c05_BCS 11/13/2018 11:52:19 Page 1

Instructor’s Supplement Problems

Chapter 05
1. Find the closed-loop transfer function, TðsÞ ¼ CðsÞ a. Block diagram reduction [Section: 13.2]
=RðsÞ for the system shown in Figure I-5.1, using block b. MATLAB. Use the following
diagram reduction. [Section: 13.2] transfer functions:
G 1 ðsÞ ¼ 1=ðs þ 7Þ; G 2 ðsÞ ¼ 1=ðs2 þ 2s þ 3Þ,
H1 G 3 ðsÞ ¼ 1=ðs þ 4Þ; G 4 ðsÞ ¼ 1=s,
G 5 ðsÞ ¼ 5=ðs þ 7Þ; G 6 ðsÞ ¼ 1=ðs2 þ 5s þ 10Þ,
–
R(s) + + G 7 ðsÞ ¼ 3=ðs þ 2Þ; G 8 ðsÞ ¼ 1=ðs þ 6Þ.
G1 G2 G3 C(s)
+ Hint: Use the append and connect
commands in MATLAB’s Control System
FIGURE I-5.1 Toolbox.
2. Find the equivalent transfer function, TðsÞ ¼ CðsÞ=RðsÞ, G8
for the system shown in Figure I-5.2. [Section: 13.2]
+ G6
G1 R(s) + +
G1 G3
– + –
– – + C(s)
R(s) + + + C(s) G7
G2 G5 G6
+
– + + G2 G4
+
+
G3
G5
+
+
G4 FIGURE I-5.3
4. Given the block diagram of a system shown in
G7
Figure I-5.4, find the transfer function GðsÞ ¼
θ22 ðsÞ=θ11 ðsÞ. [Section: 13.2]
FIGURE I-5.2
5. Reduce the block diagram shown in Figure I-5.5 to a
3. Find the transfer function, TðsÞ ¼ CðsÞ=RðsÞ, for the
single block representing the transfer function,
system shown in Figure I-5.3. Use the following
TðsÞ ¼ CðsÞ=RðsÞ. [Section: 13.2]
methods:

–
θ11 (s) + θ21 (s)
G1(s) G2(s) G3(s)

G7(s)
+
θ12 (s) + + θ22 (s)
G4(s) G5(s) G6(s)
– +

FIGURE I-5.4

1
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2 Instructor’s Supplement Problems

H3(s) 8. Using Mason’s rule, find the transfer function,

TðsÞ ¼ CðsÞ=RðsÞ, for the system represented by
Figure I-5.7. [Section: 13.5]
H1(s) G1(s) G2(s) G4(s) G6(s) 1 G7(s)
R(s) C(s)
– –
R(s) + + C(s) G3(s) G5(s) H1(s) H2(s)
G1(s) G2(s) G3(s)
– – –
H3(s)
H2(s)
FIGURE I-5.7
9. Use block diagram reduction to find the transfer function
H4(s) of Figure 13.21 in the text, and compare your answer
with that obtained by Mason’s rule. [Section: 13.5]
10. Given a unity feedback system
FIGURE I-5.5 with the forward-path transfer
function
6. Find the transfer function GðsÞ ¼ E o ðsÞ=TðsÞ for the
8
system shown in Figure I-5.6. GðsÞ ¼
sðs þ 8Þðs þ 10Þ
T(t)
J1 = 0.25 kg-m2 5
K = 5 N-m/rad 25 V use MATLAB to represent the closed-loop
20 10 system in state space in
J2 = 32 kg-m2
a. phase-variable form;
40 10 Turn pot
D=2 N-m-s/rad

–25 V 10 μF
b. parallel form.
+
Buffer 11. Consider the parallel subsystems shown
amplifier 200KΩ eo(t)
gain = 1 in Figure I-5.8. If G1(s) is represented in
state space as
x_ 1 ¼ A1 x1 þ B1 r
FIGURE I-5.6
y 1 ¼ C 1 x1
7. Draw a signal-flow graph for each of the
following state equations: [Section: 13.6] and G2(s) is represented in state space as

2 2 3 3 x_ 2 ¼ A2 x2 þ B2 r
0 1 0 0 y2 ¼ C2 x2
6 7 6 7
a. x_ ¼ 6
4 0 0 17 6 7
5x þ 4 0 5r show that the entire system can be represented in state
2 4 6 1 space as
2 3
y ¼ ½1 1 0 x " # " # " #
x_ 1 6 1A 0 7 x1 B1
2 2 3 3 ∙∙∙ ¼ 4 5 ∙∙∙ þ ∙∙∙ r
0 1 0 0 x_ 2 0 A2 x2 B2
6 7 6 7 " #
b. x_ ¼ 6
4 0 3 17 6 7
5x þ 4 1 5r h i x1
y ¼ C1 ... C2  ∙ ∙ ∙
3 4 5 1 : x2
y ¼ ½1 2 0 x
2 2 3
3 Y1(s)
7 1 0 1 G1(s)
6 7 6 7 +
c. x_ ¼ 6
4 3 2 1 7 6 7
5x þ 4 2 5r
R(s) Y(s)

Y2(s) +
1 0 2 1
G2(s)
y ¼ ½1 3 2 x
FIGURE I-5.8
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Instructor’s Supplement Problems 3

Ri v1 Rf
12. Repeat Problem 32 in the text problems for
the following system: [Section: 5.8]
2 3 2 3 vi + –
5 1 1 9 –
+ vo
6 7 6 7
x_ ¼ 6 7
4 9 9 9 5x þ 4 4 5r
6 7

9 1 8 0
FIGURE I-5.10 Inverting operational amplifier
y ¼ ½ 2 4 1 x
a. Assuming an ideal operational amplifier, use a simi-
lar procedure to the one outlined in Problem 37 in the
and the following state-vector transformation:
text problems to find the system equations.
2 3 b. Draw a corresponding block diagram and obtain the
5 4 9
V o ðsÞ
z ¼ 4 6 7 6 5x transfer function :
V i ðsÞ
6 5 3 V o ðsÞ Rf
c. Show that when A ® ∞; ¼ .
V i ðsÞ Ri
13. Diagonalize the following system:
[Section: 5.8] 17. Use LabVIEW’s Control Design and
Simulation Module to obtain the
2 3 2 3
5 5 4 1 controller and the observer
6 7 6 7 canonical forms for:
x_ ¼ 6
4 2 0 2 7 6 7
5x þ 4 2 5r s2 þ 7s þ 2
0 2 1 2 G ðsÞ ¼
s3 þ 9s2 þ 26s þ 24
y ¼ ½ 1 1 2 x
18. A hybrid solar cell and diesel power distribution
14. Repeat Problem 35 in the text system has been proposed and tested (Lee, 2007).
problems using MATLAB. The system has been shown to have a very good
uninterruptible power supply as well as line voltage
15. Problem I-3 in Chapter 1 describes a high-speed regulation capabilities. Figure I-5.11 shows a signal-
proportional solenoid valve. A subsystem of the valve flow diagram of the system. The output, VLoad, is the
is the solenoid coil shown in Figure I-5.9. Current voltage across the load. The two inputs are ICf, the
through the coil, L, generates a magnetic field that reference current, and IDist, the disturbance represent-
produces a force to operate the valve. Figure I-5.9 can ing current changes in the supply.
be represented as a block diagram (Vaughan, 1996). a. Refer to Figure I-5.11 and find the transfer function
V Load ðsÞ
:
+ I Cf ðsÞ
L vL (t) V Load ðsÞ
b. Find the transfer function :
i(t) – I Dist ðsÞ
vg(t) +
– +
vR (t)
19. A simplified second-order transfer function
R
– model for bicycle dynamics is given by
 
V
sþ
FIGURE I-5.9 Solenoid coil circuit φðsÞ aV a
¼  
a. Derive a block diagram of a feedback system that δðsÞ bh s2  g
represents the coil circuit, where the applied voltage, h
The input is δ(s), the steering angle, and the output is
vg(t), is the input, the coil voltage, vL(t), is the error
φ(s), the tilt angle (between the floor and the bicycle
voltage, and the current, i(t), is the output.
longitudinal plane). In the model, parameter a is the
b. For the block diagram found in Part a, find the horizontal distance from the center of the back wheel to
Laplace transform of the output current, I(s). the bicycle center of mass; b is the horizontal distance
c. Solve the circuit of Figure I-5.9 for I(s), and compare between the centers of both wheels; h is the vertical distance
to your result in Part b. from the center of mass to the floor; V is the rear wheel
16. Figure I-5.10 shows the diagram of an inverting velocity (assumed constant); and g is the gravity constant.
operational amplifier. It is also assumed that the rider remains at a fixed position
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4 Instructor’s Supplement Problems

L̂f s + Rˆ f

+ +
1 + + K + 1 −IDist 1
ICf Kp2 Kp1 + i1 VLoad
Ĉf s s Lf s Cf s
− − −

Rf

FIGURE I-5.11

with respect to the bicycle so that the steer axis is vertical 21. Given the rotational system shown in Figure I-4.8, do
and that all angle deviations are small (Åstrom, 2005). the following:
a. Obtain a state-space representation for the bicycle a. Using the transfer function you derived for that
model in phase-variable form. system, G(s) = Θ1(s)/T(s), where Θ1(s) is the
b. Find system eigenvalues and eigenvectors. angular displacement of the first shaft, find the
c. Find an appropriate similarity transformation matrix value of n = N1/N2 that yields a settling time of
to diagonalize the system and obtain the state-space 10 seconds for a step input in torque.
system’s diagonal representation. b. If this rotational system is the controlled unit, G(s),
in the feedback system of Figure I-5.13, find the
20. Assume that the motor whose transfer function is
values of ζ; ωn , %O.S., and Ts for a controller gain
shown in Figure I-5.12(a) is used as the forward
K = 4 N-m/rad and r(t) = u(t) radians.
path of a closed-loop, unity feedback system.
a. Calculate the percent overshoot and settling time
that could be expected. R(s) + E(s) C(s)
K G(s)
b. You want to improve the response found in Part a. –
Since the motor and the motor constants cannot be
changed, an amplifier and a tachometer (voltage
generator) are inserted into the loop, as shown in FIGURE I-5.13
Figure I-5.12. Find the values of K1 and K2 to yield a
20% overshoot and a settling time of 0.25 second.
22. A process is simulated by the second-order passive
Motor
circuit, shown in Figure I-5.14, where the feedback
R(s) + E(s) 25 C(s)
1
s(s + 1)
amplifier, controller, and final control element are
–
represented by op-amp circuits.
a. Denoting the input and output as R(s) = Vi (s) and
(a) C(s) = Vo(s), with R(s)  C(s) = E(s), and noting
Motor that the feedback amplifier has a unity gain, draw a
Amp
R(s) + E(s) + 25 C(s) block diagram for this feedback control system,
K1
– –
s(s + 1) where GC (s), GF (s), and GP (s) are the transfer
functions of the controller, final control element,
K2s and the process, respectively.
Tachometer b. Find the value of RP that makes the circuit repre-
(b)
senting the process critically damped.
c. Noting that the proportional controller is simply an
FIGURE I-5.12 a. Position control; b. position control with
tachometer
amplifier, GC (s) = KP, find the value of its gain KP that
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Instructor’s Supplement Problems 5

Final control element

results in dominant closed-loop poles with a damping Proportional controller
0.018 μF
ratio, ζ ¼ 0:5, and a settling time, Ts = 4 ms. Verify VR(t) 10 KΩ
RF
10 KΩ Process
that the other pole is nondominant. What would be the 10 KΩ 10 KΩ 100 mH
RP Vo (t)
appropriate value of the controller potentiometer, RF, –Vo (t)
–
+
–
VC (t)
given that its tolerance is ± 10%? Vf (t)
+
10 μF
Feedback 4.7 KΩ
100 KΩ
amplifier

–
+
100 KΩ

FIGURE I-5.14

Bibliography
Åstrom, K., Klein, R. E., and Lennartsson, A. Bicycle Dynamics and Control. IEEE Control Systems, August 2005, pp. 26–47.
Lee, S.-R., Ko, S.-H., Dehbonei, H., Jeon, C.-H., and Kwon, O.-S. Operational Characteristics of PV/Diesel Hybrid Distributed
Generation System Using Dual Voltage Source Inverter for Weak Grid, ISIS 2007 Proceedings, Eighth Symposium on Advanced
Intelligent Systems. 2007.
Vaughan, N. D., and Gamble, J. B. The Modeling and Simulation of a Proportional Solenoid Valve. Journal of Dynamic Systems,
Measurements, and Control, vol. 118, March 1996, pp. 120–125.