot and settling time (with a 2% criterion). Compare your estimates
with the actual overshoot of 60% and a settling time of 4 seconds. Explain the discrepancy in
your estimates.

Materials testing requires the design of control systems that can faithfully reproduce normal
specimen operating environments over a range of specimen parameters [23]. From the control
system design viewpoint, a materials-testing machine system can be considered a
servomechanism in which we want to have the load wavefo

A liquid-level control system (see Figure 9.32) has a loop transfer function L(s) = Gc(s)G(s)H(s),
where H(s) = 1, Gc(s) is a compensator, and the plant is where T - 50 ms. Design a compensator
so that Mpu does not exceed 3.5 dB and
The control of an automobile ignition system has unity negative feedback and a loop transfer
function Ge(s)G(s), where A designer selects Kf/KP ~ 0.5 and asks you to determine KKP so
that the complex roots have a £ of 1/V2.

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An adaptive suspension vehicle uses a legged locomotion principle. The control of the leg can be
represented by a unity feedback system with [12] We desire to achieve a steady-state error for a
ramp input of 10% and a damping ratio of the dominant roots of 0.707. Determine a suitable lag
compensator, and determine the

An engineering design team is attempting to control a process shown in Figure PI0.27. The
system has a controller Gc(s), but the design team is unable to select Gc(s) appropriately. It is
agreed that a system with a phase margin of 50° is acceptable, but Gc (s) is unknown.
Determine Gc(s). First, let Gc(s) = K and fi

A negative unity feedback system has a plant where T = 2.8 ms. Select a compensator Gc(s) =
KP + Kt/s, so that the dominant roots of the characteristic equation have I equal to 1/V2. Plot y(t)
for a step input.

A negative feedback control system has the loop transfer function (a) When T = 0.2 s, find K
such that the phase margin is 40° using the margin function, (b) Obtain a plot of phase margin
versus T for K as in part (a), with 0 ≤ T ≤ 0.3 s.

A simplified version of the attitude rate control for the F-94 or X-15 type aircraft is shown in
Figure PI0.3. When the vehicle is flying at four times the speed of sound (Mach 4) at an altitude
of 100,000 ft, the parameters are [26] Design a compensator Gc(s) so that the response to a step
input has an overshoot of l

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A mobile robot for toxic waste cleanup is shown in Figure DP9.1(a) [23]. The closed-loop speed
control is represented by Figure 9.1 with H{s) = 1. The Nichols chart in Figure DP9.1(b) shows
the plot of Gc{jω) G(jω)/K versus ω. The value of the frequency at the points indicated is
recorded in the following table: (a

Tliere have been significant developments in the application of robotics technology to nuclear
power plant maintenance problems. Thus far, robotics technology in the nuclear industry has
been used primarily on spent-fuel reprocessing and waste management. Today, the industry is
beginning to apply the technology to such

A unity feedback control system has a plant transfer function We desire to attain a steady-state
error to a ramp r(f) = At of less than 0.05/1 and a phase margin of 30°. We desire to have a
crossover frequency coc of 10 rad/s. Use the methods of Section 10.9 to determine whether a
lead or a lag compensator is require

Consider again Example 10.12 when we wish to minimize the settling time of the system while
requiring that K < 52. Determine the appropriate compensator that will minimize the settling
time. Plot the system response.

A robot will be operated by NASA to build a permanent lunar station. The position control
system for the gripper tool is shown in Figure 10.1(a), where //(5) = I, and Determine a
compensator lag network Gc(s) that will provide a phase margin of 45°.

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Consider the system shown in Figure E 10.20. Design the proportional-derivative controller
Gc(s) = KP + KDs such that the system has a phase margin of 40° < P.M. =s 60°.

The system of Advanced Problem APlO.l is to have a percent overshoot less than 13%. In
addition, we desire that the steady-state error for a unit ramp input will be less than 0.125 (Kv =
8) [24]. Design a lag network to meet the specifications. Check the resulting percent overshoot
and settling time (with a 2% criterio

A unity feedback control system for a robot submarine has a plant with a third-order transfer
function [20]: We want the overshoot to be approximately 7.5% for a step input and the settling
time (with a 2% criterion) of the system be 400 ms. Find a suitable phase-lead compensator by
using root locus methods. Let the z

The design of a lunar excursion module (LEM) is an interesting control problem. The attitude
control system for the lunar vehicle is shown in Figure PI 0.1. The vehicle damping is negligible,
and the attitude is controlled by gas jets. The torque, as a first approximation, will be considered
to be proportional to the s

Consider the paper machine control, Develop an m-file to plot the bandwidth of the closed-loop
system as K varies in the interval 1 ≤ K ≤50.

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A unity feedback control system of the form shown in Figure 10.1(a) has a plant Select a lead-lag
compensator so that the percent overshoot for a step input is less than 5% and the settling time
(with a 2% criterion) is less than 1 second. It also is desired that the acceleration constant Ka be
greater than 7500 (see

The physical representation of a steel strip-rolling mill is a damped-spring system [8]. The output
thickness sensor is located a negligible distance from the output of the mill, and the objective is
to keep the thickness as close to a reference value as possible. Any change of the input strip
thickness is regarded as
A unity feedback control system has the plant transfer function Design a PID controller of the
form so that the closed-loop system has a settling time less than 1 second to a unit step input.

Consider the system shown in Figure P10.43 and let R(s) = 0 and T(i(s) = 0. Design the
controller Gc (s) = Ksuch that, in the steady-state, the response of the system y(t) is less than -40
dB when the noise N(s) is a sinusoidal input at a frequency of ≥ 100 rad/s.

Consider again the design for Example 10.4. Using a system as shown and the compensator
determined in Equation (10.46), select an appropriate prefilter. Compare the response of the
system with and without the prefilter.

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A unity feedback system of the form has Design a compensator Gc(s) so that the overshoot for a
step input R(s) is less than 5% and the steady-state error is less than 1 %. Determine the
bandwidth of the system.

Repeat Problem P10.5 by using a lead network compensator, and compare the results.

Flexible-joint robotic arms are constructed of lightweight materials and exhibit lightly damped
open-loop dynamics [15]. A feedback control system for a flexible arm. Select K so that the
system has maximum phase margin. Predict the overshoot for a step input based on the phase
margin attained, and compare it to the ac

A closed-loop feedback system is shown in Figure CP9.10. (a) Obtain the Nyquist plot and
determine the phase margin. Assume that the time delay T = 0 s. (b) Compute the phase margin
when T = 0.05 s. (c) Determine the minimum time delay that destabilizes the closed-loop system.

A computer uses a printer as a fast output device. We desire to maintain accurate position control
while moving the paper rapidly through the printer. Consider a system with unity feedback and a
transfer function for the motor and amplifier of Design a lead network compensator so that the
system bandwidth is 0.75 rad/

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An electro hydraulic actuator is used to actuate large loads for a robot manipulator. The system is
subjected to a step input, and we desire the steady-state error to be minimized. However, we
wish to keep the overshoot less than 10%. Let T = 0.8 s. (a) Select the gain K when Gc(s) - K,
and determine the resulting ove

An automated guided vehicle (AGV) can be considered as an automated mobile conveyor

designed to transport materials. Most AGVs require some type of guide path. The steering
stability of the guidance control system has not been fully solved. The slight "snaking" of the
AGV about the track generally has been acceptable,
For the system of Problem P10.20, design a phase lag network to yield the desired specifications,
with the exception that a bandwidth equal to or greater than 2 rad/s will be acceptable.

NASA has identified the need for large deployable space structures, which will be constructed of
lightweight materials and will contain large numbers of joints or structural connections. This
need is evident for programs such as the space station. These deployable space structures may
have precision shape requirements

Consider a unity feedback system with the transfer function We desire to obtain the dominant
roots with co" = 3 and £ = 0.5. We wish to obtain a Kv = 2.7. Show that we require a
compensator Determine the value of K that should be selected.

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List the five major trends that necessitate data warehousing in many organizations today.

Match the following terms and definitions: a. Lost previous data content b. Detailed historical
data c. Data not altered or deleted d. Data warehouse of limited scope e. Dimension and fact
tables f. Level of detail in a fact table g. Data filled from a warehouse h. structure that results
from hierarchical dimen

Construct a simple XML schema that describes a tutor. Include the tutor's last name, first name,
phone, e-mail address, and certification date as child elements of the TUTOR element.

A unity feedback system has a loop transfer function Plot the percent overshoot of the closed-
loop system response to a unit step input for K in the range 0 < K < 100. Explain the behavior of
the system response for K in the range 0.129 < K s 69.872.

Using the nichols function, obtain the Nichols chart with a grid for the following transfer
functions: (a) (b) (c)

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Match the following terms and definitions: Data transformation a. converts data formats Data
scrubbing b. correct errors in source data Selection c. partitioning of data based on predefined
criteria Data steward d. oversees data quality for a particular data subject Changed data capture
e. i

What are the six common steps needed to access databases from a typical program?

Why is HTML5 beneficial for developing mobile applications?

Pine Valley Furniture wants you to help design a data mart for analysis of sales. The subjects of
the f data mart are as follows: Salesperson……………………..Attributes: Salespersons,
Years with PVFC, SalespersonName, and SupervisorRating.
Product…………………………Attributes: ProductID,

Review the metadata file for the db_samwh database and the definitions of the database tables.
(You can use SHOW TABLE commands to display the DDL for tables.) Explain what
dimension data, if any, are maintained to support slowly changing dimensions. If there are
slowly changing dimension data, are they maintained as d

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Millennium College (see Problem and Exercise 9-28) now wants to include new data about
course sections: the department offering the course, the academic unit to which the department
reports, and the budget unit to which the department is assigned. Change your answer to Problem
and Exercise 9-28 to accommodate these new

Describe the differences between descriptive, predictive, and prescriptive analytics.

List the three types of metadata that appear in a three-layer data warehouse architecture and
briefly describe the purpose of each.

Explain how the volatility of a data warehouse is different from the volatility of a database for an
operational information system.

Define each of the following terms: a. Static extract b. Incremental extract c. Chief data officer d.
Master data management e. Refresh mode

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Agents change territories over time. If necessary, redesign your answer to Problem and Exercise
9-39 to handle this changing dimensional data. Fitchwood Insurance Company, which is
primarily involved in the sale of annuity products, would like to design a data mart for its sales
and marketing organization. Presently,

Match the following terms to the appropriate definitions: _______ Hive a. knowledge discovery
using a variety of statistical and computational techniques _______ Text mining b. analytics that
suggests mechanisms for achieving desired outcomes _______ Data lake c. tool that provides an
SQL-like interface for managing

Simplified Automobile Insurance Company would like to add a Claims dimension to its star
schema (see Problem and Exercise 9-30). Attributes of Claim are ClaimID, ClaimDescription,
and ClaimType. Attributes of the fact table are now PolicyPremium, Deductible, and
MonthlyClaimTotal. a. Extend the star schema from Proble

Match each of the following terms with the most appropriate definition:
What types of data transformations might be needed in order to build the Fitchwood data mart?

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Rewrite the example shown in Figure 8-4 using Java.

Describe the three major approaches to master data management.

Using the MDIFF "ordered analytical function" in Teradata SQL (see the Functions and
Operators manual), show the differences (label the difference CHANGE) in TOTAL (which you
calculated in the previous Problem and Exercise) from quarter to quarter. Hint: You will likely
create a derived table based on your query above,

The database you are using was developed by MicroStrategy, a leading business intelligence
software vendor. The MicroStrategy software is also available on TUN. Most business
intelligence tools generate SQL to retrieve the data they need to produce the reports and charts
and to run the models users want. Go to the Appl

Describe the advantages and disadvantages of three-tier architectures.

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What is the purpose of conformed dimensions for different star schemas within the same data
warehousing environment?

Explain the effect of the Sarbanes-Oxley Act on the need for organizations to improve data
quality.

You have been asked to prepare a report that evaluates possible client/server solutions to handle
a new customer application system for all branch offices. What business characteristics would
you evaluate? What technology characteristics would you evaluate? Why?

Because data warehouses and even data marts can become very large, it may be sufficient to
work with a subset of data for some analyses. Create a sample of orders from 2004 using the
SAMPLE SQL command (which is standard SQL); put a randomized allocation of 10 percent of
the rows into the sample. Include in the sample

List four objectives of derived data.

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List four characteristics of a data warehouse.

Examine the set of activities in Table 10-2 and categorize them as belonging to one of the
following categories: people ("who"), process ("how"), and technology ("what").
Define each of the following terms: a. Hadoop b. MapReduce c. HDFS d. NoSQL e. Pig f. Data
mining g. Online analytical processing h. Business intelligence

What is the meaning of the phrase "slowly changing dimension"?

Explain the most common approach used to handle slowly changing dimensions.

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Take the query you scrapped from Problem and Exercise 9-45 and modify it to show only the
U.S. region grouped by each quarter, not just for 2005 but for all years available, in order by
quarter. Label the total orders by quarter with the heading TOTAL and the region ID simply as
ID in the result. Produce a file with th

Visit www.teradatauniversitynetwork.comand download the dimensional modeling tool located

under the downloadable software section. Use this tool to draw your answers to Problems and
Exercises 9-28, 9-30, 9-31, and 9-34. Write a report that comments on the usefulness of this
modeling tool. What other features would you

Contrast the following terms: a. Two-tier architecture; three-tier architecture b. Fat client; thin
client c. ODBQJDBC d. SOAP; XSLT e. SQL; XQuery f. Web services; SOA

Why is massively parallel processing very important in the context of big data?

List five errors and inconsistencies that are commonly found in operational data.

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Customers may have relationships with one another (e.g., spouses, parents and children).
Redesign your answer to Problem and Exercise 9-40 to accommodate these relationships.
Fitchwood Insurance Company, which is primarily involved in the sale of annuity products,
would like to design a data mart for its sales and mar

Locate three sites on the Web that have interactive database systems attached to them. Evaluate
the functionality of each site and discuss how its interactive database system is likely to affect
that functionality. If you're not sure where to start, try www.amazon.com.

Rewrite the example shown in Figure 8-5 using VB.NET.

Describe the key steps to improve data quality in an organization.

A food manufacturing company needs a data mart to summarize facts about orders to move
goods. Some orders transfer goods internally, some are sales to customers, some are purchases
from vendors, and some are returns of goods from customers. The company needs to treat
customers, vendors, plants, and storage locations as
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What distinguishes master data management from other forms of data integration?

What is a hierarchy as it relates to a dimension table?

Is a star schema a relational data model? Why or why not?

Contrast the following terms: a. Transient data; periodic data b. Data warehouse; data mart;
operational data store c. Reconciled data; derived data d. Fact table; dimension table e. Star
schema; snowflake schema f. Independent data mart; dependent data mart; logical data mart g.
Status versus event data

In what ways are dimension tables often not normalized?

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Explain how the phrase "extract-transform-load" relates to the data reconciliation process.

You are to construct a star schema for Simplified Automobile Insurance Company (see Kimball,
1996b, for a more realistic example). The relevant dimensions, dimension attributes, and
dimension sizes are as follows: Facts to be recorded for each combination of these dimensions
are PohcyPremium, Deductible, and NumberOfT

Discuss some of the languages that are associated with Internet application development.
Classify these languages according to the functionality they provide for each application. It is not
necessary that you use the same classification scheme used in the chapter.

Describe some field-level and record-level data trans-formations that often occur during the ETL
process for loading a data warehouse.

Using your schema from Problem and Exercise 8-27 write an XSLT program to display the tutor
information in the form of an HTML table.

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Briefly describe the major components of a data warehouse architecture.

Visit www.kimballgroup.comand locate Kimball University Design Tip 37. Study this design tip
and draw the dimensional model for the recommended design for a "pipeline" application for
university admissions.

Describe the common components needed to create a Web-based application.

Describe the characteristics of a surrogate key as used in a data warehouse or data mart.

List five claimed limitations of independent data marts.

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Millennium College wants you to help design a star schema to record grades for courses
completed by students. There are four dimension tables, with attributes as follows:
CourseSection……………………..Attributes: CourselD, SectionNumber, CourseName,
Units, RoomID, and RoomCapacity. During a given semester,

The OLTP system data for the Fitchwood Insurance Company is in a series of flat files. What
process do you envision would be needed in order to extract the data and create the ERD shown
in Figure 9-21? How often should the extraction process be performed? Should it be a static
extract or an incremental extract?

On page 424, we identified four dimensions along which poor data might impact a business. For
a company of your choice, for example, a hospital, identify one or more scenarios that could
serve as a good example for each type of impact.

How can data capture processes be improved to improve data quality?

List six typical characteristics of reconciled data.

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List several major advantages of the client/server architecture compared with other computing
approaches.

What is data profiling, and what role does it play in a data quality program?

What are four reasons why data quality is important to an organization?

Describe the advantages and disadvantages of two-tier architectures.

Any successful data governance program needs to address the people ("who"), ("how"), and
technology ("what") aspects. Based on your reading of Chapter 10, provide some examples for
each of these categories.

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List two claimed benefits of independent data marts.

Describe the current key trends in data warehousing.

Contrast the following terms: a. Static extract; incremental extract b. Data scrubbing; data
transformation c. Consolidation; federation d. ETL; master data management

Why is master data management important in an organization?

What types of data pollution/cleansing problems might occur with the Fitchwood OLTP system
data?

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Discuss the impact that the emergence of Internet of Things will have on the need for advanced
big data and analytics technologies.

Define the eight characteristics of quality data.

GROUP BY by itself creates subtotals by category, and the ROLLUP extension to GROUP BY
creates even more categories for subtotals. Using all the orders, do a rollup to get total order
amounts by product, sales region, and month and all combinations, including a grand total.
Display the results sorted by product, region

List the ten essential rules for dimensional modeling.

Consider the example code shown in Figure 8-10. Assume that instead of accessing data from a
local server, you are going to access data from a cloud provider that offers the appropriate
application server (i.e., JSP) and database technologies. What changes, if any, do you have to
make to the example code segment(s)?

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The following table shows some simple student data as of the date 06/20/2015: The following
transactions occur on 06/21/2015: • Student 004 changes major from Math to Business. •
Student 005 is deleted from the file. • New student 006 is added to the file: Name is Jim,
Major is Phys Ed. The following transac

Having mastered the principles of normalization described in Chapter 4, you recognize

immediately that the star schema you developed for Millennium College (Problem and Exercise
4-30) is not in third normal form. Using these principles, convert the star schema to a snowflake
schema. What impact (if any) does this have

Explain the difference between a static Web site and a dynamic one. What are the characteristics
of a dynamic Web site that enable it to better support the development of e-business?

Create a star schema for this case study. How did you handle the time dimension? Fitchwood
Insurance Company, which is primarily involved in the sale of annuity products, would like to
design a data mart for its sales and marketing organization. Presently, the OLTP system is a
legacy system residing on a shared networ

After some further analysis, you discover that the commission field in the Policies table is
updated yearly to reflect changes in the annual commission paid to agents on existing policies.
Would knowing this information change the way in which you extract and load data into the data
mart from the OLTP system?

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What is a helper table, and why is it often used to help organize derived data?

What types of skills are essential for competency in predictive modeling?

Historically, what types of applications have moved quickly to client/server database systems?
What types have moved more slowly, and why? What do you think will happen in the future to
the ratio of client/ server database systems versus mainframe database systems?

Explain the core principle of the MapReduce algorithm.

List and briefly describe five steps in the data reconciliation process.

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Why is time almost always a dimension in a data warehouse or data mart?

Explain the progression from decision support systems to analytics through business intelligence.

As mentioned in the chapter, Kimball (1997), Inmon (1997, 2000), and Armstrong (2000) have
debated the merits of independent and dependent data marts and normalized versus denormalized
data marts. Obtain copies of these articles from your library or from online sources and
summarize the arguments made by each side of t

What are the key components of a data governance program? How does data stewardship relate
to data governance?

Explain the pros and cons of logical data marts.

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The Pine Valley databases for this textbook (one small version illustrated in queries throughout
the text and a larger version) are available to your instructor to download from the text's Web
site. Your instructor can make those databases available to you. Alternatively, these and other
databases are available at www.

List common tasks performed during data cleansing.

Explain four reasons why the quality of data is poor in many organizations.

Define each of the following terms: a. Data warehouse b. Data mart c. Reconciled data d.
Derived data e. Enterprise data warehouse f. Real-time data warehouse g. Star schema h.
Snowflake schema i. Grain j. Conformed dimension
JSON is widely used in the context of NoSQL databases. What is its primary role?

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A disk drive read-write head-positioning system has a system. The process transfer function is
Accurate control using a digital compensator is required. Let T = 10 ms and design a
compensator, D(z), using (a) the Gc(s)-to-D(z) conversion method and (b) the root locus method.

One promising solution to traffic gridlock is a magnetic levitation (maglev) system. Vehicles are
suspended on a guide way above the highway and guided by magnetic forces instead of relying
on wheels or aerodynamic forces. Magnets provide the propulsion for the vehicles [7,12,17].
Ideally, maglev can offer the environm

Consider the control system, where The value of / is known to change slowly with time,
although, for design purposes, the nominal value is chosen to be J = 25. (a) Design a PID
compensator (denoted by Gc(s)) to achieve a phase margin greater than 45° and a bandwidth
less than 4 rad/s. (b) Using the PID controlle

Discuss the role of OLAP in the context of descriptive analytics.

Review the metadata file for the db_samwh database and the definitions of the database tables.
(You can use SHOW TABLE commands to display the DDL for tables.) Explain the methods
used in this database for modeling hierarchies. Are hierarchies modeled as described in this
chapter?

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Future astronauts may drive on the Moon in a pressurized vehicle that would have a range of 620
miles and could be used for missions of up to six months. Boeing Company engineers first
analyzed the Apollo-era Lunar Roving Vehicle, and then designed the new vehicle, incorporating
improvements in radiation and thermal pr

(a) Determine y(kT) for k = 0 to 3 when

The function of a steel plate mill is to roll reheated slabs into plates of scheduled thickness and
dimension [5, 10). The final products are of rectangular plane view shapes having a width of up
to 3300 mm and a thickness of 180 mm. A schematic layout of the mill is shown. The mill has
two major rolling stands, denot

A unity negative feedback loop has the loop transfer function We know from the underlying
physics of the problem that the parameter a can vary only between 0 < a < 1. Develop an m-file
script to generate the following plots: (a) The steady-state tracking error due to a negative unit
step input (i.e., R(s) = -1/s ) ve
Repeat Exercise 12.6, striving to achieve a minimum settling time while adding the constraint
that |u(t)| < 80 for t > 0 for a unit step input, r(t) = l , l > 0.

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State whether the following signals are discrete or continuous: (a) Elevation contours on a map.
(b) Temperature in a room. (c) Digital clock display. (d) The score of a basketball game. (e) The
output of a loudspeaker.

A position control system for a large turntable is shown, and the block diagram of the system is
shown. This system uses a large torque motor with Km = 15. The objective is to reduce the
steady-state effect of a step change in the load disturbance to 5% of the magnitude of the step
disturbance while maintaining a fast

A system has G{z) as described by Equation (13.34) with T = 0.01 s and r = 0.008 s. (a) Find K
so that the overshoot is less than 40%. (b) Determine the steady-state error in response to a unit
ramp input. (c) Determine K to minimize the integral squared error.

Consider the closed-loop system depicted in Figure DPI 2.2. The process has a parameter K that
is nominally K = 1 Design a controller that results in a percent overshoot P.O. ≤ 10% for a
unit step input for all K in the range 0.1 ≤ K ≤ 2.

Consider the computer-compensated system when T = 1 and Select the parameters K and r of{z)
when Select within the range 1 < K < 2 and 0 < r < 1. Determine the response of the
compensated system and compare it with the uncompensated system.

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Consider the open-loop sampled-data system shown in Figure E13.16. Determine the transfer
function G (z) and when the sampling time T - 0.5 s.

One arm of a space robot is shown. The block diagram for the control of the arm is shown. The
transfer function of the motor and arm is (a) If Gc(s) = K, determine the gain necessary for an
overshoot of 4.5%, and plot the step response, (b) Design a proportional plus derivative (PD)
controller using the ITAE method an

Antiskid braking systems present a challenging control problem, since brake/automotive system
parameter variations can vary significantly (e.g., due to the brake-pad coefficient of friction
changes or road slope variations) and environmental influences (e.g., due to adverse road
conditions). The objective of the antisk

Consider the sampled data system with the loop transfer function (a) Plot the root locus using the
r locus function. (b) From the root locus, determine the range of K for stability. Use the rlocfind
function.
Consider the closed-loop second-order system y = [2 0]x + [0]µ. Compute the sensitivity of the
closed-loop system to variations in the parameter K.

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Consider the unmanned underwater vehicle (UUV) problem presented in DP4.7. The control
system is shown in Figure P12.1, where R(s) - 0, the desired roll angle, and Td[s) = 1/s. We
select Gc(s) = K(s + 2), where K = 4. (a) Plot 20 log |T| and 20 og|STK| on a Gc(s) = K(s - 1)
Bode diagram, (b) Evaluate |STK| at wb,wb/2 a

The system described in DP12.4 is to be designed using the frequency response techniques
described in Section 12.6 with Select the coefficients of Gc(s) so that the phase margin is
approximately 45°. Obtain the step response of the system with and without a prefilter Gp(s).

A machine-tool system has the form with The sampling rate is chosen as T = I s . We desire the
step response to have an overshoot of 16% or less and a settling time (with a 2% criterion) of 12
seconds or less. Also, the error to a unit ramp input, r(t) = r, must be less than or equal to 1.
Design a D(z) to achieve the

Objects smaller than the wavelengths of visible light are a staple of contemporary science and
technology. Biologists study single molecules of protein or DNA; materials scientists examine
atomic-scale flaws in crystals; microelectronics engineers lay out circuit patterns only a few
tenths of atoms thick. Until recentl

For the system in Problem P13.4, let r(r) be a unit step input and calculate the response of the
system by synthetic division.

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A suspended, mobile, remote-controlled system to bring three-dimensional mobility to

professional NFL football is shown. The camera can be moved over the field as well as up and
down. The motor control on each pulley is represented with We wish to achieve a phase margin
of 45° using Gc(s). Select a suitable crossover

The goal is to design an elevator control system so that the elevator will move from floor to floor
rapidly and stop accurately at the selected floor. The elevator will contain from one to three
occupants. However, the weight of the elevator should be greater than the weight of the
occupants; you may assume that the el

The industrial process is known to have a time delay in the loop. In practice, it is often the case
that the magnitude of system time delays cannot be precisely determined. The magnitude of the
time delay may change in an unpredictable manner depending on the process environment. A
robust control system should be able
The closed-loop transfer function of a sampled data system is given by (a) Compute the unit step
response of the system using the step function, (b) Determine the continuous- time transfer
function equivalent of T(z) using the d2c function and assume a sampling period of T = 0.1 s. (c)
Compute the unit step respon

Develop an m-file to plot the unit step response of the system Verify graphically that the steady-
state value of the output is 1.

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Find the response for the first four sampling instants for Then find y(Q),y(l), y(2), and y(3).

Consider the feedback system. Obtain the root locus and determine the range of K for stability.

A motor and load with negligible friction and a voltage- to-current amplifier Ka is used in the
feedback control system, shown in Figure P12.7. A designer selects a PID controller where KP =
5, Kt = 500, and KD = 0.0475. (a) Determine the appropriate value of Ku so that the phase
margin of the system is 30°. (b) For

Computer control of a robot to spray paint an automobile is shown by the system. The system is
of the type, where and we want a phase margin of 45°. A compensator for this system was
obtained in Section 10.8. Obtain the D(z) required when T = 0.001s.

A robot has been designed to aid in hip-replacement surgery. The device, called RoBoDoc, is
used to precisely orient and mill the femoral cavity for acceptance of the prosthetic hip implant.
Clearly, we want a very robust surgical tool control, because there is no opportunity to redrill a
bone [21,27].The control syste

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The Gamma-Ray imaging Device (GRID) is a NASA experiment to be flown on a long-duration,

high-altitude balloon during the coming solar maximum. The GRID on a balloon is an
instrument that will qualitatively improve hard X-ray imaging and carry out the first gamma-ray
imaging for the study of solar high-energy phenomena

A system of the form shown in Figure 12.1 has where 3 ≤ p ≤ 5,0 ≤ q ≤ 1, and 1 â
‰¤ r ≤ 2. we will use a compensator with all real poles and zeros. Select an appropriate
compensator to achieve robust performance.

Consider the mobile, remote-controlled video camera system presented in DP4.8.The control
system is shown, where TX - 20 ms and TI - 2 ms. (a) Select K so that Mpw = 1.84. (b) Plot 20
log|T| and 201og|STK| on one Bode diagram, (c) Evaluate |STK| at wB, wB/2, and w B/4. (d) Let
R(s) = 0 and determine the effect of Td (

Plot the root locus for the system Find the range of K for stability.
A closed-loop system has calculate and plot y{kT) for 0 ≤ k ≤ 8 when T = 1 s and the
input is a unit step.

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Vehicle traction control, which includes antiskid braking and anti spin acceleration, can enhance
vehicle performance and handling. The objective of this control is to maximize tire traction by
preventing the wheels from locking during braking and from spinning during acceleration.
Wheel slip, the difference between

The input to a sampler is r{t) = sin(ωt), where (o = l/π. The output of the sampler enters a zero
order hold. Plot the output of the hold circuit p(t) for the first 2 seconds when T = 0.25 s.

Consider the feedback control system in Figure CP12.4. The exact value of parameter b is
unknown; however, for design purposes, the nominal value is taken to be h = 4. The value of a -
8 is known very precisely. (a) Design the proportional controller K so that the closed-loop
system response to a unit step input has a

An industrial grinding process is given by the transfer function [15] The objective is to use a
digital computer to improve the performance, where the transfer function of the computer is
represented by D(z). The design specifications are (1) phase margin greater than 45°, and (2)
settling time (with a 2% criterion)

(a) Find the values y(kT) when for k = 0 to 4.

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A unit ramp r(t) = t , t > 0, is used as an input to a process where G(s) = l/(s + 1), as shown in
Figure P13.3. Determine the output y (kT) for the first four sampling instants. FIGURE P13.3
Sampling system.

A temperature system has a process transfer function and a sampling period T of 0.5 second. (a)
Using D(z) = K, select a gain K so that the system is stable, (b) The system may be slow and
over damped, and thus we seek to design a lead network using the method of Section 10.5.
Determine a suitable controller Gc(s)

A system of the form has Determine the range of sampling period T for which the system is
stable. Select a sampling period T so that the system is stable and provides a rapid response.

Find the z-transform of when the sampling period is 1 second.

A unity feedback system, has If the system is continuous (T = 0), then K = 1 yields a step
response with an overshoot of 16% and a settling time (with a 2% criterion) of 8 seconds. Plot
the response for 0 ≤ T ≤ 1.2, varying T by increments of 0.2 when K = 1. Complete a table
recording overshoot and settling time v
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A plant has a transfer function We want to use a negative unity feedback with a PID controller
and a prefilter. The goal is to achieve a peak time of 1 second with ITAE-type performance.
Predict the system overshoot and settling time (with a 2% criterion) for a step input.

A system has a response y{kT) = kT for k Find Y(z) for this response.

The input to a sampler is r(t) = sin (ωt), where ω = I/π. Plot the input to the sampler and the
output r*{t) for the first 2 seconds when T - 0.25 s.

Design a PID controller for the capstan-slide system. The percent overshoot should be less than
3% and the settling time should be (with a 2% criterion) less than 250 ms for a step input r{t).
Determine the response to a disturbance for the designed system.

We have a function Using a partial fraction expansion of Y(s) and Table 13.1, find Y(z) when T
= 0 .1s.

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Consider the system with where K1 = 1.5 and T ≈ 0.001 second, which may be neglected.
(Check this later in the design process.) Select a PID controller so that the settling time (with a
2% criterion) for a step input is less than 1 second and the overshoot is less than 10%. Also, the
effect of a disturbance at the o

Consider the system of Figure 12.1 with where K = 1 under normal conditions. Design a PID
controller to achieve a phase margin of 50°. The controller is with complex zeros. Determine
the effect of a change of ± 25% in K1 by developing a tabular record of the phase margin as K1
varies.

A system has a process function with K = 10 and negative unity feedback with a PD
compensator Gc(s) = Kp + KDs. The objective is to design Gc(s) so that the overshoot to a step
is less than 5% and the settling time (with a 2% criterion) is less than 3 sec. Find a suitable Gc(s).
What is the effect of varying the pro

Many university and government laboratories have constructed robot hands capable of grasping
and manipulating objects. But teaching the artificial devices to perform even simple tasks
required formidable computer programming. Now, however, the Dexterous Hand Master (DHM)
can be worn over a human hand to record the side

The transfer function of a plant and a zero-order hold is (a) Plot the root locus, (b) Determine the
range of gain K for a stable system.

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An aircraft aileron can be modeled as a first order system where p depends on the aircraft. Obtain
a family of step responses for the aileron system in the feedback configuration shown in Figure
CP12.2. The nominal value of p = 10. Compute a reasonable value of K so that the step response
(with p = 10) has Ts < 0.1s.

A system of the form has D(z) = k and When T = 0.05, find a suitable K for a rapid step response
with an overshoot less than 10%.

A closed-loop feedback system is shown. Use an m-file to obtain a plot of | STK | versus ω.
Plot |T(s)| versus ω, where T(s) is the closed-loop transfer function.

Consider the control system shown when G{s) - /{s + 5)2, and select a PID controller so that the
settling time (with a 2% criterion) is less than 1.5 second for an ITAE step response. Plot y(t) for
a step input r(t) with and without a prefilter. Determine and plot y(t) for a step disturbance.
Discuss the effectiveness

Determine whether the closed-loop system with T(z) is stable when unstable

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A sampled-data system with a sampling period T = 0.05s is (a) Plot the root locus, (b) Determine
K when the two real poles break away from the real axis, (c) Calculate the maximum K for
stability.

A PID controller is used in the system in Figure 12.1, where The gain KD of the controller
(Equation (12.33)) is limited to 200. Select a set of compensator zeros so that the pair of closed-
loop roots is approximately equal to the zeros. Find the step response for the approximation in
Equation (12.35) and the actual r

The use of control theory to provide insight into neurophysiology has a long history. As early as
the beginning of the last century, many investigators described a muscle control phenomenon
caused by the feedback action of muscle spindles and by sensors based on a combination of
muscle length and rate of change of musc

Consider a system with a zero-order hold, a process and T = 0.1 s. (a) Let D(z) = K and
determine the transfer function G(z)D(z). (b) Determine the characteristic equation of the closed-
loop system, (c) Calculate the maximum value of K for a stable system. (d) Determine K such
that the overshoot is less than 30

The characteristic equation of a sampled system is z2 + (K - 4)z + 0.8 = 0. Find the range of K so
that the system is stable.

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The space shuttle, with its robotic arm,. An astronaut controls the robotic arm and gripper by
using a window and the TV cameras [9]. Discuss the use of digital control for this system and
sketch a block diagram for the system, including a computer for display generation and control.

A model of the feedback control system is shown for an electric ventricular assist device. This
problem was introduced in AP9.11. The motor, pump, and blood sac can be modeled by a time
delay with T = 1 s. The goal is to achieve a step response with less than 5% steady-state error
and less than 10% overshoot. Furthermo

Plastic extrusion is a well-established method widely used in the polymer processing industry
[12]. Such extruders typically consist of a large barrel divided into several temperature zones,
with a hopper at one end and a die at the other. Polymer is fed into the barrel in raw and solid
form from the hopper and is push

A closed-loop system, has a process where a is adjustable to achieve a suitable response. Plot the
root locus when a = 10. Determine the range of K for stability when T = 1 s.

Consider the three dimensional shown. This problem was first introduced in DP5.7. The control
of x may be achieved with a DC motor and position feedback of the form shown, with the DC
motor and load represented by where 1 ≤ K ≤ 3 and 1 ≤ p ≤ 3. Normally K = 2.5
and p = 2. Design an ITAE system with a PID contr

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A model of a flexible structure is given by where ωn is the natural frequency of the flexible
mode, and £ is the corresponding damping ratio. In general, it is difficult to know the structural
damping precisely, while the natural frequency can be predicted more accurately using well-
established modeling techniques.

A machine tool control system is shown. The transfer function of the power amplifier, prime
mover, moving carriage, and tool bit is The goal is to have an overshoot less than 25% for a step
input while achieving a peak time less than 3 seconds. Determine a suitable controller using (a)
PD control, (b) PI control, and

For the output of the system in Problem P13.4, find the initial and final values of the output
directly from Y(z).

A closed-loop system with a sampler and hold, has a process transfer function Calculate and plot
y{kT) for 0 < T < 0.6 when T - 0.1 s. The input signal is a unit step.

An automatically guided vehicle is shown in Figure P12.4(a) and its control system is shown in
Figure P12.4(b). The goal is to track the guide wire accurately, to be insensitive to changes in the
gain K1, and to reduce the effect of the disturbance [15, 22]. The gain K1 is normally equal to 1
and T1 = 1/25 second. (a)
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Consider the closed-loop sampled-data system. Determine the acceptable range of the parameter
K for closed-loop stability.

Convert the following continuous-time transfer functions to sampled-data systems using the
function. Assume a sample period of 1 second and a zero order hold GQ(S).

Consider the open-loop sampled-data system. Determine the transfer function G(z) when the
sampling time is T = 1 s.

A roll-wrapping machine (RWM) receives, wraps, and labels large paper rolls produced in a
paper mill [9, 16]. The RWM consists of several major stations: positioning station, waiting
station, wrapping station, and so forth. We will focus on the positioning station. The positioning
station is the first station that sees

A unity feedback system, has a plant with T = 0.5. Determine whether the system is stable when
K = 5. Determine the maximum value of K for stability.

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A system has the form shown in Figure E12.6 with

What, in general terms, is the distinction between computer organization and computer
architecture?

Consider a system with the structure with where 1 ≤ a ≤ 3 and 2 ≤ K ≤ 4. Use a
PID controller and design the controller for the worst-case condition. We desire that the settling
time (with a 2% criterion) be less than 0.8 second with an ITAE performance.

Design a digital controller for the system using the second-order model of the motor-capstan-
slide as described. Use a sampling period of T = 1 ms and select a suitable D(z) for the system
shown. Determine the response of the designed system to a step input r(t).

(a) For the system described in Problem P13.10, design a lag compensator Gc(s) using the
methods of Chapter 10 to achieve an overshoot less than 30% and a steady-state error less than
0.01 for a ramp input. Assume a continuous non sampled system with Gp(s). (b) Determine a
suitable D(z) to satisfy the requirements of

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The space station orientation controller described in Exercise E7.6 is implemented with a
sampler and hold and has the transfer function. (a) Plot the root locus, (b) Determine the value of
K so that two of the roots of the characteristic equation are equal, (c) Determine all the roots of
the characteristic equation f
To minimize vibrational effects, a telescope is magnetically levitated. This method also
eliminates friction in the azimuth magnetic drive system. The photo detectors for the sensing
system require electrical connections. The system block diagram is shown. Design a PID
controller so that the velocity error constant is

Consider the system with The goal is to select a PI controller using the ITAE design criterion
while constraining the control signal as |µ(t) ≤ 1 for a unit step input. Determine the
appropriate PI controller and the settling time (with a 2% criterion) for a step input. Use a
prefilter.

A manufacturer uses an adhesive to form a seam along the edge of the material. It is critical that
the glue be applied evenly to avoid flaws; however, the speed at which the material passes
beneath the dispensing head is not constant. The glue needs to be dispensed at a rate proportional
to the varying speed of the mat

A closed-loop system, has and T = 1 s. Plot the root locus for K ≥ 0, and determine the gain K
that results in the two roots of the characteristic equation on the z-circle (at the stability limit).

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A system has a process transfer function (a) Determine G(z) for Gp(s) preceded by a zero-order
hold with T = 0.05 s. (b) Determine whether the digital system is stable, (c) Plot the impulse
response of G(z) for the first 15 samples, (d) Plot the response for a sine wave input with the
same frequency as the natural fre

A closed-loop system has a hold circuit and process. Determine G(z) when T = 1 and

A closed-loop system is shown. This system represents the pitch control of an aircraft. The
process transfer function is Gp(s) = K/[ s(0.5s + 1)]. Select a gain K and sampling period T so
that the overshoot is limited to 0.3 for a unit step input and the steady-state error for a unit ramp
input is less than 1.0.

Magnetic levitation (maglev) trains may replace airplanes on routes shorter than 200 miles. The
maglev train developed by a German firm uses electromagnetic attraction to propel and levitate
heavy vehicles, carrying up to 400 passengers at 300-mph speeds. But the j-inch gap between car
and track is difficult to maintai

A unity feedback system has a nominal characteristic equation q(s) = s3 + 3s2 + 3s + 6 = 0. The
coefficients vary as follows: 2 ≤ a2 ≤ 4, 1 ≤ a1 ≤ 4, 4 ≤ a0 ≤ 5. Determine
whether the system is stable for these uncertain coefficients.

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A system is described by the matrix equations Determine whether the system is controllable and
observable.
A system is represented by the differential equation where y = output and u = input. (a) Develop
a state variable representation and show that it is a controllable system, (b) Define the state
variables as x1 = y and x2 = dy/dt -µ, and determine whether the system is controllable. The
controllability of a system dep

Consider again the system of Example 11.7 when we desire that the steady-state error for a step
input be zero and the desired roots of the characteristic equation be s = -2 ± jl and .s = -10.

A sampled-data system closed-loop block diagram is shown in Figure DPI 3.6. Design D{z) to
such that the closed-loop system response to a unit step response has a percent overshoot P.O.â
‰¤ 12% and a settling time T ≤ 20 s.

For the control system with G(s) = /(s + 4)2, select a PID controller to achieve a settling time
(with a 2% criterion) of less than 1.0 second for an ITAE step response. Plot y(t) for a step input
r(t) with and without a prefilter. Determine and plot y(t) for a step disturbance. Discuss the
effectiveness of the system.

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The Radisson Diamond uses pontoons and stabilizers to damp out the effect of waves hitting the
ship. The block diagram of the ship's roll control system is shown. Determine the feedback gains
K2 and K^ so that the characteristic roots are s = -15 and s = -2 ± j2. Plot the roll output ϕ(t)
for a unit step disturbance.

A linearized model of a vertical takeoff and landing (VTOL) aircraft is [24] where and The state
vector components are (i) x1 is the horizontal velocity (knots), (ii) x2 is the vertical velocity
(knots), (iii) .x3 is the pitch rale (degrees/second), and (iv) ,v4 is the pitch angle (degrees). The
input ii is used mai

Consider the automatic ship-steering system discussed in Problems P8.ll and P9.15.The state
variable form of the system differential equation is (a) Determine whether the system is stable,
(b) Feedback can be added so that Determine whether this system is stable for suitable values of
k1 and k3.

A coupled-drive apparatus is shown. The coupled drives consist of two pulleys connected via an
elastic belt, which is tensioned by a third pulley mounted on springs providing an under damped
dynamic mode. One of the main pulleys, pulley A, is driven by an electric DC motor. Both
pulleys A and B are fitted with tachomet

A system has the vector differential equation as given in Equation (11.42). We want both state
variables to be used in the feedback so that u(t) = -ki{Xi - k2 x2. Also, we desire to have a
natural frequency wn for this system equal to 2. Find a set of gains k1 and k2 in order to achieve
an optimal system when J is give
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Consider again the system of Example 11.7 when we desire that the steady-state error for a ramp
input be zero and the roots of the characteristic equation be s = -2 ± j2 and s = -20.

A negative feedback control system is shown. Design the proportional controller Gc(s) = K so
that the system has a 40° phase margin. Develop an m-file to obtain a Bode plot and verify that
the design specification is satisfied.

A closed-loop unity feedback system has the loop transfer function where b is normally equal to
8. Determine Si and plot |r(;'a>)| and S(ja)) on a Bode plot.

A system is described by the matrix equations y = [l 0]x. Determine whether the system is
controllable and observable.

The head box process is used in the manufacture of paper to transform the pulp slurry flow into a
jet of 2 cm and then spread it onto a mesh belt [22]. To achieve desirable paper quality, the pulp
slurry must be distributed as evenly as possible on the belt, and the relationship between the
velocity of the jet and that

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Consider the device for the magnetic levitation of a steel ball. Obtain a design that will provide a
stable response where the ball will remain within 10% of its desired position. Assume that y and
dy / dt are measurable.

A high-performance helicopter has a model. The goal is to control the pitch angle 0 of the
helicopter by adjusting the rotor thrust angle 8. The equations of motion of the helicopter are
where x is the translation in the horizontal direction. For a military high-performance helicopter,
we find that all in appropriat

The motion control of a lightweight hospital transport vehicle can be represented by a system of
two masses, where m1 - m2 = 1 and k1= k2 = 1 [21]. (a) Determine the state vector differential
equation, (b) Find the roots of the characteristic equation, (c) We wish to stabilize the system by
letting u = -kx1,, where u i

A simple closed-loop control system has been proposed to demonstrate proportional-integral (PI)
control of a windmill radiometer [27]. The windmill radiometer is shown in Figure DP10.8(a)
and the control system is shown in Figure DPI0.8(b). The variable to be controlled is the angular
velocity ta of the windmill radiom

To account for the expenditure of energy and resources, the control signal is often included in the
performance integral. Then the operation will not involve an unlimited control signal u{t). One
suitable performance index, which includes the effect of the magnitude of the control signal, is
(a) Repeat Problem PI 1.1
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An RL circuit is shown in Figure PI 1.21. (a) Select the two stable variables and obtain the vector
differential equation where the output is v0 (t). (b) Determine whether the state variables are
observable when R1/L1 - R2/L2. (c) Find the conditions when the system has two equal roots.
FIGURE P11.21 RL circuit.

The control of the fuel-to-air ratio in an automobile carburetor became of prime importance in
the 1980s as automakers worked to reduce exhaust-pollution emissions. Thus, auto engine
designers turned to the feedback control of the fuel-to-air ratio. A sensor was placed in the
exhaust stream and used as an input to a co

Consider the block diagram model. Write the corresponding state variable model in the form y =
Cx + Dµ.

The state variable model of a plant to be controlled is y = [0 l]x + ~[0]u. Use state variable
feedback and incorporate a command input u = -Kx + ar. Select the gains K and a so that the
system has a rapid response with an overshoot of approximately 1 %, a settling time (with a 2%
criterion) less than 1 second,

A first-order system is given by with the initial condition x(0) = .v0. We want to design a
feedback controller u = -kx such that the performance index is minimized. (a) Let A = 1.
Develop a formula for / in terms of k, valid for any x0, and use an m-file to plot J / x20 versus k.
From the plot, determine the ap

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A DC motor has the state variable model y = [00002.75]x. Det ermine whether this system is
controllable and observable.

Consider the system y (t) = [1 0 0]x(t). Suppose that we are given three observations y(t1), i -
1,2,3, as follows: y(t1) = 1 at t1 = 0 y(t2) = -0.0256 at t2 = 2 y(t3) = -0.2522 at t3 = 4. (a) Using
the three observations, develop a method to determine the initial value of the state vector x(r0)
for the syst

A feedback system has a plant transfer function

For the ITAE design obtained in Exercise E12.1, determine the response due to a disturbance
Td(s) = 1/s,

Consider the third-order system y = [2 -9 2]x + [0]µ. Verify that the system is observable and
controllable. Then, design a full-state feedback law and an observer by placing the closed-loop
system poles at.$1,2 = -1 ± j.s3 = -3 and the observer poles at $1,2 = -12 ± j2,s3 = -30.

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A system has a plant (a) Find the matrix differential equation to represent this system. Identify
the state variables on a block diagram model, (b) Select a state variable feedback structure using
u(t), and select the feedback gains so that the response y(t) of the unforced system is critically
damped when the initial

The capstan-slide system of Figure CDP4.1uses a PD controller. Determine the necessary values
of the gain constants of the PD controller so that the deadbeat response is achieved. Also, we
want the settling time (with a 2% criterion) to be less than 250 ms. Verify the results.

A high-speed train is under development in Texas [21] with a design based on the French Train a
Grande Vitesse (TGV). Train speeds of 186 miles per hour are foreseen. To achieve these speeds
on tight curves, the train may use independent axles combined with the ability to tilt the train.
Hydraulic cylinders connecting

Consider the single-input, single-output system is described by x(f) = Ax(0 + Bu(f) y(0 = Cx(r)
where Compute the corresponding transfer function representation of the system. If the initial
conditions are zero (i.e., Xy(0) = 0 and x2(0) = 0), determine the response when u(t) is a unit step
input for t ≥ 0 ,

Consider the inverted pendulum mounted to a motor. The motor and load are assumed to have no
friction damping. The pendulum to be balanced is attached to the horizontal shaft of a
servomotor. The servomotor carries a tachogenerator, so that a velocity signal is available, but
there is no position signal. When the motor

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Consider the second-order system y = [1 0]x + [0]«. Determine the observer gain matrix
required to place the observer poles at s1,2 = - 1 ± j.

Consider again the liquid-level control system described in Problem P3.36. (a) Design a state
variable controller using only h(t) as the feedback variable, so that the step response has an
overshoot less than 10% and a settling time (with a 2% criterion) less than or equal to 5 seconds.
(b) Design a state variable co

Consider the system shown in block diagram form in Figure E ll . ll . Obtain a state variable
representation of the system. Determine if the system is controllable and observable. FIGURE
E11.11 State variable block diagram with a feed forward term.

An unstable robot system is described by the vector differential equation [9] Both state variables
are measurable, and so the control signal is set as u(t) = -k(xi + x2). Following the method of
Section 11.7, design gain k so that the performance index is minimized. Evaluate the minimum
value of the performance index.