Solutions to B Problems CHAPTER 2 Be2-1. £(t) = 0 t0 Note that 3 sin (5t + 45°) = 3 sin 5t cos 45" + 3 cos 5t sin 45° 3 3 = — sin 5t + cos 5t vz Vz So we have F(s) = Gf, (1- 225. 25 1 dle, fe t+ fe e+e wad. 85 V2 st + 25 (b) f(t) = 0 t<0 = 0.03(1 - cos 2t) t20 F(s) = { [£2(t)] = 0.03 + - 0.03 _S _ = 0-12 _ 5 s2 +22 s(s? + 4)B-2-3. £(t) = 0 t * (es - san& s%(s*+w?) \s? s2+w? /w? ‘The inverse Laplace transform of F(s) is =—t [as £(t) = z (t Gi sin wot) B-2-23. F(s) = -& (1 - es) - Beas a>o ‘The inverse Laplace transform of F(s) is £(t) = ct - c(t - a)l(t - a) - b1(t - a) B-2-24. A MATLAB program to obtain partial-fraction expansions of the given function F(s) is given below. 1320 0) = residue(num,den) 10From this computer output we obtain 1 70.25 1 0.5 —— >, i Ce) s4 + 353 + 252 s+2 s+ s2 ‘The inverse Laplace transform of F(s) is £(t) = -0.25 e-2t + emt - 0.75 + 0.5t B-2-25. A possible MATLAB program to obtain partial-fraction expansions of the given function F(s) is given below. mum=(0 0 3 4 1} den=[1 2 5 8 10}; [r,p,k] = residue(num,den) r= 0.3661 - 0.4881i 0.3661 + 0.4881: -0.3661 - 0.00061 -0.3661 + 0.00061 p= 0.2758 + 1.90811 0.2758 - 1.9081i ~1.2758 + 1.03091 -1.2758 - 1.03091 From this computer output we obtain 3s2 + 45 +1 F(s) = s4 + 2s3 + 5s2 + 8s + 10 uu0.3661 - j0.4881__, _0.3661 + 0.4981 Ss - 0.2758 - j1.9081 s - 0.2758 + j1.9081 ¢ 703661 - j0.0006__, _-0.3661 + j0.0006 S + 1.2758 - j1.0309 Ss + 1.2758 + j1.0309 Since the poles are complex quantities, we may rewrite F(s) as follows: 0.73228 + 1.6607 + —_-10.7322s - 0.9329 (s - 0.2758)2 + 1.90812 (s + 1.2758)? + 1.03092 = ~0.7322(s - 0.2758) + 1.9081 x 0.9762 (s - 0.2758)2 + 1.90812 + —20-7322(s + 1.2758) + 1.0309 x 0.001204 (s + 1.2758)2 + 1.03092 F(s) = Then, the inverse Laplace transform of F(s) is obtained as £(t) = 0.7322 e0-2758t cos 1.9081t + 0.9762 e0-2758t sin 1.9081t - 0.7322 e-1-2758t cos 1.0309t + 0.001204 e-1-2758t sin 1.0309t B-2-26. + ax x(0) = 5, (0) The Laplace transform of the given differential equation is [s?x(s) - sx(0) - (0)] + 4x(s) = 0 Substitution of the initial conditions into this last equation gives (s? + 4)x(s) = 5s Solving for X(s), we obtain 5s 244 X(s) = s' ‘The inverse Laplace transform of X(s) is x(t) = 5 cos 2t This is the solution of the given differential equation. 12B-2-27. Rta %x=t, — x(0) = (0) = The Laplace transform of this differential equation is Priya s?x(s) + wv, ?x(s) “ae Solving this equation for X(s), we obtain fe) eee og fi St wie? + a?) st t+ Ww?) W,2 ‘The inverse Laplace transform of X(s) is x(t) = (t= By cine nt) Da ‘This is the solution of the given differential equation. B-2-28. M+ wM+ex=1, x(0) = 0, %(0) = 2 The Laplace transform of this differential equation is 2[s?x(s) - sx(0) - %(0)] + 2fsx(s) - x(0)] + x(s) = + Substitution of the initial conditions into this equation gives 2lsx(s) - 2] + 2sx(s)] + x(s) = (28? + 2s + 1)x(s) = 4 +L Solving this last equation for X(s), we get 4s +1 X(s) 2 s(2s* + 2s + 1) 4 ee ee 4 2s? +25+1 (2s? + 25 + 1) : 0.5 (s + 0.5)? + 0.25 s{(s + 0.5)? + 0.25] 13=— 4x 0.5 +4. __(s + 0.5) + 0.5 (s + 0.5)? 40.52 § (5 + 0.5)? + 0.5? The inverse Laplace transform of X(s) gives x(t) = 4 eO-5t gin o.5t +1 - 2-5 cos 0.5¢ - e--5t sin 0.5 =1 +3 eO-5t sin 0.5¢ - e9-5t cos 0.5 B-2-29., 2 + 7k + 3x = 0, x(0) = 3, %(0) = 0 Taking the Laplace transform of this differential equation, we obtain 2[s?x(s) - sx(0) - *(0)] + 7Esx(s) - x(0)] + 3x(s) = 0 By substituting the given initial conditions into this last equation, 2{s?x(s) - 3s] + 7[sx(s) - 3] + 3x(s) = 0 or (2s? + 7s + 3)X(s) = 6s + 21 Solving for X(s) yields x(s) = S88 +21_ = __6s + 21 2s2 +73 +3 (28 +1)(s + 3) Cer 0.6 3.6 0.6 “Is+l s+3 st+05 s+3 Finally, taking the inverse Laplace transform of X(s), we obtain -0.5t -3t x(t) = 3.6 e 0.6¢ (0) B-2-30. % +x = sin 3t, (0) The Laplace transform of this differential equation is sx(s) + x(s) Solving this equation for X(s), we get 3 =. (s? + 1)(s? + 9) 14‘The inverse, Laplace transform of X(s) gives x(t) =} sin t -1 sin 3 1bCHAPTER 3 Be3-1. a = § mR? = & x 100 x 0.52 = 12.5 kg-m* B-3-2. Assume that the body of known moment of inertia Jy is turned through a small angle 6 about the vertical axis and then released. The equation of motion for the oscillation is 58 =-ke where k is the torsional spring constant of the string. This equation can be written as where The period Tg of this oscillation is 7, = 2e Q) Dy Next, we attach a rotating body of unknown moment of inertia J and measure the period T of oscillation. The equation for the period T is 2% (2) Le va By eliminating the unknown torsional spring constant k from Equations (1) and (2), we obtain 2M I% 2 T T T 2 ge g(t (3) 0 () ‘The unknown moment of inertia J can therefore be determined by measuring the period of oscillation T and substituting it into Equation (3). 16B-3-3. Define the vertical displacement of the ball as x(t) with x(0) = 0. ‘The positive direction is downward. The equation of motion for the system is mic = mg with initial conditions x(0) = 0 m and %(0) = 20 m/s. So we have g gt + x(0) x= & gt? + x(0)t + x(0) = 4 gt? + 20t Assume that at t = t, the ball reaches the ground. Then “pees . 2 100 = & x 9.81 t,? + 20 t, from which we obtain t, = 2.915 s ‘The ball reaches the ground in 2.915 s. B-3-4, Define the torque applied to the flywheel as T. The equation of motion for the system is 6 = @(0) =0, — 6(0) from which we obtain 2 eng e=—t a By substituting numerical values into this equation, we have 20 x 6.28 = x5 50 ‘Thus T = 1256 N-m w6=-T (T= braking torque) Integrating this equation, 6=- tte 6(0), (0) = 100 raa/s Substituting the given numerical values, 20 = - -T_ x 15 + 100 a 17Solving for T/J, we obtain oee Sy t= 5.33 Hence, the deceleration given by the brake is 5.33 rad/s”. ‘The total angle rotated in 15-second period is obtained from aoe e(t) = - oo + 6(0)t + 0(0), 9(0) = 0, (0) = 100 as follows; 2 @(15) = - 5.33 x S + 100 x 15 = 900 rad B-3-6. Assume that we apply force F to the spring system. Then F = k,x + k(x - y) Ka (x -y)= ky Eliminating y from the preceding equations, we obtain X, (Ky + k3) + kk px at a) TEs i + ky i efx, + x a i a en) B-3-7. The equations for the system are Pek (x - = — 2) ey F k&-y) = KY 4 $ 6 Eliminating y from the two equations gives 18‘The equivalent spring constant aq 18 then obtained as 1 = 1 2 Next, consider the figure shown below. Note that AABD and ACBE are similar. So we have A ey is Zw D OoO.€E ky B OC(OB + 4 OR) = OA(OB - 5 0c) Solving for OC, we obtain 8. (a) The force £ due to the dampers is £ = byl} ~ X) + bol¥ - X) = (by + bQ)Y - X) In terms of the equivalent viscous friction coefficient Begs force f£ is given by £ = Begly - x) Deg = by + bp (b) The force £ due to the dampers is £ = by(2 - X) = boy - 2) a)In terms of the equivalent viscous friction coefficient beq, force £ is given by a £ = Beg(¥ - x) By substituting Equation (2) into Equation (1), we have = . oy i < 1 * s £ = bo(y - z) 5 14.01 rad/sec 9.81 (b) mx, + bX + OK, + kx = kX, (c) mx + b,x, + (Ky + ky = KX B-3-14. A modified diagram for the system shown in Figure 3-55 is given below. ‘A mathematical model for the system is given by the following two equations: 3,8) = -ky0y - k2(@) - €2) 782 = K9(®) ~ 02) 22B-3-15. The following two equations describe the motion of the system and they are a mathematical model of the system. my = -ky (x - y) - by(X - ¥) + p(t) kay - ky (y - x) - by(¥ - X) Rewriting, we obtain mi + bX + kyx = bly + kyy + p(t) my + byy + yy + koy = Dyk + gx B-3-16. A mathematical model for the system is mx = -kyx - byxX - kox - box mk + (by + bz)x + (ky + kp)x = 0 B-3-17- The equations of motion for the system are JO = (T, - TR 3 a A 4 a Noting that x = 2y, RO =x - y = y, and J = wR’, the three equations can be rewritten as 1 25 = 1 wry = = co 3 MRY (1 TR My + ky = 7, + T, Eliminating T, from the preceding equations gives te eng 2 = ani aoa ty + hy © aE, By changing y into x, Bou K+ % = - ak 2 2 2 or 3 mx ++ wm =0 (a+ WE + ox 23‘The natural frequency is A a fei Un Vint If mass m is pulled down a distance x, and released with zero initial velocity, the motion of mass m is = 2k x(t) = x, cos at t B-3-18. Referring to the figure below, we have mx = -T q@) where T is the tension in the wire. (Note that since x is measured from the static equilibrium position, the term my does not enter the equation.) For the rotational motion of the pulley, we have 6 ~kg(y + R26)R2 + k2(y - R2@)R2 + TR] - kyR IX or 8 = —K9R20: - kgRo2o + TR - KGRyx (2) Eliminating T from Equations (1) and (2), we obtain JB + 2kpRy2@ + mRyK + KyRyx = 0 Since x = Rj, we have J6 + 2kpRy20 + mRy28 + R120 = 0 or (3 + mRy2)8 + (2kgRy? + kyRy2)0 = 0 or ae —-2kQR22 + kyRy? @ +—————- 0 = 0 J + mR}? ‘This last equation is a mathematical model of the system. The natural frequency of the system is 2k2R22 + kyRy? J + mR? 24B-3-19, The equation of motion for the system is mk + bk + kx = 0 Substituting the given numerical values for m, b, and k into this equation, we obtain 2 + 4k + 20x = 0 (1) where x(0) = 0.1 and X(0) = 0. The response to the given initial condition can be obtained by taking the Laplace transform of this equation, solving the resulting equation for X(s), and finding the inverse Laplace transform of X(s). The Laplace transform of Equation (1) is 2Ls?x(s) ~ sx(0) - ¥(0)] + 4fsx(s) - x(0)] + 20 X(s) = 0 By substituting the given initial conditions into this last equation, we get 2[s*x(s) - 0.18] + 4[sx(s) - 0.1] + 20 x(s) = 0 Solving this equation for X(s) gives = 0:25 +0.4 _ 0.1 + O.1(s +1) xt) Paes 2s* + 4s + 20 (s +1)? 43 The inverse Laplace transform of this last equation gives x(t) = o.1(t- et sin 3t + et cos 3t) B-3-20. The equation of motion for the system is mx = F cos 30° - Fy Where F, = 4, (mg - F sin 30°). Rewriting this equation, mk = 0.866 F - 0.3(mg ~ 0.5 F) For a constant speed motion, % = 0 and the le last equation becomes 30" fe x 1.016 F - 0.3 mg = 0 7 or 7; yp = 0:30:20 x 9.81 . 09 07 9 1.016 25B-3-21 The equations of motion for the system are et pe m = mg -T Elimination of T from these two equations gives We + mi = mg = 14,09 By substituting M= 2, m= 1, and “= 0.2 into this last equation, we get 3 = 1 x 9.81 - 0.2 x 2 x 9.81 = 5.886 xX = 1.962 Noting that X(0) = 0, we have 1.962 t + X(0) = 1.962 t X(t) 0 2 x(t) = 1.962 a + x(0) Assume that at t = t,, x(t,) - x(0) = 0.5m. Then 1.962 42 att. 2 1 0.5 or t = 0.7139 s Thus, the velocity of the block when it has moved 0.5 m can be found as (0.7139) = 1.962 x 0.7139 = 1.401 m/s ‘The equations of motion for the system are mx = - kx - F 36 = FR where x = RO and J = 4 mR2. So ve obtain or 26The natural frequency of the system is 2 n B-3-23. Assume that the direction of the static friction force F, is to the left as shown in the diagram below. The equations for the system are @ me =F - Fy Q@) ae FR+FR s Where J = mR?. Since the cylinder rolls without sliding, we have x = R6. Consequently, io g = > m6 = (F + FR or mx = 2(F + F.) (2) By eliminating mx from Equations (1) and (2), we have 2(F + Fy) or 1 =-t i 3 Since rr is found to be equal to -(1/3)F, the magnitude of F, is one third of F and its direction is opposite to that assumed in the solution. B-3-24. The equation of motion for the system is mi = F ~ mg sin 30° ~ 44,my cos 30°, x(0) = 0, (0) =0 By substituting the given numerical values into this equation, we obtain X= F - 1x 9.81 x 0.5 - 0.2 x 1 x 9.81 x 0.866 or L X = F ~ 4.905 - 1.699X(t) = (F - 6.604)t x(t) = (F - 6.604) 2 Assume that at t = ty, x(t,) = 6 mand X(t,) = 5 m/s. Then - 6 = (F = 6.604) Sty? 5 = (F - 6.604) t, From the last two equations, t, and F are found to be t, = 2.40 s, F = 8.69 N Therefore, Work done by force F = F x 6 = 8.69 x 6 = 52.14 N-m Work done by the gravitational force =-mg sin 30° x 6 = - 9.81 x 0.5 x 6 = - 29.43 N-m Work done by the sliding friction force = - 0.2 x mg cos 30°x 6 = - 1.699 x 6 = - 10.19 Nem B-3-25. Torque = T = 50 x 0.5 = 25 N-m | Power = TG = 25 x 100 = 2500 N-m/s = 2500 W B-3-26. ‘The kinetic energy T is a Ss ee oes = or + By 976? ae dues The potential energy U is t u = Mg f(1 - cos 6) + § P95 (1 ~ cos €) ag a = («+Bgl(1 - cos €) Since the system is conservative, we have 28Tu = Si + By? + (w+ Bg A (a - cos 0) = constant Noting that 4(T + U)/dt = 0, we obtain " ° (M+ By 2765 + (M+ Bog fsin 0 6 " ° [lot + By £28 + 1+ Bef sin ola Since @ is not identically zero, we have (4 + E676 + (4 +Bygfsin o = 0 Rewriting, +L sino =0 £ For small values of 6, So the natural frequency is B-3-27. The kinetic energy T of the system is T= 4 9,6,? +4 9,6,? and the potential energy U of the system is U=4k,0,7 +4 KG(8, - 0,)? +4 k,0,2 Using the law of conservation of energy, we have T+U = 4% I,b,2 + F624 & Ky0,2 + 4 ko(0, - 0)? + 48,7 = constant 29Noting that d(T + U)/dt = 0, we obtain 9,8,8, + 5,848, + 0,8)+ (8, ~ 0, )(8, - ®) + © oe =0 or E ° (9,8, +8, +9 (8, - 6,)) 0, + (9,8, + ,8 22 ~ Nol®y - 92118) Since 6, and 6 are not identically zero, we must have 3,8, +6, + k,(@, - 8) = T28, * 28) + Ky(O, - 8) = 0 B-3-28. At t = 0 (the instant the mass M is released to move) the kinetic energy T, and the potential energy U, of the system are 70 UD, = mx The potential energy is measured relative to the floor. At the instant mass m hits the floor the kinetic energy T, and the potential energy U, of the system are ‘ 2 2 8,2 = Mv)? + 4 mv,? + 4 J6, 0 Where v, is the velocity of the hanging mass m and @, is the angle of rota- tion of “the Eetiey both at the instant the mass hits*the floor; ré, = v., and J =k mr? Using the law of conservation of energy, we obtain 7, +U,=T) +U, max = Mvj2 + & mv? + i m,r26,2 By substituting x6, ‘, into this last equation, = 2 2 2 max = 4 Ww? + hmv? + km v2 30Solving this equation for v, = —2/mg res V2M + 2m +m P B-3-29. ‘The force F necessary to move the weight is P= Bt = 2000 29.81 _ 1962 N The pover P is given by where W = mgx. So we obtain p = Alma) ~ gk = 9810 x 0.5 = 4905 W B-3.30. From the figure shown to the right, we obtain Ww =mg+2 or mg = 7F-2=7x5-2=33N To keep the bar AB horizontal when pulling the weight mg, the moment about point P must balance. ‘Thus, 4Fx - 2F(0.15 - x) - F(0.3 - x) + 2(0.15 - x) = 0 Solving this equation for x, we obtain See x 33 0.0818 m B-3-31. Note that — Ti T,@, = Ti. mi oe w, where 7 W, = 60x 2% =120% rad/s Oe da Gear ratio = 1/30 314® rad/s a z 2 = 60 x 2% xh Since the power T, @, of the motor is T,@ , = 1.5 kW = 1500 W the torque T, of the driven shaft is es 1500 7 —t= 1, 4% = 119.4 N-m B-3-32. Assume that the stiffness of the shafts of the gear train is infi- nite, that there is neither backlash nor elastic deformation, and that the number of teeth on each gear is proportional to the radius of gear. Define the angular displacement of shaft 1 and shaft 2,as ®, and @,, respectively. By applying Newton's second law to the system, we obtain for the motor shaft (shaft 1) 7,6, +2, = 7, qQ) where T,, is the torque developed by the motor and T, is the load torque on gear 1 due to the rest of the gear train. For shaft 2, we have 3282 = T, (2) where T, is the torque transmitted to gear 2. Since the work done by gear 1 is equal to that of gear 2, 2 " ea a8, = (3) rer 32[+ (A)' ais ‘The equivalent moment of inertia of the gear train referred to the motor shaft is ny \2 Jeq = 5, + (= JQ 2 Notice that if the ratio n,/n, is very much smaller than unity, then the effect of J, on the equivalent moment of inertia J__ is negligible. B-3-33. The equivalent moment of inertia J, of mass m referred to the motor shaft axis can be obtained from J,, % = Torque = mR where & is the angular acceleration of the motor shaft and X is the linear acceleration of mass m. Since o&r X, we have Jn X = mx rR or a, = mR im The equivalent moment of inertia J, of the belt is obtained from = ate 2 = mer = m, Xr or = mr? Since there is no slippage between the belt and the pulleys, the work done by the belt and the right-side pulley (T,6,) and that by the belt and the left-side pulley (7,6,) must be equal, or 70) = T20> Where T, is the load torque on the motor shaft and T, is the torque trans- mitted to the left-side pulley shaft, @, is the angular displacement of the motor shaft, and 6, is the angular diaplacement of the left-side pulley shaft. Since the two pulleys are of the same size, we have 6, = 6). HenceFor the motor shaft, we have (Jp + Ip + Iq + ply + Ty: Also, for the left-side pulley shaft, we have T,82 = T Since T, = T,, we have (3, + Jy + Iq + J), + 9,8, Since @, , this last equation becomes iz (J, + Wy + Ip + J,)%y ‘The equivalent moment of inertia J... of the system with respect to the moto! shaft axis is as Jeg = J, + Wy + Iq + J, 2 Ty + 2, + mR + mriCHAPTER 4 R,, = ——+—__ = 502., R,, = 30 + 50 = 802 So we obtain Ey = pe = iRgy = 0-15 x 50 = 7.5 V 1 Ro + Rg +R Rone ee ig + RZ” R, (Ry + RG. _ _R,(Ry + 3) “AB tb + Ry + R A A R R, : if = af B B “A ® B-4-3. Figure 4-55 can be redrawn as shown below. oc D 10 From the right side diagram we obtain the following equations: 10 i, + 204, - 13) =E 20 i, + 10(i, + i) = E 100 4, + 10(4, +4) = 20(4, - i,) 35which yield So we obtain 1 = 120 12 10 ay + 20(i, - a3) Tr 4, + 20(- 1 Te Solving for i,, we get Thus, Figure (a) Figure (b) Figure (c) From Figure (a) above ve find R, = 2R,, Referring to Figure (b) above, we get 40 +R, 40 Ry So R, is obtained as Ro tS 40 *R, By substituting R, = 2R, into this last equation, we obtain R, = 800, R, = 402 36Then, from Figure (c) above, current i is obtained as = 22 2 i R Bo 7 1S A When switch S is open, resistance between points A and B is 160.2 have i | = BL 4y = 360 When switch S is closed, resistance between points A and B is alte ae gen 100 R So we have oe “ce © + T50 +R Consequently, a2 _ E 160 0 + 100 Solving for R, we obtain R= 352 B-4-6. From the circuit diagram we obtain di, et 4 Ri, -i = aE ie et oo ee ah = = Ri, + c Ns at +R (i, - i) =0 ai L + (R, +R,)i, - Ri, =e Fy Dra a2 -Ri i adie. wm 24 7Each of the preceding two sets of equations constitutes a mathematical model for the circuit. B-4-7. From Figure 4-55, we have for t > 0 epee, “ape im wae i 5 i, dt +R,(i, - i) =0 Taking Laplace transforms of Equations (1) and (2), we get RT, (s) + RIT (s) - L(6)] =0 (s) 40) ild| ee, eee s a [ ii . | eagt1,t) = 2,009 =0 where iho) is given by ip Ney (0) = f in(t) at = q(0) = ec From Equation (3) we have R, +R 17 FB 1s) = 5 10) 2 ‘Then Equation (4) can be rewritten as e (% + %,) 1(s) = Roty(s) - —2 Substituting Equation (5) into Equation (6) we obtain R, +R es + ®) 1 a 2 1,(s) = RTy(s) - or 1,(s) =- 38 qa) (2) (3) (5) (6)The inverse Laplace transform of this last equation gives ¢ 4 (= = expl-(Ry + Rg)t/(RRC)] t > 0 Referring to Equation (5) we have (Ry + Ryde in(t) = - ae exp[-(R, + R,)t/(RRQC)] tt >0 =o B-4-8. At steady state (t <0) we have E alan He ee = Si ae = Rly = For t > 0 the equation for the circuit is prion < RR (1) 2. Ri + oa J idt By differentiating this last equation, we obtain Sak fei 1 dt c The Laplace transform of this equation is R, [st (s) - i(0)]) ++ 1(s) =0 where E (0) =i) = 0 R, +R, Hence 4) Be = Ee (Rs + Us) = 2) PR Tere or 1(s) = —= Ry a Fae+ te 1 ‘The inverse Laplace transform of I(s) givest2o0 i qq) (2) (3) Where Jeq is the equivalent moment of inertia of the system referred to the motor rotor axis and Peg is the equivalent viscous friction coefficient of the system referred to the same axis. By taking Laplace transforms of Equations (1) and (2), we obtain (R, + L,s)1,(s) + E,(s) = B,(s) ‘a E (s) =K 3 (8) p58, (5) Elimination of &,(s) from the above two equations yields (R, + L8)1,(s) + Ks8,(s) = B,(s) (4) ‘The Laplace transform of Equation (3) is SO) + bgq8@, (5) = KI, (s) Hence J,.8 + bs T,(s) = oe (5) By substituting Equation (5) into Equation (4), we obtain 2 [ +18) fee ett + 5s] 9, (s) = E,(s) ®,(s) K = (6) FCs) (rR, + 1,8) (Jqq5"+ BegS) + Kk,s The numerical values of the equivalent moment of inertia Jgq and equivalent viscous friction coefficient Pog are, respectively, 402 - - Jeq-* J, * Gaya x2 = 0% + (0.0? x 44 xo = 5.4 x 105 1b, -et-s? (0.1)? x 4 x 10-2 o g " w * ae z Sle a " 4x 104 1p,-ft/rad/s Substituting these numerical values into Equation (6), we get 8) (s) 6x 1079 FAS) 0.2(5.4 x 10°? + 4 x 10's) +6 x10 x 5.5 x 6 1.08s* + 8.33s = 0.72 (0.12963 + 1) = N,/N, = n= 0.1, we have the transfer function @,(s)/E,(s) as 67(s) _n(s) _ 0.072 E,(s) E,(s) s(0-1296s + 1) B-4-10. From the circuit shown to the right, we obtain Ot = 18K. aa 4 &A p= 2 i, = SAD £0 se ig = C2 (eq - eg) a ; £o ig = ° 41Since iy sige i ao 1 = i2 + is qe e) & Ps Bech c e ) @) R Ry” Ry Also, since ig + ig = is we obtain Sx ito. Sito) “oe leg vita) nie (2) Equation (1) can be written as ei e —-=(1,21 2. Ri Cae mat Ry Laplace transforming this equation and simplifying, ve get Ej(s) a Ry -(4+ 5) ae) (3) Laplace transforming Equation (2), we obtain Cs[Eq(s) - Eo(s)] + ae [k,(s) - Eo(s)] = a Fo(s) from which we obtain RgRaCs + R3 + Ry R4(R3Cs + 1) By substituting Equation (4) into Equation (3), we have Eq(s) = Fo(s) 3) (s)_ __Fols) -( aS Be) _Rokats + Ba 7 Pa (s) Ri Rq RiR2 Rq(Rg0s +1) 8 from which the transfer function Eo(s)/Ej(s) can be obtained as Eo(s) _ RoR4(R3Cs + 1) Ei(s) [RyRgR3 + (Ry + R)R3Rq]Cs + RyR2 + (Ry + Rg)(R3 + Ry) 42B-4-11. From the circuit diagram shown, we obtain Ei(s) - Ea(s) Ty(s) Els) gy 2(s) cs Eq(s) - Eo(s) SSS ele 13(s) . Eo(s) ee a Tye)? Since dj = ig+ i3 we have (ewe) | (g) + Zale) = Bols) Ls 2 Ry or Eis) _ 4 a Fo(s) se Gates )am - io Also, since i3 = ig we get Eq(s) - Fo(s) _ Eo(s) Ry Ro Tms, R Ea(s) = {1 + E,(s) (2) PZ Substituting Equation (2) into Equation (1) and simplifying, we obtain Ex(s) = 2. a a 1 . oe H)® + )-2 Jot 7 Bi Ries a aa (2 tor ae, +) r5(8) Hence the transfer function E(s)/E4(s) is given by 43Fo(s) Rg Ey(s) L(R, + R2)Cs? + Ls + Ry + RQ B-4-12. The transfer function o(S)/Ej(s) can be given in terms of complex impedances 2, and Z2 as follows: Eo(s) _ 2 Ej(sne) Ry) + Ry + Ry (Ry + Ra) ] s+ 1 3: R,(R, + R3)C a(s) =R, Zo(s) = = Fo(s) __—_22(s) * Ei(s) 2(s) RCs Note that a age He 2(s) Ry Hence R 26) = RCs + 1 Similarly, 4 Z(s) = RoC9s + 1 The transfer function Eo(s)/Ej(s) can be given by 45Eo(s) 22(s) Rg RCs +1 Ex(s) 24 (s) Ry R978 + 1 B-4-17. Define the voltage at point A as e,. ‘Then Eq(s)_ _ 1 Ej (s) RCs + 1 Define the voltage at point B as ep. ‘Then Rg em Ep(s) Noting that [Eqa(s) - Eg(s)]K = EQ(s) and K>1, we must have Eq(s) = Ep(s) Hence Se ia) = ate) | ee) Eale)*aies)+ 1 Sif) = Bale) = Rp + R3 from which we obtain Eo(s) Rg + Rg 1 Ey(s) RB RCs +1 B-4-18. The voltage at point A is 1 arte +e) or #(s) = 2 [ej(s) + B,(s)] () The voltage at point B is = B,(s) = —S— § (s) = 1— zi(s) (2) 2 + + Rocs z Since (By(s) - E(s) IK = KI we must haveE,(s) = E,(s) Thus, equating Equations (1) and (2) we obtain FH (els) + 5(s)] = — PFs) cs + or EA(s) ~_Res-} 8 (s) Ros +1 B-4-19. Define the displacement of midpoint between k, and b as x3. Then the equations for the system are mX, + x, + W(x, ~ x) + Gx, - x,) = Plt) mk, + bk, = X3) + Ky (x, - x) blk, - %) = kylx, - x5) Using the force-voltage analogy, the preceding equations may be converted to 0 144, +a, + 5 (ay - ay) + ah = 43) = e(t) ° ” onl + La, + R(G) - 45) + oS (ay - 4) §=%) = 2 = R(G, - 4) (a, - 43) The last three equations can be modified to 7, es Seat ak (i, - idee +4 \(i, - i,)at = e(t) dat Cy \or ey ae cj 273 ai, L,—+ Ri, -i —\(i, - i, jdt = 0 fy, i Ag) * xf ie i —e R(i, - i,) = Pe Say ~ i)at From these three equations we can obtain the analogous electrical system as shown to the right. 47B-4-20. Define the cyclic current in the left 1oop as i, and that in the right loop as iz. Then the equations for the circuit aré di. bors “fa = ip) dt + RUA, - ip) + 4 Saget i elie ue, at +R(i, -4,) + oj (i, -i,) at =0 L. 2 at which can be rewritten as La, #5 ~ a) +R(G, - &) ae Lyfly +2 a9 + R(4, - &) 3 & -4,) =0 3 Using the force-voltage analogy, we can convert the last two equations as follows: - br te pile ade mt, + wats, x,) + B(x, x,) sa + yy + DIR, - %) + k(x, - x1) = 0 From these equations an analogous mechanical system can be obtained as shown to the right. 48CHAPTER 5 B-5-1. By substituting the given numerical values into = 1284 gxD 6 R= 128 x 1.004 x 10 Xa 7 = 3.2504 x 104 s/n2 9.81 x 3.14 x (4 x 10°) We shall solve this problem by using two different approaches: ‘one based on the exact method and the other based on the use of an average resistance. (1) Solution by the exact method. For the liquid-level system we have C di = (9, - Q) dt By substituting C = 2 m?, Q, = 0.05 m/s, and Q = 0.02 /if into this 1ast equation, we obtain 2 an = (0.05 - 0.02 /H) at or at = ——2___ 0.05 - 0.02 J tet Ja ‘Then H and dH = 2x dx. So we have 2x ax ao +2x+5 \ax 2x Assume that at t = t, the level reaches 2.5m. Then, t, is obtained as (e- \ 200 (a +35) ax = = 20 x|* + 100 ate aa WEF 200( /2-5 - 1) + 1000 (--4-) 1n(5 - 2x) t = - 200 x 0.581 - 500(1n 1.838 - in 3) = - 200 x 0.581 - 500(0.6087 - 1.0986) = 128.8 s 49(2) Solution by use of an average resistance. Since Q = 0.02 /H, the average resistance R is obtained from a 2.5 - 1.0 r=d- = aQ 0.03162 - 0.02 re i = Q, - 0.02 and gq, =h/R. For the liquid-level C dh = (q, - q )at i ° or —dh__ = = Cmae =H ~ % =H --R which can be rewritten as gh cr 2 +n=qgR at, be Substituting C = 2 m*, R = 129 s/n?, and q, = 0.05 - 0.02 = 0.03 m/s into this last equation yields ah 258 +h = 3.87, (0) = cr (0) Taking Laplace transforms of both sides of this last equation, we obtain 258[sH(s) - n(0)] + H(s) = 3:87 (258s + 1)H(s) Solving this equation for H(s), eae? — (258s + 1) es ak. — =3.07(4 al ‘The inverse Laplace transform of this last equation gives a= giles W(t) = 3.87(1 - e 257°) Assume that at t = t,, h(t,) = 1.5. The value of t, can be determined from ’ 1.5 = 3.87(1 - e° HF *1) Rewriting, 50oF *1 = 0.6124 or = 0,4904 258 So we have t, = 0.4904 x 258 = 126.5 5 This solution has been obtained by use of an average resistance. B-5-3. The equations for the liquid-level system are ~ 4, )at F eydhy = (Q +4 - Cdn, = (Q + 4, - Q- a, )at Since R, = h,/q, and R, = ho/qy, the system equations can be rewritten as ch. h 1 -q=q-— tgp oa a Ry (1) Gh, h, h. a 2 c. =a,-%* ~ (2) 2 dt te BE From Equations (1) and (2) we obtain ag Ga we ae (3) By differentiating Equation (2) with respect to t, we get Pn, ch. ah, See ayer ene (4) cs + es 2 at? Ry dt R, dt By eliminating dh, /dt from Equations (3) and (4), we obtain ah, F amy oa bo BiG RCo Pe (Re, + RO) ae Substitution of h, = R,q, into this last equation yields 2 2% 945 “i RiGee cae * CELL Scales Se Hence the transfer function of the system when q is the input and q2 is the output is given by 51Q2(s) | a Qs) (RyCys + 1)(RQCgs + 1) B-5-4. The equations for the system are Cyan, = g,at Cydhy = (a; - a, - a))dt yay = (a2 = qg)at where ‘Thus, we have From Equation (1) we obtain Cyst (s) = a [Hy(s) - Hy(s)] or ¥y(s) = ——>—— p(s) eT ece eae From Equation (3) we get Fe BS C3R38H3(s) + H3(s) = > H2(s) - ae H3(s) 52 (a) (2) (3) (4)or Ha(s) = = B3 s i2(s) = 3 (RgC3s + 1 + % )H3(s) (5). By adding Equations (1), (2), and (3), and taking the Laplace transform of the resulting equation, we obtain Cystin(s) + Costig(s) + cgstig(s) = Qi(s) -2—Hg(s) (6) ‘3 By substituting Equations (4) and (5) into Equation (6), we get Cys Rg R3 I eats —=+ cae) (=e ) sess +1 +a) + (c+ = Joa = oi(s) Since H3(s) = R30g(s), this last equation can be written as [ee + Co)s + RYCyCzs2 RCs +1 (RgRg03s + Rz + Rg) + (R3C3S + »| Qole) = Qs) from which we obtain re) Ricis +1 Qs) [(Cy + Ca)s + RiCyCs?](RgRZC3s + Rp + Ry) + (RZC3S + 1)(RACyS + 1) This is the transfer function relating Q9(s) and Q;(s). B-5-5. For this system CaH=-Qdt, -H= 3r, c= 22g = (8) x wy? & 7 au = -0.005 [A at Ht-5 ay = -0.005 ja Assume that the head moves down from H = 2m to x for the 60 second period. Then = 60 1.5 9 H dH = -0.005 —— at cal { m 2 oO or 4 (x2+5 — 22-5) = -0.01432(60 - 0) 53which can be rewritten as x2-5 — (1.414213)5 = - 2.1480 or x2+5 = 5.6569 - 2.1480 = 3.5089 Taking logarithm of both sides of this last equation, we obtain _ 2.5 1 = 3.5089, yg * = 1°, 5 or x = 1.652 m B-5-6. From Figure 5-32 we obtain cy ae qa-q@ q@) at dha cy tag - 2 2G ~~ 2 (2) a =a (3) BL h; 92 nae (4) Using the electrical-liquid-level analogy given below, equations for an analogous electrical system can be obtained. Electrical systems Liguid-level systems e (voltage ) q (flow rate) @ (charge) h (head) i (current) an/at © (capacitance) R (resistance) R (resistance) C (capacitance) Analogous equations for the electrical system are Ryiy =e - ey (5) Rpi2 = e1 - e2 (6) Say at qe 2 (7) cy 54§ 2 at ca 2 ea (8) Based on Equations (5) through (8), we obtain the analogous electrical system shown below. R POF ® R, A. Os 4 B-5-7. The equations for the liquid-level system of Figure 5-20 are Cc. = = gg er a (1) epee (2) a tee hy - hg quae eee rf Fi (3) hg 2 (4) Using the table of electrical-liquid-level analogy shown in the solution of Problem B-5-6, we can obtain an analogous electrical system. The analogous electrical equations are Rij =e - ey (5) Rgi2 = ey - eg (6) Sta - ig) at an ‘1 cy (7) Nee at be pelea ara (8) C2 Based on Equations (5) through (8), ve obtain the analogous electrical system shown on next page. 55BV = mRairT In this problem P= 7X 105 + 1.0133 x 105 = 8.0133 x 105 N/m? abs T = 273 + 20 = 293 K ‘The mass m of the air in the tank is pv 8.0133 x 105 x 10 BeOS Oe 20." 8 165,09) RairT 287 x 293 i If the temperature of compressed air is raised to 40°C, then T = 273 + 40 = 313 K and the pressure p becomes Mais 95.29 x 287 x 313 = ae, 25220 3c 287 5 313 05 N/m2 P S 8.560 x 105 N/m? abs 7.547 x 105 N/m? gage = 7.695 kg¢/cm? gage 109.4 Ibg/in.? gage B-5-9. Note that C dp, = g dt where q is the flow rate through the valve and is given by = Py from which we obtain Pols) _ 1 P;(s) "RCs +1 For the bellows and spring, we have the following equation:Ap, = xc ‘The transfer function X(s)/P; (s) is then given by Xie). X06) Fol) A 2 P(e) Pi(s)p(s) & ROS +7 B-5-10. Note that 5 2 AS 5 2 P= 0.5 x 10” N/m* gage = 1.5133 x 10° N/n* abs = 0 N/m* gage = 1.0133 x 10° N/m? abs Tf pg > 0.528p,, the speed of air flow is subsonic. So the flow throughout the system is subsonic. The flow rate through the inlet valve is 9, = JP, =P, ‘The flow rate through the outlet valve is ~= a P,- Pg Since both valves have identical flow characteristics, we have K, ‘The equation for the system is € dp, = (q, - g,)at 4 ap, Cae KVP - P, - K YP - Ps At steady state, we have dp,/dt = 0 and this last equation becomes K fr, 3 K/p, - P3 Py - P, or or Hence Py + P3 _ 1.5133 x 10° + 1.0133 x 10° 2 2 = 1.2633 x 10° W/m? abs = 0.25 x 10° N/m? gage 57B-5S-1l. For the toggle joint shown in Figure 5-37, we have ashe e ree A B-5-12. oo Q=0.1 JH = £(H) = tz) +f Pa 2, ~ OE) oS _(H~H)2 4 + H=H Neglecting the higher-order terms, a linearized equation for the system can be written as Q - £(f) = a(H -H) where £(H) = £(4) = 0.2 HEH Thus, a linearized equation becomes Q - 0.2 = 0.025(H - 4) B-5-13. z= 5x? = £(x) ae eae ae x2 £(%) + 2 (x ~ + LOE (x? +--- ax ax? A linearized equation for the system is zZ-Z=a(x - X) = 10x 20 2, 2 = 20 x= 2, z= 20 Thus, a linearized equation becones . Z - 20 = 20(x - 2) or 58z ~ 20x = - 20 B-5-14. z= x2 + xy + Sy2 = £(x, y) A linearized mathematical model is patd a's) eb Gy = 7 E-Esoe +5, & ¥) where X = 11, y = 5, 2 = 356, and ae Ex + = 22 +10 = 32 ox | Sees aoa BE. xx + 10y = 22+50=72 ay =ll,y=5 Thus, the linearized equation is 2 - 356 = 32(x - 11) + 72(y - 5) or 32x + 72y - z = 356 B-5-15. Define the radius and angle of rotation of the pinion as r and @, respectively. Then, relative displacement between rack C and pinion B is re. pox trek £ 7 Cf) P73 trek Relative displacement between rack A and rack C is 2r@ and this mst equal displacement x. Therefore, we have 2x8 = x Since x = r@ + y, we obtain 59B-5-17. The heat balance equations for the system are ©1468, = (u - q, at (1) €,98, = (a, - a, )at (2) Noting that % = G0), q = G0, Equations (1) and (2) can be modified to o u = Ged, 1s i (3) eo, Cy aye = Gc8, - Ge, (4) from which we get C18@,(s) = U(s) - Gc®, (s) Cy8@2(s) = Gc@, (s) - Gc8,(s) By eliminating @,(s) from the preceding two equations, we obtain Ge (cps + Ge)e,(s) = BRST or (Cys + Ge)(C,s + Ge)@,(s) = GcU(s) Thus the transfer function @,(s)/U(s) can be given by @,(s) Ge us) (Cys + Ge)(C,8 + Ge)CHAPTER 6 Define the current in the circuit as i(t), where t 20. The jon for the circuit for t > 0 is B61. equal 1 (R, + R,)i + c, fi at =E Since the capacitor is not charged for t <0, the Laplace transform of this equation becomes (R, + RA)1(s) + 2 18) = E Cp s Hence EC. oh Scie) wien R +R, +h R, + R,)Cps +1 2 Since = gs E,(s) = (R, + Galtls) we obtain EC . 2 BA(s) = {Ry + R2)es +1 [fara] (Ry+ Ry)C9s +1 o 3 1 sR) +R, 0 e - (R, + RA)Cy The inverse Laplace transform of E,(s) gives oe t/U(Ry + R5)Cy] \ eft) = a ° B-6-2. The equation for the circuit is di Eg: 2 Lo eR + Sia = 612, r29+p%9%,1q28 at? aC Since q(0) = 0 and i(0) = q(0) = 0, the Laplace transform of this last equa- tion gives 1s%9(s) + Rsg(s) +L o(s) = or E 2 aie s(Ls* + Rs + a ) Q(s) = Since the current i(t) is dq(t)/dt, we have 1(s) = sQ(s) = ——=___ Is? + Rs + + The current i(t) will be oscillatory if the two roots of the characteristic equation 2+Rs+t-o ee are complex conjugate. If two roots are real, then the current is not osci- latory. Case 1 (Two roots of the characteristic equation are complex conjugate): For this case, define = fax , M, 1c I(s) = EC ee 2 s+ 25uW 8 +H, 2 ‘The inverse Laplace transform of I(s) gives it) = no ng Sut sin(w, ji - 5? t) sane sin(w, 1-52 t) (t20) The current i(t) approaches zero as t approaches infinity. Case 2 (Two roots of the characteristic equation are real): For this case define 62s+ Bg + ts (e+ alls +b) ‘Then Us) == Se L (s +a)(s +b) The inverse Laplace transform of I(s) gives i(e) = Eee (ett - ot) Notice thatthe inverse Laplace transform of F,(s) is ett) = { . a et/L(R, + RIC] ee) Which gives the response to the step input of magnitude E, . B-6-4, The system equations are ky Oy - y) = by (7 - X) blk - 5) = kX which can be rewritten as bY + yy = kx, + bx, bk, + kX, = BLY Noting that x,(0-) = 0 and y(0-) = 0, by taking the jj transform of these two equations we obtain (bys +k, )¥(s) = kX; (s) + B,sx,(s) (bs + k,)X,(s) = by s¥(s) By eliminating ¥(s) from the preceding two equations, we get bys + kp (bs + k)) ee X,(s) = kX; (s) + b,sx,(s) 1 Simplifying [(k, + ky)bys + ky ky] X,(s) = kb, sx; (s) or by X,(s) (k, + ky)b)s + k, 1 1 iY gk sur (Gee bs+1 ‘The response of the system to x; (t) = X,1(t) can be obtained by taking the inverse Laplace transform of (b, /ka)s x, Xq(s) = ——# 2 1 i + bs +1 Ky 5) 64as follows: 1 ey t2o0 B-6-5. The equations of motion for the system are ky Ox, - x,) = B(x, - ¥) bi (x, - ¥) = ky Rewriting these equations, bok, +, = yy + bY by toy = box, Noting that x(0-) = 0 and also y(0-) = 0, £_ transforms of these two equations become (bos + kx (8) = kx, (s) + bisv(s) (bs + k,)¥(s) = b sx (s) Eliminating Y(s) from the last two equations, we obtain b,sX,(s) (bys + k,)X,(s) = jx; (s) +bs oe 2 which can be simplified as Ck, + k,)b,s + k,k,]X,(s) = kj (bys + k,)x,(s) X(s) ___k, (bys + 5) XS) (ky + k_)bos + KK. Since the input x,(t) is given as 65x(t) =X O T. Note that x(t) can be made identically zero for t 2T if we choose asa, t= 22 ee Thus, the motion of mass m can be stopped by another impulse force, such as ae ae ek Bue - ed S(t jan S(t TR B-6-12, The system equation is me + bx = S(t), x(0-) = 0, X(0-) = 0 The {_ transform of this equation is (ms? + bs)x(s) = Solving for X(s), we get — a X(s) = a ms? +bs ™ s(s + The response x(t) of the system isx(t) =-L (1 ~ (b/m)t The velocity x(t) is en (b/m)t The initial velocity can also be obtained by use of the initial value theorem. X(0+) = lim s?x(s) = 1im S00 soo ms? + bs 13. ‘the moment of inertia of the pendulum about: the pivot is J = mf*. The angle of rotation of the pendulum is @ rad. Define the force that acts on x = the pendulum at the time of sudden stop as F(t). , the torque that acts on the pendulum due to the force F(t) is F(t)£cos @. The equation for the Ze pendulum system can be given by m £26 = F(t) £cos @ - mfsin @ (2) We shall linearize this nonlinear equation by assuming FQ<- angle 6 is small. (Although @ = 20° is not quite small, the resulting linearized equation will give an : { approximate solution.) By approximating cos @ = 1 and sin @ ©, Equation (1) can be written as mg m 928 = F(t) £- mg fo or mfS + me = F(t) (2) Since the velocity of the car at t = 0- is 10 m/s and the car stops in 0.3 s, the deceleration is 33.3 m/s2, By assuming a constant acceleration of magnitude 33.3 m/s? to act on the mass for 0.3 seconds, F(t) may be given by F(t) 33.3 m(1(t) - 1(t ~ 0.3)] Then, Equation (2) may be written as mf@ + mg0 = 33.3 m [1(t) - 1(t - 0.3)] 6 +S 9 = 23:3 a(t) - a(t - 0.3)) Since / = 0.05 m, this last equation becomes 26 + 196.2 0 = 666 [1(t) - 1(t - 0.3)] Taking Laplace transforms of both sides of this last equation, we obtain (s2 + 196.2)@(s) = 666 G -+ 0.38) (3) where we used the initial conditions that @(0-) = 0 and 6(0-) = 0. Solving Equation (3) for @(s), @(s) = 866 __ (1 ~ ¢-0.3s) 3(s? + 196.2) s 666 "Fe 196.2) 196.2 (1 - 9-35) ‘The inverse Laplace transform of @(s) gives @(t) = 3.394 (1 - 14t) - 3.394 fre - 0.3) - [cos 14(t - 0.3)Jz(t - 0.3)f (4) Note that 1(t - 0.3) = 0 for 0<¢ t < 0.3. Let us assume that at t = ty, @ = 20° = 0.3491 rad. Then by ten- tatively assuming that t, occurs before t = 0.3, we solve the following equation for ty: 0.3491 = 3.394(1 - cos 14t;) which can be simplified to12s2x(s) + 40sx(s) + 400x(s) = 8.2 or 19.62 s(12s? + 40s + 400) 1.635 s(s? + 3.3333s + 33.3333) f 0.035 + 0.1 = 1.695 ( 2:93 -___-0:038 + 0.1 = s2 + 3.33335 + 33.3333 " x(s) s+ 1.6666 (s + 1.6666)2 + (5.5277)2 4 0.04905 [+ e S 5.5277 ~ 0.3015 ] (s + 1.6666)? + (5.527)? The inverse Laplace transform of X(s) gives x(t) = 0.04905(1 - e71-6666t cos 5.5277t - 0.3015 e71-6666t sin 5.5277t) Next, we shall obtain the response curve x(t) versus t with MATLAB. |‘The resulting response curve x(t) versus t is shown below. Response x(t) B-6-15. The equation of motion for the system is mx + byx + (ky + kz)x = 0 By substituting the numerical values of m, ky, kz, and b into this equation, we obtain ¥ + 4x + 16x = 0 Laplace transforming this equation, we get [s2x(s) - sx(0) - %(0)] + 4[sx(s) - x(0)] + 16x(s) or (s? + 4s + 16)x(s) = sx(0) + £(0) + 4x(0) Solving this equation for X(s), = -8(0) + X(0) + 4x(0) s2 + 4s + 16 X(s) Since x(0) = 0.05 and X(0) = 1, X(s) becomes Ss + 1.2 s2 + 4s + 16 X(s) 75” 0.05(8+2) | __— 0.3175 x 23 (s+ 2)2 + (2J3)2 (s+ 2)2 + (2J3)2 The inverse Laplace transform of X(s) gives x(t) = 0.05 en2t cos 2/3 t + 0.3175 e-2t sin 2/3 t ‘This equation gives the time response x(t). ‘The response curve x(t) versus t can be obtained easily by use of MATLAB. Noting that X(s) can be written as x(s) = -0:0582 + 1.28 _1_ st@+4s+16 5 we may define num = [0.05 1.2 0] den=[1 4 16] and use a step command. The following MATLAB program will generate the response curve x(t) versus t as shown below. % ***** MATLAB program to solve Problem B-6-15 ***** num =[0.05 12 0]; den=[1 4 16]; step(num,den) grid title(Response x(t)’) xlabel('t sec’) ylabel(x(t)') 02 76The transfer function of the system is SABA eee Us) s24+25+10 Since u(t) is a unit-step function, we have U(s) = 1/s. ates) mL sere s2?+2s+10 § The following MATLAB program will generate the response curve x(t) versus t as shown in the figure below. num=[0 1 5]; den=[1 2 10} step(num,den) grid title(Response x(t)') xlabel('t sec’) ylabel(‘x(t)') ‘% ***** MATLAB program to solve Problem B-6-16 **#** H+ 2k+10x=%+5u, —-x(0-) = 0, X(0-) = 0 Hence x)B-6-17. In this system F is the input and x2 is the output. From Figure 6-57, we obtain the following equations: byxy + ky (xy - x2) = F ky (xq - xg) = Doky + koxp Laplace transforming these two equations, assuming zero initial conditions, we obtain (bys + kX (s) ~ k1X2(s) = F(s) 1X} (s) = (bgs + ky + k2)X2(s) By eliminating X;(s) from these two equations, we get (ys + ky) —— Xo(s) - 1yX9(s) = F(s) ‘1 Simplifying this last equation, we get Ubybgs2 + (bik, + byk2 + boky)s + kyk2]X2(s) = kyF(s) from which we obtain X2(s) ky ee ee ae F(s) bybys? + (byky + bykp + bgky)s + kyky By substituting numerical values for ky, kz, by, and bp into this last equation, we obtain X2(s) 4 F(s) 10s? + (4 + 20 + 40)s + 4 x 20 0.4 s2+6.45+8 Since the input F is a step force of 2N, we have F(s) = 2/s. X2(s) can be obtained from 0.4 3 be) = ——_ 4 s?+6.4s+8 5 9.8 ae Be (s + 4.6967)(s + 1.7033)s = el, 0.0569 | _-0.1569 5 "s+ 4.6967 " s + 1.7033 78The inverse Laplace transform of X2(s) gives X2(t) = 0.1 + 0.0569 e~4-6967t _9 1569 e-1-7033t ‘The response curve x(t) versus t can be obtained with MATLAB as follows: First note that 0.8 X(s) = 2 s2 + 6.45 +8 eo s Then, define nun=[0 0 0.8] den=[1 6.4 8] and use a step command. The following MATLAB program will yield the response curve x2(t). The resulting response curve is shown in the figure below. % ***** MATLAB program to solve Problem B-6-I7 ***** num=[0 0 0.8}; den=[1 6.4 8]; step(num,den) id ftle(Response x(t) xlabel('t sec’) ylabel(‘x(t)') 2 25 3B-6-18. Referring to the figure shown to the right, we have x oS 2 =++ cs, Zo(s) = Ry + z(s) Ra. a 1" Cs Hence R; Zy(s) = 2 7 Zo(s) IE R2C2s + 1 Cis E(s) 22(s) Ei(s) —-24(s) + Zp(s) (RyCys + 1)(RzCs + 2) R2Cis + (RyCys + 1)(RoCys + 1) (R1Cys + 1)(R2C28 + 1) RCyR2C2s? + (RyC] + RyC7 + RgCy)s + 1 By substituting the given numerical values for Ri, Ro, Cy, and C2, we obtain Fo(s) _ (0.58 + 1)(0-05s + 1) Ei (s) 0.025s2 + 0.85 +1 When e;(t) = 5 V (step input) is applied to the system, we have 0.02582 +0.55s+1 5 EQ(s) = ————_—_— 5 0.025s2+0.85+1 § 5s2 + 110s + 200 2 s? + 32s + 40 s The response curve e,(t) versus t can be obtained by entering the following MATLAB program into the computer. % ***** MATLAB program to solve Problem B-6-18 ***** 110 200}; 1 32 40); step(num,den); 0 5 0 6}; axis(v); grid title(Response eo(t)') xlabel('t Sec’) ylabel(eo(t)') 80‘The resulting response curve e,(t) versus t is shown below. Response eo(t) 2 ae 80 Ale A Anes Sec Note that (a) 5s? + 110s + 200 1 's) = ae “a s? + 32s + 40 s =—1.7010_____1.7010 5 s+ 30.6969 5+1.3031 5s Hence 2o(t) = 1.7010(e~30-6969% _ ¢-1-3031t) 4 5 Notice that the response curve is a sum of two exponential curves and a step function of magnitude 5. 81CHAPTER 7 B-7-1. ‘The equation of motion for the system is mx + kx = p(t) = P sin wt The Laplace transform of this equation is where x(0) = 0 and x(0) w (ms? + k)x(s) "2 eat s+ By substituting the given numerical values of m, k, P, and w into this ast equation, we obtain (s? + 100)x(s) = $%2 +2 Solving for X(s), x(s) ars bs (s* + 100)(s* +4) 6 gy 96 5? + 100 ‘The inverse Laplace transform of X(s) gives the response x(t). x(t) = —g (sin dt - L sin 208) B-7-2. The equation of motion for the system is mk + bx + kx = p(t) = P sin wt, x(0) = 0, (0) = By substituting the given numerical values into this equation, we get 2k + 24% + 200x = 5 sin 6t g X + 12% + 100x = 2.5 sin 6t Taking the Laplace transform of this last equation, we obtain 2 f 6 (s° + 12s + 100)X(s) = 2.5 >-—> s*+6 Solving for X(s), 15 X(8) = ——__—__, _ (s? + 128 + 100)(s” + 36) 82a te ee = ea Se _ s? +128 + 100 3 9 - Bae * 9 * wea (5 +8) 5 a (s + 6)? + 82 29X64 36 nae 64 5 + 36 The inverse Laplace transform of X(s) gives x(t) = 7 35 eS sin Bt +72 eW6t cos at + 0, we must have ? = 22.28. ‘Then = pe fe ’ z M 100 So we obtain or k = 17.7 x 109 N/m ‘The amplitude of force F, transmitted to the foundation is frel= (mar) (TR) = 0.2 x 62.87 x 0.5 x 0.1 = 39.44 N B:7-8. ‘The equation of motion for the systen is mx + b(x - ¥) + k(x - y) = Rewriting, m(X - $) + b(k - ¥) + k(x - y) = - my By substituting x - y = z into this last equation, ve obtain m2 + be + kz = - my ‘The Laplace transform of this equation, assuming zero initial conditions, is (ms* + bs + k)Z(s) = - ms*¥(s) or 2(s) = ms? YS) ns? + bs +k For the sinusoidal input y = Y sinwt, Zjw) _ nw? a? ¥G@) _ mat pnjwtk -y2+ 25WjW +a," The steady-state amplitude ratio of z to y is m2 esr ¥GW) V Vie mu? s pa Vie? ae + (230, Via? 0)? + FW wi 87IfW > we ue) | a? _ yGw) 1" ya = + Thus, the amplitude of sinusoidal displacement y of the base is equal to the amplitude of the relative displacement z. Iew€ tal have 2s) = _ ms? ¥(s) k or sega) | aaa eed So the acceleration ¥ of the base is proportional to z. 7-9. Define the displacement of spring k, as y- Then the equations o! motion for the system are m + bie -y)+ kx= p(t) () b)(x - ¥) = ky (2) The force f(t) transmitted to the foundation is f(t) = kx +: Ky (3) By taking Laplace transforms of Equations (1) and (2), assuming zero initial conditions, we obtain 2 + bys +k, )x(s) b,sx(s) = (bjs + k,)¥(s) b,s¥(s) + P(s) By eliminating Y(s) from the last two equations and simplifying, we get X(s) bos + kp Pls) (ns? + ky, )(bys + kp) + bjs ‘The Laplace transform of Equation (3) is bok. F(s) =k X(s) + k,¥(s) = «:x(s) + —22— x(5) T Z 1 8 + Ke k, bs + IKyky + Boks bys + ky X(s) So we have 88x(s) bos + ky F(s)_ _ _F(s) _x(s) Og + bis +R Pls) xls) PS) (oa? + ie )ibge + k,) +b F(s (kb, + kp))s + kk, 228 The force transmissibility TR is (ky + ky)bgj a + ky | Soe eee gee bs 2 5 (= mw* + Yk, re b,jw) +b, a. “Ven, ~ mw?)?K,? + Cbjk, a + (i, ~ mW Yb, ew]? ‘The amplitude of the force transmitted to the foundation is 2 VK + )705 cw 7 “+ ee % Vou, - maPy%,? + (oye + (4, - mano!” B10. Define the displacement of the top end of spring k, as 2. Then the equations of motion for the system are “| [raw mi + bp (k - 2) + k, (x - p) =0 b (x - 2) = k(z - p) where p= P sinwt. Rewriting these equations, mii + bX + kx = bo + kp bk + kp = kz + bg Laplace transforming these two equations, assuming zero initial conditions, we obtain « be + wk Ixts) = b,sz(s) + eee) by sx(s) + k,P(s) = (k, + b,s)2(s) Eliminating z(s) from the last two equations and simplifying gives 2 = [(ms? + i, )(, + bjs) + kypeik(s) = bk sP(s) + K,P(s)(k, + bs) 89So the transfer function X(s)/P(s) is obtained as Xs). bjkys + kjk + kybos P(s) 2 (ms* + k, )(b,8 + x) + bokos ‘The motion transmissibility TR is fi One en me 2 n-| sie) Cee eas Pw [2 242 2 k, (, - mw*)* + Up k, a + bw, - maF)] Te vibration amplitude |x(jw)| of the machine is |xtjeo)| = p-te Ns ever, + i)762 wd? + 24,7 al NE eee, eli z 2,2 as ¥ b ~ ma’ ky On, = may” + [bw + wa(ik, ~ mad") B-7-11. ‘The equations of motion for the system are mk + bk + kx + k(x - y) = P singJt my + ka(y - x) = 0 Iaplace transforming these two equations, assuming zero initial conditions, we obtain (ms? + bs +k + kq)X(s) = kg¥(s) + P(s) (ms? + K,)¥(s) = k3X(s) Eliminating ¥(s) from the last two equations and simplifying, we obtain X(s)_ _ ms? + kg PCs) (ms? + bs + k) (mgs + kg) + malas” Hence x(jw) _ ky =m, ? P(j@) 2 2 2 (kc - ma” + bjw)(ka - mq") - mak, @ Note that if ¥ka/m, =, then X(jW) =0. Since 90YG) Ka POW) = mad? + bj) (ey - m0") — make? By substituting k,/m, = @)7into this last equation, we get UY) 2M PCS) gk, wo? Ip¢iwyl_ ep P k, mi ei Ma [xciw| The amplitude of vibration of mass m, is P/k,. 37-12. Assuming small angles 6, and @, the equations of motion for the ‘system may be obtained as follows: AB wl wee mi? 6 =- mse, - 1220, - 6,) mf? 8, =~ m,gh6, - 122(0, - Rewriting these equations, we obtain 2 &. 29 = mf? 6, + mle, + ka20, = x20, 25 a nf’ 6, + mgfle, + Kae, which can be simplified to - 2 2 8+ (G+ 28 )o, 2 8, a) Dairy mit) mL ns 2 6, +(L+ 6, «So 2) Zi GE wt) ae t ¢ To find the natural frequencies of the free vibration, we assume the motion to be harmonic. That is, we assume 916, =Asinwt, 8, = Bsinwt 6, = aw? sinwe, 6, = Ba? sinwt Substituting the preceding expressions into Equations (1) and (2), we obtain ~ aa? + (d+ tat a- 2? pl sinwt =0 [ font aL? 2, (a 4 ke? ka? - Bar*+ + B- Al/sinwt =0 [ (¢ aL) mp? Since these equations must be satisfied at all times and sina t cannot be zero at all times, the quantities in the brackets must be equal to zero. ‘Thus (3: (4) For constants A B to be nonzero, the determinant of the coefficients of ) must be equal to zero, or w 2 ka? a. +e. a L tee n, £? =0 (5) _ a _g 4a? _ 42 aL? l “ae ng This determinant equation determines the natural frequencies of the system. Equation (5) can be rewritten as 2 gta? _ .2\/a G "ee w?)( “D or 92This last equation can be factored as follows: 2 ya? _ _ka? 2 oan L -)-0 (e Lo mf? mer/\% 4 2 2 ka? aay ne Duy Beaty “ae 2 2 WwW =|, gy = {oye VE PVE ne me The first natural frequency is & (first mode) and the second natural fre- quency is , (second mode). : At the first natural frequency W=w@. = [s/f » we obtain from Equation (3) the following expression: ¥ + lg Los mht ih [Note that we obtain the same result from Equation (4).] Thus, at the first mode the amplitude ratio A/B becomes unity, or A= B. This means that both masses move the same amount in the same direction. This mode is depicted in Figure (a) below. At the second natural frequency ¢y = 2 we obtain from Equation (3) ae ae ie zt be B 2 2 ees ee aan E Lom? £ m2 mf [We obtain the same result from Equation (4).] At the second mode, the amplitude ratio A/B becomes - m,/m, or A = - (m,/m,)B- This means that masses move in the opposite direction. This mode is depicted in Figure (b) shown below. Ls Figure (a) é » Eyaven es 93B-7-13. The equations of motion for the system are mk = - (x + £,sin @)k, - (x ~4, sin @)k, 38 = - (x +£,sin 8)k, f,cos 8+ (x -4,sin 8)k, f,cos © For small angle @, we have sin @ ¢ 8 and cos @ = 1 and the preceding two equations become mk + (ky + kp)x + (fk) - 5k, )8 = 0 (1) IB + (Ly2ey + L5%Kp)0 + (Lyk, ~ Spi) = 0 (2) Notice that if #k, =f.) then the coupling terms become zero and two equations become independent. However, in this problem Ayaism f,=2m =k, = 4 x 104 N/m Ayk, - £oky = - 0-5 x 4 x 104 40 Therefore, coupling exists between Equation (1) and Equation (2). To find the natural frequencies for the system, assume the following harmonic motion: x=Asinwt, @=Bsinwt Then, from Equations (1) and (2) we obtain (ky, + ky - ma07)A + (Ayky - £k,)B = 0 (3) (yk, - 05k: )A + 2, +57, - 7? YB = 0 (4) For amplitudes A and B to be nonzero, the determinant of the coefficients of Equations (3) and (4) must be equal to zero, or ky + ky - maj? Ayky - 12k2 =0 (5) yk, - fk Aye, + £22k, - I? This determinant equation determines the natural frequencies of the system. Equation (5) can be rewritten as (ky +, — mad), +057, - Td”) - (yk, -£5k))? = 0 my 04 ~ [hy + IT + (07k, +2 57k )mlis? + Kyky(L+ £2)? = 0 94Which can be simplified to -(3 ty As hike) 432 7 qh hy n a my (6) Notice ae this last equation determines the natural frequencies of the system. By substituting the given numerical values for Ayr Lor Kye Kye my and J into Equation (6), we obtain 4 140 ed? + 3920 = Solving this equation for 4), we get «? = 38,695 or 101.305 J, = 6.2205, @, = 10.065 ‘The first natural frequency is @, = 6.2205 rad/s and the second natural frequency is W,= 10.065 rad/s. ‘To determine the modes of vibration, notice that from Equations (3) and (4) we haveTIF. Figure (a) For the second mode of vibration (é« = 10.065 rad/s) the amplitude ratio A/B becomes as eo 2 25 - 0.25 x 10.0657 B 8 - 0.2 x 10.0657 2 2 = 7032625 _ ~ 0.1631 * 2. 261 2 Hence the ratio of the displacements of springs k, and k, becomes 6 ERG? A ttE = (0.1631 + 1.5)B _ 1.33698 x-£39 A-f58 (-0.1631 - 2)B -2.1631B The second mode of vibration is shown in Figure (b) below. ») 33698 ~ 2.16318 7. Z 43369" Figure (b) 96B-7-14. ‘The system shown in Figure 7-50 is a special case of the system shown in Figure 7-32 (Problem A-7-14). By defining Kp =ke kg = 2k, kg=k, m=m, mem Equations (7-40) and (7-41) become as follows: ie ee @ B ~m@2 ++ 2% = -mw2 + 3k AL. nm? + e+e _ _-mw? + 3 (2) B 2k 2k Also, 4)2 that satisfies Bquations (7-38) and (7-39) becomes as follows: w2=t (etm , tn), Apes Bsa 2 ™ m “V4 ™ m Py] = 3k 4 2k = Koy 5K “nh > n m Define . = w2-L, we-3 By substituting @ ? into Equation (1), we obtain ae 2 2 BL -m(k/m) + 3k 2 !\)|Figure (b) B-7-15. The equations of motion for the system are ME + ky (x - y) + kox = 0 my + ky(y - x) = 0 Substituting the given numerical values into these two equations and simplifying, we have X+lx-y=0 q@) y + l0y - 10x =0 (2) To find the natural frequencies of the free vibration, assume that the motion is harmonic, or x=Asinwt, Y=Bsinwt E=-Awsinwt, $= Bw? sinwt If the preceeding expressions are substituted into Equations (1) and (2), we obtain (-Aw2+1A-B8) sinwt =0 (-B@2 + 108 - 10a) sinwt =0 Since these two equations mst be satisfied at all times and sinw t cannot be zero at all times, we must have -Aw2+11A-B= -BW2-+ 108 - 10A=0Rearranging, (41 - 2)A-B=0 (3) -10A + (10 -w2)B = 0 (4) For constants A and B to be nonzero, the determinant of the coefficient matrix must be equal to zero, or n-w2 -1 -10 10 -w2 which yields (11 - w2)(10 -@2) - 10=0 or w4~21W2+100=0 which can be rewritten as (w 2 - 7.2985)( w2 - 13.7016) = 0 Hence, @ ;2 = 7.2985, @ 52 = 13.7016 W, = 2.7016, We = 3.7016 The frequency of the first mode is 2.7016 rad/s and the frequency of the second mode is 3.7016 rad/s. From Equations (3) and (4), we obtain A 1 A _ 10 - W2 B u-w2’ 8 10 By substituting (2 = 7.2985 into A/B, we obtain A 2: 10 - 7.2985 +2985 10 = 0.27016 > 0 Similarly, by substituting @)? = 13.7016 into A/B, we get AL 1 = 10-13-7016 _ 9 37016< 0 B 11 - 13.7016 10 Hence, at the first mode of vibration, two masses move in the same direction, while at the second mode of vibration, two masses move in opposite direc- tions. 99Next, we shall obtain the vibrations x(t) and y(t) subjected to the given initial conditions. Laplace transforming Equations (1) and (2), [s2x(s) - sx(0) - X(0)] + 11X(s) - ¥(s) = 0 [s@v(s) - sy(0) - ¥(0)] + Loy(s) - 10x(s) = 0 Substituting the given initial conditions into the preceeding two equations we get (s? + 11)X(s) = 0.05s + ¥(s) (5) (s? + 10)¥(s) = 10Xx(s) (6) Eliminating ¥(s) from Equations (5) and (6), (s? + 11)x(s) = 0.058 + 22 _ x75) s2 +10 which can be simplified to x(s) = —0:05s(s@ + 10) s4 + 21s2 + 100 Similarly, we can obtain Y(s) as follows: 0.55 Yay s4 + 21s? + 100 To obtain the responses x(t) and y(t) to the given initial conditions, we rewrite X(s) and Y(s) as follows: 0.582 | x(s) = -0.05s4+ 0.58? 1, y(g) = =o + s4421s2+100 § s4+ 21s? +100 s Possible MATLAB programs to plot x(t) and y(t), respectively, are given next. The resulting plots x(t) versus t and y(t) versus t are shown on next page. ‘% ***** MATLAB program to obtain vibration x(t) ***** num=[0.05 0 0.5 0 0): den=[! 0 21 0 100}; t=0:0.05:30; x= step(num,den,t); plot(t,x) grid title('Vibration x(t) due to initial conditionds’) xlabel(t sec’) ylabel(‘x(t)’)xt) 005 0.04 03 0.2] a1 0016. All necessary derivations of equations for the system are ven in Problem A-7-16. The equations for the system are (2s? + 50)x(s) = 2sx(0) + 10¥(s) (1) (s? + 10)¥(s) = sy(0) + 10x(s) (2) Referring to Equation (7-54) we have x(s) = —(S2 + 10)sx(0) + Ssy(0 : (3) 84+ 35s? + 200 Case (a): For the initial conditions 1, ¥(0) x(0) = 0.2807, (0) = 0, (0) Equation (3) becomes as follows: 2 x(s) = (22 + 10) x 0.28075 + 5s 84 + 3582 + 200 = _0+2807s(s2 + 27.808) (s2 + 27.808)(s2 + 7.1922) 0.2807? 1 “247.1922 5 (4) By substituting Equation (4) into Equation (2) and solving for Y(s), we obtain 2.80785 | ¥(s) = —+—| sy(0) + [ i s2 + 7.1922 s2 +10 “ substituting y(0) = 1 into the last equation and simplifying, we get 2 + 10) ¥(s) i s(s* + 10 s2+10 s2 + 7.1922 " s s2 + 7.1922 s2+ 7.1922 § To obtain plots of x(t) versus t and y(t) versus t, we may enter the following MATLAB program into the computer. The resulting plots are shown in Figure (a). 102% ***** MATLAB program to obtain x(t) and y(t), case (a) ***** num] = [0.2807 0 0}; num2=[1 0 0]; den=[1 0 7.1922}; step(num1,den) hold Current plot held step(num2,den) text(2,-0.5,'x(t))) text(3,0.3,'(0)) title(Responses x(t) and y(t) due to initial conditions (a)') xlabel ('t sec’) ylabel (‘x(t) and y(t)') Responses xt) andy) due to ini conditions (2) Case (b): For the initial conditions x(0) = 1.7808, x(0)=0, y(0)=-1, (0) =0 we obtain the following expressions for X(s) and Y(s): X(s) = —1:78085__ __1.7808s?___1_ s? + 27.808 s2 + 27.808 § eo ee ee s?2 + 27.808 s? + 27.808 103A MATLAB program for obtaining plots of x(t) versus t and y(t) versus t is shown below. text(3.5, ‘% ***** MATLAB program to obtain x(t) and y(t), case (b) ***** num! = [1.7808 0 0); mum2=[-1 0 0]; den=[1 0 27.808); step(num|,den) hold Current plot held step(num?2,den) text(1.7,1.5,x(1)) Sy) title(Responses x(t) and y(t) due to initial conditions (b)’) xlabel (t sec’) ylabel (x(t) and y(t)) ‘Responses x) and yt) due to intial conditions (3) fe xc 5 Pov 7 oo eee 1} 2 il ‘| 15} yi) y 2 3 4 5 6 7 8 9 10 is Case : For the initial conditions The resulting plots are shown in Figure (b) below. Figure (b) x(0) = 0.5, (0) =0, y(0)=-0.5, ¥(0) =0 we obtain the following expressions for X(s) and Y(s): 104X(s) = —(62 + 10)sx(0) + 5sy(0) s4 + 35s2 + 200 = —(s? + 10)s(0.5) + 5s(~0.5) s4 + 35s? + 200 _ 0.553 + 2.55 s4 + 35s? + 200 0.5s4 + 2.552 1 s4 + 35s2 +200 § sy(0) s 10x(s) s2 +10 s2 +10 0.5 s5 + 2553 + 150s s2+10 54+ 35s2 + 200 ¥(s) = 0.5s(s2 + 15) s4 + 3552 + 200 0.5e4 + 7.58? 1 s4+ 35s? +200 § A MATLAB program to obtain plots of x(t) versus t and y(t) versus t is shown below. The resulting plots are shown in Figure (c). % ***** MATLAB program to obtain x(t) and y(t), case (c) ***** num1=[0.5 0 2.5 0 0} num2=[-0.5 0 -75 0 0}; den=[1 0 35 0 200); 1 =0:0.02:5; x= step(numl,den,t); plot(t,x,'o') hold Current plot held y = step(num2,den,t); plot(ty,'x') text(1.6,0.5,'x(t)) text(1.1,-0.3,'y(t)') title(Responses x(t) and y(t) due to initial conditions (c)') xlabel ('t sec’) ylabel (‘x(t) and y(t)’) 105Responses xt) and yt) due to inal = Figure (c) 3 = Greece |e -sanewsien te vee Le, aster Goooooe : BF 0028.05, _rmteeramagset Grocoss pe ad sesame | 1 Sreaggoeeet le peeoe : Garces. = era e $s gy ° a Pe He ay 3 106CHAPTER 8 B-8-1. — Simplified block diagrams ‘are shown 5 are shown to the right. The R transfer function C(s)/R(s) is GAG c(s) & +6, = 12 - 4 R x 2 (s) a+ (G, + G,)(G, - G,) 4 s G+ +6 +ENG, Ge z 2G He + BGG + GMM, GG, (+H) 9G He GG G+ GH G+ GG + Gos 107Us) _ K E(s) Ty 18 Kf Ko 1+Ts 1+ Ts K sed Iara ee Ko 1+Ts 1+ 5 Ko(1 + Tys)(1 + Ts) Ts Ko (1+ 1 \ (2 + 198) Ts Ki + =! T. be fe — ++ (hes Ute 7, + 'T. 1 T)T2s ea ee 7) (t)+%)s TY +T% For relatively small angle @ we can construct a block diagram as shown below. 9 er =z L4 asa + + 5 109 ¥From the block diagram we obtain the transfer function ¥(s)/@(s) as followws: peek Y ei atb s es) 4K a satb Since in such a system |Ka/[s(a + b)]| is designed to be very large compared to 1, ¥(s)/e(s) may be simplified to y(s)_ = 4b at+bey Db @(s) “atb a a We see that the piston displacement y is proportional to deflection angle @ of the control lever. Also, from the system diagram we see that for each small value of y, there is a corresponding value of angle g. Therefore, for each small angle @ of the control lever, there is a corresponding steady-state elevator angle ¢. B-8-6. If the engine speed increases, the sleeve of the fly-ball governor moves upward. This movement acts as the input to the hydraulic controller. A positive error signal (upward motion of the sleeve) causes the power piston to move downward, reduces the fuel valve opening, and decreases the engine speed. Referring to Figure (a) shown below, a block diagram for the system can be drawn as shown in Figure (b) on next page.Figure (b) From Figure (b) the transfer function ¥(s)/E(s) is obtained as K g- ts Ee are 15 ee bs S a+ a be+k Since such a speed controller is usually designed such that eee bs Ss Se a eke | >? the transfer function ¥(s)/E(s) becomes Ya)... Sea bet 22 44 ky Opa a te a Bs Thus, the control action of this speed controller is proportional-plus-integ- ral. B-8-7. _ For the first-order system (5) aos O(s) +1 the step response curve is an exponential curve. So the time constant T can be determined from such an exponential curve easily. From Figure 8-99 the time constant T is 2 s. If this thermometer is placed in a bath, the temperature of which is increasing at a rate of 10°C/min = 1/6°C/s, or weak =e tta where a is a constant, then the steady-state error can be determined as follows: Noting that E(s) = @,(s) - 6(s) = @,(s) [: s 4%; @(s)= @,(8)(1 - 53) = 9,(0) 528 241 we obtain im sE(s) = lim 2s? (s) = lim sE(s) = 1: “ss =o ap ee Be wherea 455, 1455 s s + 1.1270 5 + 8.8730 Hence c(t) = 1 + 0.1455 e-1-1270t _ 1.1455 e-8.8730t B-8-9. Since M, is specified as 0.05, ve have - $=. Ny = © Wes = 0.05 or 2B .. « 2.995 Vi='st Rewriting, 2 2, 2, (59) = (2.995)"(2 - 5°) Solving for the damping ratio 5 we obtain 5 = 0.69 The settling time + is specified as 2 seconds. So we have 4 t= S 5Wn or ‘therefore, B-8-10. The closed-loop transfer function of the system is c(s) 100 R(s) s3 + 2s? + 10s + 100 100 (s + 4.5815)(s - 1.2907 + j4.4901)(s - 1.2907 - j4.4901) ‘This system is unstable because two complex-conjugate closed-loop poles are in the right half plane. To visualize the unstable response, ve may enter the following MATLAB program into the computer. The resulting unstable response curve is shown in the figure on next page. To make the system stable, it is necessary to reduce the gain of the system or add an appropriate compensator. 3mum=[0 0 0 100}; den=[I 2 10 100]; t= 0:0.1:5; step(num,den,t) grid title(Unit-Step Response of Unstable System’) xlabel('t sec’)Wa = sin-l = sin-] 0.866 = Bp sin & si 0.866 we have a te oe EE witicas 3.46 The peak time tp is obtained as -z 2 "ay ‘The maximum overshoot Mp is pe Mp ae naa B-8-12. The closed-loop transfer function for the system is cs) _ K 0.5K R(s) 2s? +5 +S +K. 52+ 0.5(1 + KR)e > 05K From this equation, we obtsin @y = /o.5K, 2 Wp = 0.5(1 + KRp) Since the damping ratio 5 is specified as 0.5, ve get @, = 0.5(1 + KK) Therefore, we have 0.5(1 + KK) = 0.5K ‘The settling time is specified as age ee Te i EET 0.25(1 + KK) 1+ KK, + Since the feedforward transfer function G(s) is K Gla) = — ee a+ —h 2 2s+1+KK, s 2s+1 the static velocity error constant Ky is K ih = dimes) aia 2 Se s3e soo 2S +1 +KK S14 KKy 5This value must be equal to or greater than 50. Hence, K 1+ mK, 7 °° Thus, the conditions to be satisfied can be summarized as follows: 0.5(1 + Rky) = /0.5K 16 1 + KK <2 —k_— p50 1+ KK, ~ O 5000 If we choose K = 5000, then we get 1 + Rk, = [2K = 100 Kn = -01! 5000 0.0198 Thus, we determined a set of values of K and Kj as follows: K = 5000, Kp = 0.0198 With these values of K and Ky, all specifications are satisfied. (1) (2) (3) (4)es) KG + Ts) ee ane R(s) Js + Ka + Ts) Since R(s) = 1/s2, the output ¢(s) is obtained as eee 1 ie 1 2 z KT K Js’ eae, s s s+ a s+ C(s) = Since the system is underdamped, C(s) can be written as 1 2 CCE tae 2,2 K 2 K, s re KAT + g K ‘Tz 25 J use K pep 2p dae z ase fee 2 ‘ane Ye K, bie KOT. we eet (a i te eee J ya? 2s J 4g ‘The inverse Laplace transform of C(s) gives % c(t) = t - 2 nee ae 7 4g je ta Sema The steady-state error e.. for a unit ramp input is ss = lim [r(t) - (t)] = 1im [t - e(t)] ton t00 2 KT = lim e723 + sin 2 - 2 leo tool [Oy a2 i ae To cige The steady-state error can also be obtained by use of the final value theorem. Since the error signal E(s) is [ __ &G +148) E(s) = R(s) - C(s) = R(s) [2 - z Js" + KG + Ts) 117we obtain the steady-state error e., as s Js* €,, = lim e(t) = lim sE(s) = lim =0 tre s+0 s+0 “(Ie + kK + TK) K s(s + 1)(s + 5) s3 + 6s2+5s+K=0 ‘The Routh array for this equation is 1 5 6 K For the system to be stable, there should be no sign changes in the first colum. This requires 30-K>0, K>O Hence, we get the range of gain K for stability to be 30>K >0 B-8-15. Since the system is of higher order (5th order), it is easier to find the range of gain K for stability by first plotting the root loci and then finding critical points (for stability) on the root loci. The open-loop transfer function G(s) can be written as K(s2 + 2s + 4) s(s + 4)(s + 6)(s2 + 1.45 + 1) K(s2 + 2s + 4) 7 eS «aes 3983 + 43.68? + 24s G(s) = The MATLAB Program given on next page will generate a plot of the root loci for the system. ‘The resulting root-locus plot is shown also on next page. 118num=[0 0 0 1 2 4]; den=[1 114 39 43.6 24 oj rlocus(mum,den) Warning: Divide by zero v=[-8 2 -5 5]; axis(v); axis('square') grid title(Root-Locus Plot (Problem B-8-15)') Rool-Locus Plot (Problem B-8-15) Imag Axis o & anh Based on this plot, it can be seen that the system is conditionally stable. All critical points for stability lie on the jg axis. To determine the crossing points of the root loci with the jw) axis, substitute s = jw into the characteristic equation which is 8° + 11.454 + 3953 + 43.652 + 245 + K(s2 + 25 + 4) = 0 (5W)5 + 11.4(5w)4 + 39(jw)3 + (43.6 + K)(ju0)2 + (24 + 2K)jW) +K=0 ‘This equation can be rewritten as [11.4 w4 - (43.6 + K)w? + 4K] + jfu)5 - 3903 + (24 + 2K)W] = 0 By equating the real part and imaginary part equal to zero, respectively, we obtain ng11.4 a) 4 - (43.64+K) W244 =0 (1) @5 - 393+ (24+ K)W=0 (2) Equation (2) can be written as w@=0 or G4 - 39w2+ 24+ m=0 (3) From Equation (3) we obtain ~i4 + 39u 2 - 24 2 K= (4) By substituting Equation (4) into Equation (1), we get 11.4 04 ~ [43.6 + 4(- 4+ 30 wW2 - 24))w2-2H4 +780? - 48=0 which can be simplified to @®& ~ 20.2W4+ 92.8W2-96=0 The roots of this last equation can be easily obtained by use of the MATLAB Program given below. a=[]1 0 202 0 928 0 -96}; roots(a) ans = 3.7553 3.7553 2.1509 2.1509 1.2130 -1.2130 The root-locus branch in the upper half plane that goes to infinity crosses the jw axis at w = 1.2130, w = 2.1509, and w= 3.7553. The gain values at these crossing points are obtained as follows: 1.21304 + 32 X 1.2130? 24 _i56) gor w= 1.2130 120K = —22:15094 + 39 x 2.15092 - 24 2 K = —23-75534 + 39 x 3.75532 - 24 2 = 67.51 for w& = 2.1509 = 163.56 for &/= 3.7553 Based on the K values above, we obtain the range of gain K for stability as follows: ‘The system is stable if 15.61 >K>O 163-56 > K > 67.51 B-8-16. A MATLAB program to plot the root loci and asymptotes for the following system K G(s)H(s) = —————______—_ s(s + 0.5)(s2 + 0.6s + 10) is given below and the resulting root-locus plot is shown on next page. Note that the equation for the asymptotes is K Ga(s)Ha(s) = ——4—_. a(S) Tt Teale cise = K s4 + 1.153 + 0.453852 + 0.08319s + 0.005719 103 5 Oo}; numa=[0 0 0 0 1]; dena=[1 1.1 0.4538 0.08319 0.005719); r= rlocus(mum,den); plot(r,) hold Current plot held plot(r,'o') rlocus(numa,dena); v=[-5 5 -5 5]; axis(v); axis('square’) title(Plot of Root Loci and Asymptotes’) 121Plot of Root Loci and Asymplotes B-8-17. The open-loop transfer function G(s) is eet 2 G(s) = eee ee a s+5 s2(s + 2) K2(s + 1) s4+ 753 + 10s? The following MATLAB program will generate a root-locus plot. The resulting plot is shown on next page. mum=[0 0 0 1 1}; den=[1 7 10 0 0}; rlocus(num,den) v=[6 4 -5 5]; axis(v); axis(square’) grid title(Root-Locus Plot (Problem B-8-17)') From the plot we find that the critical value of gain K for stability corresponds to the crossing point of the root locus branch that goes to infinity and the imaginary axis. Hence, we first find the crossing frequency and then find the corresponding gain value. The characteristic equation for this system is s4 +753 + 10s? + 2Ks + 2K =0 122| & By substituting s = jw into the characteristic equation, we obtain (fH )4 + 7(5 3 + 10(j 2 + 2K(Gw) + M=0 which can be rewritten as (a4 - 100)? + 2K) + jw (-7a)?2 + 2) = 0 By equating the real part and imaginary part of this last equation to zero, respectively, we get w4-10W2+ 2K=0 (1) a) (-7 4)? + 2K) = 0 (2) Equation (2) can be rewritten as W =0 or -7w2+m=0 (@) By substituting Equation (3) into Equation (1), we find W4-10W2+7W2=0 or w4-3W2=0 which yields @Z=0 W=0, w 123Since w= /3 is the crossing frequency with the ja axis, by substituting w =/3 into Equation (3) we obtain the critical value of gain K for stability. K = 3.5 W2=3.5x3 = 10.5 Hence the stability range for K is 10-5>K>0 B-8-18. The angle deficiency is 180° - 120° - 120° = - 60° A lead compensator can contribute 60°. Let us choose the zero of the lead compensator at s = -1. Then, to obtain phase lead angle of 60°,| 1 | | I | ws & A e Note that the closed-loop transfer function is Cs) 8s +8 R(s) 53 + 482 + 88 +8 The closed-loop poles are located at s = -1 + j [3 and s = -2. B-8-19. The MATLAB program given below generates a root-locus plot for the given system. The resulting plot is shown on next page. num=[0 0 0 1}; den=[l 5 4 0}; rlocus(num,den) v=[-6 4 -5 5]; axis(v); axis(‘square’) id Bri title(Root-Locus Plot (Problem B-8-19)') Note that constant-3 points (0< $<1) lie on a straight line having angle @ from the j4) axis as shown in the figure below. From the figure we obtain sin @ Note also that $= 0.6 line can be defined by s = -0.75a + ja 125Rool-Locus Plot (Problem 8-8-19) mag Asis where a is a variable (0 120} mail io 10° 10 10 10 0 Froquency rade) 131B-9-3. A Bode diagram of the PI controller is shown in Figure (a). Bede Diagram (Problem 6-6-3: Pi Convair) s ne a TM o wo 0 w Frequency (rads) ‘| Tl Fa) 3 é rir 10 107 10" 10° 10" 1 Froqueney (radtec) Figure (a) A Bode diagram of the PD controller is shown in Figure (b). Bode Disgram (Problem B-2:3: PD Controtr)133 a ove Daron (rele 86-4) Tk 109 ‘a 8 Hi 5° TE Q to 10 10" so = * Frequency (rad/sec) 90 rT = z i’ “HIM al = a 10° 107 10° 0 iy = ‘Frequency (radisec) B-9-5. o M pane 4B oy Lead network 49 40° ie 1 Too.” nn a W rad/s ° ag ~z Lag network to a ~o 40" ot att K te RC Re Re: ua @ rad/sB-9-6. The equation of motion for the system is p(x - £6) = kLe 4o+Efo= ‘the .{~ transform of this equation, using zero initial conditions, gives (t2 + En)ete) = sxis) Notice that this system is a differentiating system. For the unit-step input X(s) = 1/s, the output @(s) becomes ae) =. OD ae) ‘The inverse Laplace transform of @(s) gives a(t) = Lb e-(k/)t (te) 7 e Note that if the value of k/b is large, the response @(t) approaches a pulse signal as shown in Figure (a) below. Since (jo) = SG) 2 1 ja __ KGW) LF + 0). tn we obtain T (jw) | = + | | t (=) Ae b e + a5 Figure (a) G(j@) = 90° - tan aa ‘The steady-state output @..(t) is therefore given by at wx ° 1 wp Se speg nee #20 Tear ae eka im Next, substituting £ = 0.1 m, k = 2 N/m, and b = 0.2 N-s/m into G(jw) ves 134iw G90) = 10 = ja+10 A Bode diagram of G(j4) is shown below. Bode Diagram (Problem 8-9-6) eke “aB-9-9. num=[0 0 0 320 640]; den=[l 9 72 64 0}; w=logspace(-2,3,100); bode(num,den,w) subplot(2, 1,1); title(Bode Diagram (Problem B-9-8)') ae i: Bode Diagram (Problem B-9-8) oT T | e i cise 8 100 = PA oe 10" ry 10 10 0 Frequney (raises) a 27 HE ETAT H ca nl t 270] | — Prt a 107 10 1 10 rr 0 Frequency (radisec) A possible MATLAB program to obtain a Bode diagram of the given G(s) is shown below. The resulting Bode diagram is shown on next page. num=[0 20 20 10]; den=[l 11 10 0}; w= logspace(-2,3,100); bode(num,den,w) subplot(2,1,1); title(Bode Diagram (Problem B-9-9)) 136‘Bode Diagram (Problem 8-9-9)[Nyquist Plot (Problem B-9-10) Since none of the open-loop poles lie in the right-half s plane and the G(j W ) locus encircles the -1 + j0 point twice clockwise if G(jw ) locus is plotted from w= - to a=, the closed-loop system is unstable. B-9-11. A possible MATLAB program for obtaining a Nyquist plot of the given G(s) is shown below. The resulting Nyquist plot is shown on next page. Since none of the open-loop poles lie in the right-half s plane and from the Nyquist plot it can be seen that the G(jd) locus does not encircle the -1 + j0 point, the system is stable. num=[0 0 0 20 20} den=[1 7 20 50 0]; w=0.1:0.1:100; [re,im,w] = nyquist(num,den,w); plot(re,im) v=[-15 15 -25 0.5}: axis(v); axis(square’) grid title(Nyquist Plot (Problem 8-9-11)') xlabel(‘Real Axis’) ylabel(‘Imag Axis’) 138[Nyquist Plot (Problem 8-9-11) as | q FoF: as ones i | | rr HE are 4 a | a5 Sy te tg YS sis B-9-12. A possible MATLAB program for obtaining a Nyquist plot of the given G(s) is shown below. The resulting Nyquist plot is shown on next page. num=[0 1 2 1}; den=[1 0.2 1 1} w=0:0.005:10; {re,im,w] = nyquist(num,den,w); plot(re,im) V=[3 3 -3 3]; axis(vp; axis(square’) grid title(Nyquist Plot (Problem B-9-12)') xlabel(‘Real Axis’) ylabel(Imag Axis’) From the plot, it is seen that the G(jW) locus encircles the -1 + jo Point twice as w is varied from w= —co to W=0to W =. Refer- ving to the Nyquist stability criterion (see page 497), we have N= number of clockwise encirclement of the -1 + j0 point = -2 P= number of poles of G(s) in the right-half s plane = 2 Note that there are two open-loop poles in the right-half s plane, because s3 + 0.282 +541 = (s + 0.7246)(s - 0.2623 + j1.1451)(s ~ 0.2623 - 1.1451) 139Nyquist Pot (Problem B-9-12) bi Z = number of zeros of 1 + G(s) in the right-half s plane =N+P=-2+2=0 Thus, there are no closed-loop poles in the right-half s plane and the closed-loop system is stabl. B-9-13. A closed-loop system with the following open-loop transfer function K =———_ Ty >: 1 G(s)H(s) Sa (Ty >0) (1) is unstable, while a closed-loop system with the following open-loop transfer function is stable. K(Tzs + 1) Se rn ta 0) (2) G(s)H(s) een ety Nyquist plots of these two systems are shown on next page. Note that G(jw )H(ja) loci start from negative infinity on the real axis (@ = 0) and approach the origin (w= 00). ‘The system with the open-loop transfer function given by Equation (1) encircles the -1 + j0 point twice clockwise. The eet e he system is unstable. The system with open-loopK Im G(s)H(s) = —————_ (Unstable) s2(Tys + 1) Ne K(Tzs + 1) G(s)H(s) = ———— (Stable) s2(Tys + 1) (12 >) > 0) B-9-14. For this system e-jv jae. G(jw) =K By setting K = 1, we draw a Nyquist diagram as shown below. Note that Lose = -wW (rad) = - 57.3°@ ‘The Nyquist locus crosses the negative real axis at (= -0.442. Hence for stability, we require 1 => ES0 0.442 > *> or 2.262 > K >0 141‘The same result can also be obtained analytically. Since - Re-jeu K(cos @ - jsing) )(1- j#) G(j@) = ——— = ———— jW+1 (1+ j@ )(1-jw) " “Tage (eee ase) + j(sinw + @ cos a/)]) by setting the imaginary part of G(jw) equal to zero, we obtain sin W + &) cosa = or Solving this equation for the smallest positive value of w, we obtain @ = 2.029 Substituting c = 2.029 into G(jw) yields G(j2.029) = ea le (cos 2.029 - 2.029 sin 2.029) 1 + 2.0292 u = -0.4421 K The critical value of K for stability can be obtained by letting G(j2-029) =-1, or 0.4421 K = 1 Thus, the range of gain K for stability is 2.262 >K >0 0.25K s(s2 +s + 4) 8(0.25s2 + 0.25s + 1) G(s) = The quadratic term in the denominator has the undamped natural frequency of 2 rad/s and the damping ratio of 0.25. Define the frequency corres- ponding to the angle of -130° to be W}. [G(5w) = - [541 - f = 0.25042 + 50.250, = -90° - tan-2 _0:2544 sage 1 = 0.25042 142Solving this last equation for W , we find @/, = 1.491. ‘Thus, the Phase angle becomes equal to -130° at 4/= 1.491 rad/s. At this fre- quency, the magnitude must be unity, or |G(ja@ ,)|=1. The required gain K can be determined from = 0.2890K | s¢52-491)| | 0.25K (j1.491)(-0.555 + 30.3725 + 1) Setting |G(j1.491)| = 0.2890K = 1, we find K = 3.46 Note that the phase crossover frequency is at W= 2 rad/s, since [c(s2 =- /i2 ~ /-0.25 x 22 + 0.25 x j2 +1 = -90°- 90°= -180° ‘The magnitude |G(j2)| with K = 3.46 becomes |ovs2) | =| ——2-865 ___| - 0.065 = 1.26 aw (52)(-1 + j0.5 + 1) Thus, the gain margin is 1.26 dB. The Bode diagram of G(jq) with K = 3.46 is shown below. 2» ay T 1.26 a8} a -10 oe |_| ate na ar a ar a2 ated / 2 #4 @ 3 pea yw @ nt /se0 143B-9-16. Note that jw+od 10 2K(10j W + 1) GW+0.5 jw (jw+i) jw (23W+1)(GH+1) We shall plot the Bode diagram when 2K= 1. That is, we plot the Bode diagram of Ee oja/ +1 cGy) <——$— ju (2j@ + 1)(ja+ 1) ‘The diagram is shown below. The phase curve shows that the phase angle is -130° at @ = 1.438 rad/s. Since we require the phase margin to be 50°, the magnitude of G(j1.438) must be equal to 1 or 0 dB. Since the Bode diagram indicates that|G(j1.438)l is 5.48 dB, we need to choose 2K = -5.48 dB, or K = 0.266 Since the phase curve lies above the -180" line for all 4“, the gain margin is +00 dB. 40 TT | 20 = @B 0 5 8 a6} -20 40 = TSU col at ee 0) oa ef RET © rad/s B-9-17. Let us use the following lead compensator: Lee ee pe Gale). = Rex ———— aig . tet «Sire kh Since Ky is specified as 4.0 s-l, we have 144Ts +1 K Ky = Lim ske of ——"-— —___K_____e og = 4 ng oa ad ATs+1 s(0.ls +1)(s +1) a Let us set K = 1 and define Koy =. Then K=4 Next, plot a Bode diagram of 4 e 4 s(0.1s + 1)(s + 1) 0.183 + 1.152 +s ‘The following MATLAB program produces the Bode diagram shown below. num = {0 0 0 4]; den = (0.1 1.1 10}; bode(num,den) subplot(2,1, 1); title("Bode Diagram of Gis) = 4/1s(0.1s-+1(s+ 111") Bode Diegram of G(s) = 49{0.18+1K8+1)) ell IT aia] ; 3 9 Hi aa r i tL al rd ‘oe 10" ~ 1 Frequency (rade) > | Eso H Sl ili Ceti 10" rr 10" 1 Frequency (radisec) From this plot, the phase and gain margins are 17° and 8.7 dB, respectively. Since the specifications call for a phase margin of 45°, let us choose %m = 45° - 17° + 12° = 40° (This means that 12° has been added to compensate for the shift in the gain crossover frequency.) The maximum phase lead is 40°. Since 145& is determined as 0.2171. Let us choose, instead of 0.2174, « to be 0.21, oF (dm = 40°) a Next step is to determine the corner frequencies 4? = 1/T and @ = 1/(«T) Of the lead compensator. Note that the maximum phase-lead angle ¢p occurs at the geometric mean of the two corner frequencies, or a= 1/(@T). ‘the amount of the modification in the magnitude curve at w= 1/(JaT) due to the inclusion of the term (Ts + 1)/(of Ts + 1) is 0.21 1+jwr 2% 1+ jour | yt ve ana VX Note that Da 1 = —=— = 2.1822 = 6.7778 6B ve 0.21 We need to find the frequency point where, when the lead compensator is added, the total magnitude becomes 0 dB. The magnitude IG(jw)| is -6.7778 4B corresponds to W = 2.81 rad/s. We select this frequency to be the new gain crossover frequency ¢/~. Then we obtain + fee = (0.21 x 2.81 = 1.2877 1 We 2.81 wee 0 SE og asI5 “et Ya fo.2 Hence as s + 1.2877 els) "Re + 6.1319 and ‘Thus 4 8 + 1.2877 0.77668 + 1 0.21 s+ 6.1319 ~~ 0.163085 +1 G(s) ‘The open-loop transfer function becomes as Gols)G(s) = 4-2-7668 + 1 1 0.163085 + 1 s(0.1s + 1)(s +1) 3.10645 + 4 0.01631s4 + 0.279453 + 1.26315? + s 146‘The closed-loop transfer function is cs) _ 3.10645 + 4 R(s) 0.01631s4 + 0.279453 + 1.2631s2 + 4.10645 + 4 ‘The following MATLAB program produces the unit-step response curve as shown below. num=[0 0 0 3.1064 4]; den = [0.01631 0.2794 1.2631 4.1064 4]; step(num,den) grid title(Unit-Step Response of Compensated System (Problem B-9-17)') xlabel(t sec!) ylabel(Output c(t)’) i 15 2 25 3 tee Similarly, the following MATLAB program produces the unit-ramp response curve as shown on next page. num=[0 0 0 0 3.1064 4); den = [0.01631 0.2794 1.2631 4.1064 4 0}; t=0:0.01:5; c= step(num,den,t); plot(t,c.t,t) grid title(Unit-Ramp Response of Compensated System (Problem B-9-17)) xlabel(' sec’) ylabel('Unit-Ramp Input and System Output c(t)') 147Unit-Ramp Response of Compensated System (Problem B-9-17) | X . | 1 ster Out ot) 5 i Unit-Ramp Input ane § 2 i 2. 1, 24 9 35 4 45 6 ane, pkec ea oie ous Sole) She serge = aaa Define XT K G. = tole) ¢ SD Seer where K = K.X. Since the static velocity error constant Ky is given as 50 sl, we have Ts +1 K = lim sG,(s)G(s) = lim s ————_ —__“___.x=50 ae Seo Xs +1 s(s +1) We shall now plot a Bode diagram of EY) Gy(s) = Ree) The following MATLAB program produces the Bode diagram shown on next page. mum=[0 0 50}; den=[Il 1 0}; w= logspace(-1,2,100); bode(num,den,w); subplot(2,1,1); title(‘Bode Diagram of G(s) (Problem B-9-18)') 148Bode Diagram of G1(e) (Problem B-8-18) 10" 10° 10" wt Frequency (radisec) From this plot, the phase margin is found to be 7.8°. The gain margin is +00dB. Since the specifications call for a phase margin of 50°, the additional phase lead angle necessary to satisfy the phase margin requirement is 42.2°. We may assume the maximum phase lead required to be 48°. This means that 5.8° has been added to compensate for the shift in the gain crossover frequency. Since 1-« Sint “eet Bp = 48° corresponds to O& = 0.14735. (Note that « = 0.15 ‘corresponds to tm = 47.657°.) Whether we choose J, = 48° or fq = 47.657° does not make much difference in the final solution. Hence, we choose « = 0.15. ‘The next step is to determine the corner frequencies w = 1/T and @ = 1/(X T) of the lead compensator. Note that the maximum phase lead angle %m occurs at the geometric mean of the two corner frequencies, or W=1/(vaT)- The amount of the modification in the magnitude curve at a= 1/(yeT) due to the inclusion of the term (Ts + 1)/(aTs + 1) is 1 regch 1l+jor i= 1+ jwar 1 w 1 ix r+ja bh ne Vx Note that 4 1 o.15 We need to find the frequency point where, when the lead compensator is added, the total magnitude becomes 0 dB. The frequency at which = 2.5820 = 8.239 4B al 149the magnitude of G)(ju’) is equal to -8.239 dB occurs between “= 10 and 100 rad/s. From the Bode diagram we find the frequency point where 1G1(jw)| = -8.239 6B occurs at & = 11.4 rad/s. Noting that this fre- quency corresponds to 1/(JxT), or @,.=— c" Tea we obtain = = We. {x= 11.4 Jo 4.4152 @ Me 2 14 2 29.4347 “T Ja 0.15 The lead compensator thus determined is oe + 4.4152 s+ 4. 's) = 2K ee Soheh oe Ke I 29.4347 xT where K, is determined as K Ko = a 1000 _s + 4.4152 3 8 + 29.4347 g = 7 0.22655 + 1 0.03397s + 1 The following MATLAB program produces the Bode diagram of the lead com- pensator just designed. It is shown on next page.Bode Diagram of Go(s) = SO(02285e + 1)(0.033078 +1) si Go(s)6(s) = 1000 /_s + 4.4152 ) v a S + 29.4347 s(s +1) The following MATLAB program produces the Bode diagram of G.(s)G(s) which is shown on next page. num=[0 0 1000 4415.2}; den=[3 91.3041 88.3041 0}; w= logspace(-1,3,100); bode(num,den,w); subplot(2,1,1); title(Bode Diagram of Ge(s)G(s) = 1000(s + 4.4152)/[3(s + 29.4347)s(s + 1)}') From this Bode diagram, it is clearly seen that the phase margin is appro- ximately 52°, the gain margin is +00 dB, and K, = 50 s-l; all specifications are met. Thus, the designed system is satisfactory. Next, we shall obtain the unit-step and unit-ramp responses of the original uncompensated system and the compensated system. The original uncompensated system has the following closed-loop transfer function: c(s) 1 Rs)“ s24 541 The closed-loop transfer function of the compensated system is 151Bode Diagram of Ge{s)G(s) = 10004s + 4.4152 V3 + 29.4347)5(s + 1)] 105 8 -—Y ST i ae arc rH eT ry 10 1 1 i KEL b=] eee 10" 10° 10° 10 10 Frequency (radisec) c(s) 1000(s + 4.4152) R(s) -3(s + 29.4347)s(s + 1) + 1000(s + 4.4152) Ze 1000s _ + 4415.2 3s3 + 91.3041s? + 1088.3041s + 4415.2 The closed-loop poles of the compensated system are as follows: s = -11.1772 + §7.5636, 5 = -8.0804 The MATLAB program given below produces the unit-step responses of the uncompensated and compensated systems. The resulting response curves are shown on next page. num=[0 0 1]; den=[1 1 1}; nume=[0 0 1000 4415.2}; B 91.3041 10883041 4415.2]; step(num,den,t); 2 = step(nume,denc,t); plot(t,cl,t,¢2) title(Unit-Step Responses of Uncompensated and Compensated Systems’) xlabel('t Sec’) ylabel(‘Outputs’) text(1, 1.25,Compensated system’) text(2,0.5,'Uncompensated system’) 152Unit Step Responses of Uncompensaled and Compensated Sysiems 14 P| Compensated system | 08} | ‘08| Uncompensated system 04} o2| 0! a 0 1 2 3 4 5 6 7 8 The MATLAB program given below produces the unit-ramp response of the uncompensated system and compensated system. The response curves are shown on next page. num=[0 0 0 1); den=[1 1 1 Of mume=[0 0 0 1000 4415.2}; denc=[3 91.3041 1088.3041 4415.2 0); t=0:0.01:8; cl = step(num,den,t); 2 = step(numc,denc,t); plot(t,cl,t,c2,t,t) title(Unit-Ramp Responses of Uncompensated and Compensated Systems’) xlabel('t Sec’) ylabel(‘Unit-Ramp Input and System Outputs’) text(1,5,Compensated system’) text(4,1.5,"Uncompensated system’) Notice from the unit-ramp response curves that the compensated system follows the input ramp very closely. For the compensated system the error in following the input can be seen for 0 12 Using Equations (1) and (2), 2(s)/U(s) can be obtained as follows: 2s) _ 2s) ¥(s) bys + kz kybis U(s) ¥(s) U(s) bys (ky + kg)bys + kyko = bikis + kyk2 (ky + ka )bys + kyk2 aoe ky + kp 18) Ta 1 Ky ka al Define By rm ky + kp ke gu te where Ky + kg a= ey 157Then, Equations (2) and (3) can be written as Ms) ts 2(s) Ts +1 Us) afs+1 ' “U(s) * atse1 Hence aTs¥(s) - TsU(s) = -¥(s) aTsZ(s) - TsU(s) = -Z(s) + U(s) Define ay(s) - U(s) = X(s) aZ(s) - U(s) = X2(s) ‘Then ¥(s) = L [xy(s) + u(s)] 2(s) = —— [Xx2(s) + U(s)] Equations (4) and (5) can be written as TsX;(s) = - ¥(s) = ~ + [xj(s) + U(s)] Tsx2(s) = - 2(s) + U(s) = - — [x2{s) + U(s)] + UIs) Rewriting, Texx(s) = - 2 xy (5) - + vfs) TsX2(s) = - 2 ¥(s) - 1 vfs) + U(s) from which we get « i 4° ar a ® . 1 a-1 =-s xt u 72 ar “2 ar Hence . 1 Z * ar ® |p ar 2 + a 2 i *2} o> ar [2 This is the state equation. 158 (4) (5) (6) (7)From Equation (6) we have 1 = ety+t iat? ee From Equation (7) we get aed 1 zetwne+t n a 2a * Hence 1 o}/x, a i a 7 a = + u x a z ° = |[2 + ez RACs Ro(Cy + Cy)s +1 which can be rewritten as ((R,¢, + R,C,)s + 1]E,(s) = RC)sE, (s) Which is equivalent to or This equation can be written as = be, (1) £0 * 71% ~ Poti where 159Define ‘Then, Equation (1) becomes X + boll + ay (x + bow) = by or ~ ax - abou from which the state equation can be obtained as , ‘a x= - 4 x- A. BC Ca | etclncs (2) Noting that y = e, = x + bou, the output equation can be given by o —t— 1 +c, (3) y=x+ Equations (2) and (3) give a state space representation for the given system. B-10-5, Method 1: The system differential equation can be written as ¥ + 18y + 1927 + 640 y = 1604 + 640u Comparing this equation with a standard third-order equation: F tay tay tay = boi + bi + pb + bau we find 18, ap = 192, az = 640 b, = 160, 2 Referring to Problem A-10-12, we obtain 1601 x [=] 0 0 2 Ho] *]po]2 x] f-a3 -a2 -a,|]x3] | 63 3 Bo = Po = Gua": - a2 oe pa = >, Spa 7 fo Ags — Sho 2 8aPy 78a Po 7 te £1 = = 220 Thus, the state equation and output equation are 1 0 1 0 x, 0 m=] ° 0 1 |}x,]+] 160 }u | |-640 -192 -18 ||x,| |-2240 a Y [2 0 0] x “3 Method 2: Referring to Problem A-10-13, Y(s)/U(s) can be written as Xs). = __160(a + 4) __ zfs) y(a) Us) 53 + 1857 +1928 + 640 US) (5) where ote = = 1008 + 4 Us) ~ 53 + 1857 + 1925 + 640 2(s) Then we have + 18z + 1922 + 6402 =u 1602 + 6402 = y 161Define x72 a Bal a7) Then = 6402 - 1922 - 182 +u = - 640x, - 192x, - 16x, +u Also, ¥ = 6402 + 1602 = 640x, + 160x, Hence, the state space representation for the system by this approach is * 0 1 ° xy ° wt " ° ° is x, {+} | u ‘The equations for the circuit are 7 z Ryi, + (i, oe +n ig at id. ies Va Ligee lega)ae Jia ae + mlty +19) =0 1% or c ood! 3 ep reses 4 & 1 e G =. athe, +a) 0 Substitution of g, = x,, 4, x, into the last two equations yields 2D 162= x, = Rx + oy x, + 1,%) ae hx, + Rb, + ¥) = 0 2 Hence ve have =x Stee 1 1 ipe ex - ax, +1) pot Gb - a $25 x, = (4 aia x oe (Rox 33 or % ° 1 0 |fxy x | =|-2 et ek TiS et) ie : 1 , “ “eS B+10-7.. A partial-fraction expansion of Y(s)/U(s) gives (s +1) Define 1 x (s) = —— > Us) c (s +1)? “ak: X,(s) = ea 0) 2 X,(8) = Sy Us) Notice that rue ey x,(s) ser Then, from the preceding equations for X,(s), X,(s), and X3(s) we obtain 8X (s) = - X(s) + X)(s) 163sX,(s) = - X,(s) + U(s) 8X,(s) = - 2 X,(s) + U(s) ¥(s) = 5 X,(s) - 5 X,(s) + 5 X,(s) By taking the inverse Laplace transforms of the last four equations, we get Re eas Ra-xyte kyo-2x,+u Y=5x,-5x,+5x, In the standard state space représentation, we have x} |-2 1 0 |i] Jo %} =] 0 a 0 |ixy}+fafu x3 oO oO -2 x3 1Also, from Equation (3) X= x - 3% - u) + 3(k, -u) tu x - 30%, - u) +3 - a -u) tu (5) ‘Thus, equating Equations (4) and (5) and simplifying, we obtain 8 +S sd alee 1 Substituting x, = y into this last equation, we get ¥- +37 -y=t- atu [The same result can be obtained by use of Equation (10-51).] The eigenvector x; associated with an eigenvalue \; is a vector B-10-9 that satisfies the following equation: Py a2 || 1 Pi , =Ny P22 922 || *i2 Piz or Pais tia = AL a Sarin aos AN a2 which can be rewritten as Gy Nyy rhe (pq ~ Agi =~ Aa%a For XN; =, a 12 2 x *n)- a An example of eigenvectors corresponding to eigenvalue \ iis 1 165For A, = i AL x AQ 2 An example of eigenvectors corresponding to eigenvalue ) , is ago - X atneng air 2 21 2 2 B-10-10. Define Ny L ° B=|o 4 0 0 0 d»y The eigenvectors for this matrix can be determined by solving the following equation for x. BAe or am 2 0 |fx, x 0 Ay 0 Hx ]= Ay] *2 8 one aes *3 which can be rewritten aswhere a and b are arbitrary nonzero constant. Note that 1 0 o are linearly independent vectors. linearly independent eigenvectors. Next, define equation for x. a zz19 b Notice that 0 =alol+plo o 1 0 0 ll, o ° 1 The eic genvectors of matrix B involve two o 0 Ay 0 0 Ay ‘The eigenvectors for this matrix can be determined by solving the following ae or Ay oO 0 x 5 0 Ay 0 0 0 a» which can be rewritten as Avy Ay AY Ne 167Aps = Apps from vhich we obtain x, = arbitrary constant arbitrary constant vt b arbitrary constant where a, b, and c are arbitrary nonzero constant. Notice that a fz [fo fo]num=[0 0 25.04 5.008); den=[1 5.03247 25.1026 5.008]; [A,B,C,D] = tf2ss(num,den) A= 5.0325 -25.1026 -5.0080 1.0000 0 0 01,0000 0 0 25.0400 5.0080 B+10-12. Referring to Equation (10-51), we have Us) - o(s) = g(r - aya + D u(s) s a 0 |-lio =f 0 ojo s a 10} +0 600 100 s+10 oO s?4+10s+100 s+10 1 0 10 oj 5 = 7 - 600 s¢+10s s 10 s? + 10s” + 100s + 600 - 600s - 100s - 600 s*|| 0[s? + 10s + 100 s +10 1) Scots 10 s” + 10s* + 100s + 600 ° ‘Thus ¥(s)__ 10(s + 10 U(s) "53+ 1082+100s + 600 B-10-13. 1 +2 a edt = £7 fst - ay) = 17, -2 s+5 B+5 -1 era f sé + 7s +12 st+2 s+5 =i (s + 3)(s + 4) ee Bre eee: (s + 3)(s + 4) (s + 3)(s + 4) s+2 (s + 3)(s + 4), es atari s+3 s+4 s+3 s+4 ay ee Peed ee te s+3 s+4 s+3 s+4 2 est _ tt ~ edt 4 ett zest _ 2 ett ot eg ett Bt 2 £7 [ier - ay) 1701 3 8-3 s o-l Og is 0 s -l -1 3 8-3 s = ee oO 3 8-3 3 s-3 E 2 je “1 tO: s%(s-3)-1+3s} 11 5-3 -l os-3 oO _ s -1 j-1 3 -1 3 s? - 35 +3 a. 3 1 -— 1 s(s-3) 5 (s - 1) s -Qs-1) 5s? s2-35+3 s-3 1 (5-1)? (5-1)? (6-1) =. 1 s(s 3. s a 3 3 3 (s - 1) (s - 1) (s - 1) s =3s+1 s* (s - 1)? (e-1)° (@- 1)? 171Sa es ee ae ee 1 s-1 (s-1) (s-1)3 (6-1) (8-13 (-1) = eee a et ee (s-1)3 s-1 (s-13 (8-1)? (s~1)3 1 ed, es i ee ee (s-1)? (6-1)3 (-1? (6-13 = s-1 (s-1)? (6-13 Noting that we obtain s -1 Oe at = GY | o ae a 3 s-3 et — tet + & tet tet - tet 4 tet = & tet et tet e2et tet + tet tet + % tet -3tet- tet et + rtet + & tee B-10-15. The solution of the state equation is + 0,25(-1)* + 0.25 - 0.25 = 0.25 Ok(-a)*? + (a) ee 2) 0,1, 2 eee Bul-11. If a #0, then x(1) = x(0) #1 =1 x(2) =x(1) t+asilta x(3) = x(2) +a? =1+a+a* 184x(4) = x(3) +a =1tatat+ad x(k) =L+ata?+-.-+a k-1 1 - 222 ei, 040) =k (a =1) If a = 0, then x(k) =O k= 0, Ly 2y vee (a =0) 2. The pulse transfer function for G(s) including the zero-order hold is obtained as follows: y Y(z . s+3 viz) ~ (2) xf . esl = ty tes s+3 ai el ae ear? nab deed. 0.5 ra z[k a5] qq - 274) [ le + 0.5 (2 - e")(2 - jz +e ay B-11-13. The pulse transfer function for the system can be rewritten as ¥(z)_ z+2 Uz) 24 +2+0.16 (22 + z + 0.16)¥(z) = (z + 2)U(z) The inverse z transform of this last equation gives y(k + 2) + y(k +1) + 0.16 y(k) = u(k +1) + 2 u(k) Comparing this difference equation with the standard second-order difference equation: 185yk +2) + aryl +1) + ay(k) = boule + 2) + Bult +1) + bpalk) we find a, =1, ay = 0.16, by = 0 b= ly bi =2 Define state variables as follows: x, (e) = y(k) - Houle) x, (0) = x, (ie +1)- hulk) hy = by = 0 hy by - ayhp =2 Also, define hy = by - ay Then the state variables become 4 - Aghy = 2-2=1 x, (ic) = yc) x) (ie) = x, (ie + 2) ~ alk) Referring to Section 11-6, the state equation for the system can be given by x (e+ 1) o . x, (k) hy = + u(k) x,(k +1)} | -a, na, || 00] |r, or x, (ke + 1) oO 1 x, (0c) 1 = +{ | utr) xptk+1)| [-0.26 -2 |] xQ(k)] [2 ‘The output equation is x, (k) 1 y(k) = [a oJ x, (10) 186Note that a number of different state space representations are possible for the system. B-11-14. From the given transfer function we obtain yr-ay+u Define a state variable x as x=y (The input variable is u and the output variable is y.) ‘Then we have the following continuous-time state equation and output equation: =-axtu 72% ‘The discretized state equation is obtained as x((k + 1)T) = G(T)x(kT) + H(T)u(kT) where ec) set ee - T H(T) “{ At at B { eat at 0 ° z +a-e*) Hence the discrete-time state space representation for the system is given by x((k +.1)T) = eT x(er) + ae (a - e@)n(er) y(kr) = x(kr) ‘The pulse transfer function for the discretized system is obtained from Equation (11-58) as follows: 2) = p(z) = (et - 6) tu +d uz) = (i)(z ety t ASa ety eth 1-e%T we see a(z-e@T) aa - e@7Z 4) 187B-11-15. Referring to Equation (11-58), the pulse transfer function F(z) is given by aa = F(z) = G(zt - Gg) 4H +d 2 Saeian z-1 atet| [rset 0 2 Tee =1 x a-e* Teet-1 »=——_1—}| [--e7 1-e7] (z-1)(z2-e") 1-e7 T(r + Zz +1 (z - 1)(z B-1l1-16. ‘The discretized state equation is x((k + 1)T) = G(T)x(kT) + H(T)u(Kr) eae Et ee a rz g(t) =", A(T) -(5 ar ae 0 G(T) and H(T) can be obtained as follows: at = {er - a4) eff | ¥ 188s s2 1 t 0 +] |o 1 s Hence a O.1 G(T) = G(0.1) = eA = oO 1 since 42 | 0-1 ‘ "4 E dt = a oO t 0 0.1 0.005 ° 0.1 we have 0.1 0.005 || 0 H(T) = H(0.1) o a 0.005 0.1 Thus, the discrete-time state equation is given by x, (x + 1)2) ee, O-2 | |x, cr) 0.005 = + u(r) x((ke+1)")} Jo 1 jfxem] [or vhere T= 0.15. The output equation is x, (KT) 1 y(xr) = [2 0 x, (kr) Referring to Equation (11-58), the pulse transfer function for this discretized system is given by F(z) = C(2I - g)*H + D 189= 0:005(z +1) _ 0.005(1 + 271)27! (2-1)? a4 zy? Be11-17. where ‘The discretized state equation is X((k + 1)P) = G(T)x(iet) + H(T)u(KT) g(t) = elt T H(T) -(\ ett a 0 G(T) and H(T) can be obtained as follows: all : -}{s a )7 At aL st-a t= {; a st+4 _| (s + 1)(s + 3) oe (s +1)(s + 3) 1.5. _ 0.5 stl s+3 + s+1l s+3 1.5 et - 0.5 e-3t - 1.5 et + 1.5 e3t 190 je Since (s + 1)(s + 3) eae eetipaie (s + 1)(s + 3) 0.5 0.5 stl s+3 20:5. ES stl s+3 0.5 et - 0.5 en3t = 0.5 et +1.5 en3tG(T) = g(0.2) = eA, a 22 9.566 0.5 6-02 _o.5 aa n2.5 2°? 41.5 0-6 9.5 6-0-2 4 1.5 6-0-6 0.9537 0.1350 ~0.4049 0.4139 Also, 0.2 0.2 f1.5e¢t-o5e3t 0.5 e+ - 0.5 et elt at = at 0 o [iSet +15 e3t -0.5 et + 1.5 e3t -1e5(0°O-? ~ 1) + 9:8 (6 1) -0,5(e°7-2 - 1) + 22 (e018 3) 3.50? — 1) - 48 (2 1) 0.5? - 1) 435 (26 - a) 0.1967 0.01544 ~ |-0.04631 0.1350 Hence 0.2 0] H(T) = H(0.2) -(\ at a) 0 1 0.1967 0.01544 ||0 0.01544 -0.04631 0.1350 1 0.1350 Thus, the discretized state space representation of the system becomes as follows: (Qc + 2)7) 0.9537 0.1350 (kr)} }0.01544 4 = 4 + e u(kT) x, ((k + 1)T) 0.4049 0.4139 } | x, (kT) 0.1350 2 x, (er) yor) =[1 0] x, (kT) where T = 0.2 s. 191Referring to Equation (11-58), the pulse transfer function is obtained as follows: Xz). u(z) Z - 0.9537 -0.1350 ]~* [o.01544 = fh o] +0 9 0.4049 z - 0.413: 0.1350 F(z) = C(2I ~ 6) 1H + D i. 1 Z ~ 0.4139 0.1350 | | 0.01544 " = 22 — 1.36752 + 0.4493] ~0.4049 Z ~ 0.9537 | | 0.1350 Z° ~ 1.36752 + 0.4493 = 0.015442"! + 0.01183 27? 1 = 1.3675 272 + 0.4493 2-2 The given system has no input function, but is subjected to initial conditions. It is similar to free vibrations of a mechanical system consisting of a mass, damper, and spring. Consider first the following system: ¥(z) by + byr-l + byez? U(z) 1+ ayz-l + age-2 a state space representation of the system is x(k + 1) = Gx(k) + Hu(ic) y(k) = Cx(k) + Du(ic) where -a, az 1 Ge of) Ata]! oo Btn atta tbe - arto} D= bo 1 oO Notice that the coefficients bp, by, and bz affect only matrices C and D. Next, consider the case where the system has no input (u = 0). For such a case, MATLAB produces a pulse transfer function of the following form: 192¥(z) _ “0 + Oz-1 + oz-2 U2) + aad + ape? If the original system had an input function u such that y+ y+ l0y=u MATLAB produces the pulse transfer function ¥(z) 1 u(z) 1+ ayz-l + ag2-2 ‘The following MATLAB program will yield a discrete-time state-space representation when the sampling period Tis 0.1s. This program will also yield the pulse transfer function. num=[0 0 0); den=[1 2 10]; [AB,CD] = tf2ss(mum,den); [GH] = c24(A,B,0.1) G- 0.7753 -0.8913 0.0891 0.9536 H- 0.0891 0.0046, [numz,denz] = ss2tf{G,H,C,D) numz = 00 0 denz = 1.0000 -1.7288 0.8187 Based on the MATLAB output, the discrete-time state equation is x(k + 1) 0.7753 = -0.8913 || x; (k) x2(k + 1) 0.0891 0.9536 || x2(k) 193‘The pulse transfer function obtained from the MATLAB output is x(z) 0 + 02-2 + oz-2 U(z) «1 — 1.72882-1 + 0.81872-2 ay If the original system had an input function u, the numerator becomes nonzero. The difference equation corresponding to Equation (1) is y(k + 2) - 1.7288 y(k + 1) + 0.8187 y(k) = 0 (2) The initial data y(0) and y(1) are given by y(0O) = 1, y(1) = 0.9536 Note that the original differential equation system given by F+2+1y=0, yl0)=1, #0) =0 has the response curve (free vibration curve) as shown in Figure (a). Continuous-Time System with (0) = 1 and ydot() = 0 (Problem B-11-18) tr e T‘The response curve (free vibration curve) of the discretized version of the system given by Equation (2) is shown in Figure (b). DDiscrotised System with y(0)= 1 and y(1}= 0.9536 (Prob 8-11-18)num=[0 0 2]; den=[1 3 2}; [A,B,C,D] = tf2ss(num,den), [G,H] = c2d(A,B,0.1); [numz,denz] = ss2tf(G,H,C,D) mumz = 0 0.0091 0.0082 denz = 1.0000 -1.7236 0.7408 ‘The pulse transfer function obtained here is numz _ 0.00912-1 + 0.00822-2 G(z) = denz 1 ~ 1.7236z-1 + 0.74082-2 0.00912-1 + 0.008222 (1 = 0.90482-1)(1 - 0.81872-1) This result is identical with the pulse transfer function obtained in Problem A-11-12. B-11-20. x(k + 2) = x(k + 1) + x(k) x(0) = 0, x(1) =2 Taking the z transform of this difference equation, we obtain 22x(z) - 22x(0) - zx(1) = 2x(z) - zx(0) + x(z) Hence (22 - z - 1)X(z) =z or z

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