(PDF) Solution Manual Digital Control and State Variable Methods
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Madhusmita BarikSOLUTION MANUAL
TO
DIGITAL CONTROL
AND
STATE VARIABLE METHODS
CHAPTER 1 OUTLINE OF THE SOLUTION MANUAL
This Solution Manual has been designed as a supplement to the textbook:
Gopal, M, Digital Control and State Variable Methods, 2nd Edition, Tata
McGraw-Hill, New Delhi, 2003.
Throughout the manual, the numbers associated with referenced Equations,
Figures, Tables, Examples, Review Examples and Sections are pointers to the
material in the textbook.
The detailed solutions of the problems have been avoided; only assistance has
been provided.
CHAPTER 2 SIGNAL PROCESSING IN DIGITAL CONTROL
2.1 (a) x1, x2 : outputs of unit delayers, starting at the right and proceeding to
the left.
x1(k + 1) = x2(k); x2(k + 1) = – 0.368x1(k) + 1.368x2(k) + r(k)
y(k) = 0.264x1(k) + 0.368x2(k)
F=
L0 1 O; g= L0OP P ; c = [0.264 0.368]
MMMN 0.368 1368. PQ MMMN1Q
Y z Pi i 0.264 z -2 + 0.368 z -1
(b) = =
R 1 1 - 1 .3 6 8 z - - 0 .3 6 8 z - 2
z e 1 j
2.2 (a) x1, x2 : outputs of unit delayers, starting at the right and proceeding to
the left.
x1(k + 1) = x2(k) + r (k)
x2(k + 1) = – 5x2(k) – 3x1(k) – 3r (k)
y(k) = x1(k)
x1(k + 2) = x2(k + 1) + r (k + 1)
Substituting for x2(k + 1) from the above set,
x1(k + 2) = – 5x1(k + 1) – 3x1(k) + r(k + 1) + 2r (k)
y(k + 2) + 5y(k + 1) + 3y(k) = r (k + 1) + 2r (k)
(b) F = LNM03 1 5 OQP ; g = LNMOQP
1
3
; c = [1 0]
Y ( z) z+2
(c) = 2
R ( z) z + 5z + 3
2.3 (a) x1 : output of the unit delayer
x1(k + 1) = – 1
2 x1(k) + r(k); y(k) = 2x1(k) – x1(k + 1) = 2.5x1(k) – r (k)
y(k + 1) = 2.5x1(k + 1) – r(k + 1) = – 0.5y(k) + 2r(k) – r (k + 1)
Y ( z) -z + 2
= 1
R ( z) z+
2
SOLUTION MANUAL 5
-z 2
(b) R (z) = 1; Y(z) = 1 + 1
z+ z+
2 2
k k -1
-1
y (k) = – FH IK -21 m (k) + 2
2
FH IK m (k – 1)
-5 2
z Y ( z) 3 3
(c) R (z) = =
z -1; z 1 + z -1
z+
2
k
5
y(k) = -
3
FH -21IK m (k) + 2 m (k)
3
Y ( z)
2.4 (a) y (k + 1) = ay (k) + b r (k); = b
R ( z) z -a
Ab ; y(k) = Ab (a)k–1 m (k – 1)
R(z) = A; Y(z) =
z -a
Az Y ( z) Ab
(b) R (z) = = ;
z -1; z ( z -a) (z -1)
Ab z Ab
a -1 z
1-a A b [1 – (a) k] m (k)
Y (z) = + ; y(k) =
z -a z -1 1-a
Az Y ( z) Ab
(c) R (z) = ; =
( z -1 ) 2 z (z -a) (z -1)2
Y (z) =
Ab
(1 -a)2
LNM z -a
z
+
(1-a)
(z
z
-1 )2
-
z
z -1
OQP
A
y (k) = [k 1 k 1]; k ³ 0
1 2
(d) r(k) = A cos (Wk) = Re{AejWk}; Z {ejWk} = z
z - e jW
The output,
L RST Az UVWO LNM A b
y(k) = Re Z
k Ab OQP
e jWk
z b QP = Re a - e
1
a +
jW e jW -a
NM A b
= Re LNM g OQP z
ba - ee g
jW k j jWk
a -e
6 DIGITAL CONTROL AND STATE VARIABLE METHODS
2.5 (a) Given difference equation in shifted form:
y (k) + 3y (k – 1) + 2y (k – 2) = 0
Y (z) + 3z–1 Y (z) + 3y (– 1) + 2z –2 Y (z) + 2z –1 y (– 1) + 2y (– 2) = 0
z z z
Y (z) = = -
z 2 + 3z + 2 z+1 z+2
y (k) = (– 1)k – (– 2) k; k ³ 0
(b) 2Y (z) – 2z – 1 Y (z) + z – 2 Y (z) = 1
-
1 z-1
3
z
Y (z) =
(z -1) a2z 2 - 2z + 1 f
2
=
z + -z + z
=
z
-
1 az -0 . 5zf + 1
2
2
0 . 5z
0 .5
z - 1 2z 2 - 2z + 1 z-1 2
az -z + 0 .5f 2
2 z -z+
Therefore,
FH k4 IK 12 FH 12 IK
k k
y (k) = (l)k – 1
2
FH 12 IK cos sin k p
4
FH
2.6 From the given difference equation we get, IK ; k ³ 0
y (k + 1) – 1.3679 y (k) + 0.3679 y (k – 1)
= 0.3679r (k) + 0.2642 r (k – 1)
0 .3679z + 0. 2642
Y (z) = R (z)
z2 -1.3679z + 0.3679
R (z) = 1 + 0.2142 z –1 – 0.2142 z –2
Hence,
(0 .3679z + 0. 2642)
Y (z) =
z 2 -1.3679 z + 0.3679 1 + 0 .2142 a
z - 1 - 0. 2142 z-2
f
= 0.3679z – 1 + 0.8463z – 2 + z – 3 + z – 4 + z – 5 + L
y(0) = 0; y (1) = 0.3679; y (2) = 0.8463;
y (k) = 1, k ³ 3.
2.7 Taking z-transform of the given equation:
2 2
Y ( z) z z
= =
R ( z) z 2 - 3 z + 2 (z - 1 ) ( z - 2 )
R(z) = 1 + z – 1 = z + 1
z
Y (z) (z 1) 3 2
= =
z (z 2)(z 1) z 2 z 1
y(k) = 3(2) k – 2(1) k ; k ³ 0
SOLUTION MANUAL 7
Final value theorem will not give correct value since a pole of Y (z)
lies outside the unit circle.
2.8 (a) R (z) = z –1; Y (z) = 2z -3
z ( z - 0 . 5) ( z + 0.3 )
Y ( z) 2 z -3
=
z z2 ( z -0.5) (z + 0.3 )
40 20 10 50
= - + - +
z z2 z -0.5 z + 0.3
y(k) = – 40d (k) + 20d (k – 1) – 10(0.5) k + 50(– 0.3) k; k ³ 0
z -6z2 + z
(b) R (z) =
z -1 ; Y (z) = (z -1) z
FH
-12 + j 14 IKFHz-12 -j14IK
Y ( z) -16 8+j4 8-j4
= + 1 + 1
z z -1 1 1
z- + j z- - j
2 4 2 4
16 16 z 6
=–
z 1 2 5
z z
16
y(k) = – 16(1)k + (0.56)k [7.94 sin (0.468k) + 16 cos (0.468k)]; k ³ 0
2
2.9 (a) R (z) = 1 + z – 2 + z – 4 + ¼ = z
z 2 -1
Y ( z) z
=
z (z - 1 ) ( z + 1)(z - 0.5 )( z + 0.3 )
= - 0.833 +-0.41 0 . 476 0. 769
z - 0.5 + +
z + 0.3 z + 1 z -1
y(k) = – 0.833(0.5)k – 0.41(– 0.3)k + 0.476(– 1) k + 0.769(1)k ; k ³ 0
z
(b) R(z) =
z -1 ;
Y ( z) 1
=
z (z 0.5)2 (z 01. )(z 1)
-5 2. 5 +-6.94 4 . 44
= + +
(z - 0 .5 ) 2 z - 0 .5 z - 0.1 z -1
y(k) = – 10k(0.5)k + 2.5(0.5)k – 6.94(0.1)k + 4.44(1)k; k ³ 0
2.10 y(¥) = lim (z – 1) Y (z) =
a f 1-a
K 1-a 2 ( )
=K
z ®1
a1 - a f 1 - a2
( )
For y (¥) = 1, K = 1
8 DIGITAL CONTROL AND STATE VARIABLE METHODS
2.11 Refer Eqn (2.45)
Y (z) =
z
m
; y (¥) = lim (z -1) zm = 0, if |a| < 1.
(z -a) z ® 1 (z -a)
1 1 1
1 z+
z Y ( z) 2 2
(i) R(z) = = 2 = 2 -
z -1 ; z z + 1 ( z -1) z -1 a f 2
z +1
1 (1)k – 1
y(k) =
2 2
cos k2p – 12 sin k2p FH IK FH IK ; k ³ 0
2
(ii) r(k) = {1, 0, – 1, 0, 1, 0, – 1, ¼} = cos FHk2p IK ; R(z) = z z 2 +1
;
2
Y (z) = z
az 2 +
f
1 2
The output y (k) is bounded because of matching of system poles with
excitation poles.
2.13 (a) D(z) = z3 – 1.3z2 – 0.08 z + 0.24 = 0
(i) D(1) = – 0.14 < 0
The first condition of Jury’s criterion is violated. The system is un-
stable; we may stop the test here.
(b) D(z) = z4 – 1.368 z3 + 0.4 z 2 + 0.08z + 0.002 = 0
(i) D(1) = 0.114 > 0; satisfied
(ii) D(– 1) = 2.69 > 0; (n even); satisfied
Form Jury’s table; from which you will find that (conditions (2.50b)):
|a4| < |a0|; 0.002 < 1; satisfied
|b3| > |b 0|; |– 1| > |– 0.083|; satisfied
|c2| > |c0|; 0.993 > 0.512; satisfied.
The system is stable.
2.14 D(z) = z 4 + 0.5 z 3 – 0.2 z 2 + z + 0.4 = 0
4 3 2
D(r) = FHG 1+ r
1- r
IKJ + 0.5 FHG
1+r
1 -r
IKJ FHG
– 0.2
1+ r
1- r
IKJ + 1 + r + 0.4
1- r
3
4 2
= - 0.3r + 3. 4 r + 8.8r + 1.4 r + 2.7
(1 -r )4
Form the Routh table, from which you will find that one root of D(r)
lies in the right-half plane. Therefore, three poles of G (z) lie inside
the unit circle.
SOLUTION MANUAL 9
2.15 Refer Section 2.8; Eqn (2.56)
2.16 (a) Refer Section 2.9
(b) s2 + 2s + 2 = s2 + 2zns + 2
s
n = 2 ; 2 ; T < p
2 T 2
(c) Noise signal: n (t) = cos 50 t
Z {cos 50kT} = Z cos50 k ´ 2 p
{ 50
} = Z {cos 2 kp}
1 = 1 + z –1 + z –2 + L
=
-
1 z-1
2p
It can be seen that the noise signal cos 50t sampled at sec be-
50
comes unity at every sampling instant. Thus the noise signal can gen-
erate an undesirable d.c. component in the output.
2.17 Refer Section 2.10; Fig. 2.36.
2.18 Refer Section 2.12; Eqns (2.72)
2.19 (i) s = – a + jb; z = e–aT ejbT
(ii) s = a ± jw0; z = eaT e± jw0T
1 1-e-sT
2.20 Ga(s) = ; Gh0(s) =
s+1 s
G(z) = Z{G h0G(s)} = (1 – z –1) Z RST s s1+ 1 UVW = 1-e
( )
-T
-T
z -e
z Y ( z)
-T
1 -e 1 -1
R(z) = -1; = = +
z z a f
z - e-T ( z -1) z -1 z -e-T
y(k) = 1 – e –kT ; k ³ 0
2.21 Ga(s) = RST s (s10+ 2) UVW; G (z) = (1 – z ) Z RST 10 2) UVW
–1 2
s (s +
G(z) = 5(1 – z )–1
L Tz- - z + z O
NM z 1 2 z - 1 2 a z -e f QP
( )2
( ) -2
T
10 ( z + 0.76)
For T = 0.4 sec, G(z) =
1 6 ( z - 1 ) ( z - 0 .4 6 )
2.22 (i) Refer Eqn (2.90b)
(ii) Refer Eqn. (2.107)
10 DIGITAL CONTROL AND STATE VARIABLE METHODS
2.23 Refer Section 2.12; Fig. 2.41a.
2.24 Refer Section 2.12; Figs 2.44 and 2.37.
uk uk 1
2.25
T
e( k ) - e ( k- 1 ) 1 T
= Kc LN M T
+ D
T e (k )+ 2
{e(k )-2e(k -1) + e(k -2)} OQP
I T
U(z) = Kc LNM1+ TT FHG 1 - 1z IKJ + T a1 - z fOQP E(z)
-1
D -1
I T
2.26 Required
z = 0.45, fM = 45 deg, T = 1.57 sec.
(i) D(s) is a phase lag compensator that meets the requirements.
2 z -1
(ii) D(z) = D(s) with s =
T z+1
z - 0 .9 3 9 1
D(z) = 0.4047
z - 0 .9 7 5 2
+ T s + TD s OQP E (s)
2.27 U (s) = Kc LNM
1 1
I
L 1 O E (z)
U(z) = K M 1T
M s
c TD s
N I s T2 (zz11)
sz 1
zT PQ
= K LNM1+ T z + 1 T z- 1 OQP
c
2T + D E (z)
I
z- 1 T z
u(k) = uP(k) + u1(k) + uD(k)
where
uP(k) = Kce(k)
K T
u1(k) – u1(k – 1) = 2Tc [e(k) + e(k – 1)]
KT
I
a f
e i 1 e i
u1(k) = Tc
I 2
KT
uD(k) = c D ek e k 1
T
a f
Therefore,
L T
k
e i 1 eia f T
O
u(k) = Kc e k
T
D kek eak 1fpQPP
2 T
NMM I i 1
SOLUTION MANUAL 11
t t
2.28 (a)
dy (t )
dt + ay(t) = r (t); y(t) = y(0) – a z z 0
y(t) dt +
0
r (t) dt
kT kT
y(k) = y(k – 1) – a
(
z
k -1 ) T
y (t) dt +
(
z k -1 ) T
r (t) dt
= y(k – 1) – aTy(k) + Tr(k)
1 T
y(k) = y(k – 1) + r(k)
1 + aT 1 + aT
(k + 1) T
(k + 1) T
(b) y(k + 1) = y(k) – a
z
kT
y(t) dt + z
kT
r(t) dt
= (1 – aT) y(k) + Tr (k)
y(k) = (1 – aT) y(k – 1) + Tr (k – 1)
2
2.29 (a) d 2y + ady + by = 0
dt dt
1 a
2 [y(k) – 2y(k – 1) + y(k – 2)] + [y(k) – y(k – 1)] + by(k) = 0
T T
a 1 a 2 1
FH
b+
T
+
T2
y(k) –IKT
+
T2
FH T
IK
y(k – 1) + 2 y(k – 2) = 0;
y(0) = a; y(– 1) = a – Tb
& x&1 = x2; x&2 = – bx1 – ax2
(b) x1 = y; x2 = y;
A= LNM0b 1aOQP
Using Eqn (2.113) we obtain,
x (k + 1) = x(k) + TAx(k) = (I + AT) x(k); x(0) = LNMOQP
CHAPTER 3 MODELS OF DIGITAL CONTROL DEVICES AND
SYSTEMS
3.1 D(z) = {Gh0(s)G1(s)} = Gh0G1(z)
Y ( z) D ( z )G G (z ) G G ( z)G G ( z)
= h0 2 = h0 1 h0 2
R ( z) 1+ D( z)Gh 0 G2 H( z) 1+Gh 0 G1 ( z)Gh 0G2 H( z)
Y ( z) G G( z)
3.2 = h0
R ( z) 1 +G h0G ( z) H ( z)
3.3 Y(z) = Gh0G2(z) U(z)
U(z) = G1R(z) – Gh0G2HG1(z) U(z)
G G (z )G R ( z )
Y(z) = h 0 2 1
1+Gh 0 G2 HG1 (z)
3.4 Reduced form of the block diagram in Fig. P3.4:
Dz G G z
Y(z) = GpH2 R(z) + h 0 p [H1R(z) – GpH2R(z)]
1 Dz G G z
h0 p
This is the required answer.
3.5 Y(z) = Gh0G1G2(z)U(z); X(z) = Gh0G1(z) U(z)
E(z) = R(z) – X(z) – Y(z);
U(z) = D(z) E(z)
= D(z) [R(z) – Gh0G1(z) U(z) – Gh0G1G2(z) U(z)]
D( z) R( z)
U(z) = ; Y(z) = Gh0G1G2(z) U(z)
1 + D( z)Gh 0G1 (z) + D(z)Gh 0 G1G2 (z)
Y ( z) G G G z Dz
= h 0 1 2
R ( z) 1 Dz[G G z G G G z]
h0 1 h0 1 2
SOLUTION MANUAL 13
X(z) = Gh0G1(z) U(z)
X ( z) G G z
= h 0 1
R ( z) 1 Dz[Gh 0G1 z Gh 0 G1G2 z]
3.6 For r = 0, the block diagram reduces to the following:
WG ( z)
Y(z) = WG(z) – D(z)Gh0G(z) Y(z); Y(z) = D(z)G G ( z)
1+ h0
s(s 1+ 1) ; qRL ( z ) G G( z)
3.7 G(s) = = h0 ;
( z) 1 + G h0G ( z)
Gh0G(z) = (1 – z –1) Z
RST 2
1
UVW = zaT-1 + e f + a 1 - e - T e f
-T -T -T
s ( s + 1) ( z -1 a z -e f
) -T
For T = 0.25 sec,
0.0288 ( z + 0.92 )
Gh0G(z) =
(z- 1 ) (z - 0.7788 )
3.8 Plant transfer function is,
185
G(s) =
(0.025s + 1 )
Gh0G(z) = (1 – z –1) Z 185
RST s (0.025s + 1)
UVW = 185z a- 1e-e f -40T
-4 0 T
Let x(k) be the input to D/A block.
x(k) = KF wr (k) + KP [wr (k) – w (k)]
X(z) = KFwr (z) + KP[wr(z) – w (z)]; w(z) = Gh0G(z) X(z)
w ( z) (KF + KP )Gh 0 G( z)
w ( z) = 1 + K P G h 0G (z)
r
14 DIGITAL CONTROL AND STATE VARIABLE METHODS
3.9 The filter is described by the following difference equation,
u(k) = u(k – 1) + 0.5e(k); U (z) = 0.5 z
E (z ) z -1
-1 + e f z + a 1 -e -T e
Gh0G(z) = (1 – z –1) Z = aT f
1 -T -T -T
RST 2
1
UV W
z -1 a z -e f
)
s (s + ( ) -T
1
fs = 5 Hz =
T ; T = 0.2 sec
0 . 019z + 0 .0175
Gh0G(z) = z - 1 ); 0
(
819 ) ( . z-
Y ( z) G G ( z) D( z)
0.0095z ( z + 0 .92)
= h0 =
R ( z) 1 + Gh 0 G( z) D( z) z 3 - 2.81z 2 + 2.65z - 0.819
-0 .4 s
3.10 (i) G h0G(z) = (1 – z –1) Z e
s (s + 1 )
RST UVW
Using transform pairs of Table 3.1, we obtain,
Gh0G(z) =
L a 1 -e faz + e - e O (1 – z
- 0 .6 - 0 .6 -1
–1) =
0. 45z +0 .181
z ( z - 0.368 )
NM z - 1 z - e f QP
( ) -1
Y ( z) G G( z) 0 . 45z + 0 .181
= h0 =
R ( z) 1 + Gh 0 G( z) z 2 + 0.081z + 0.181
0. 45z +0 .181 Y ( z) 0.45z + 0181. -
(ii) Gh0G(z) = ; =
z 2 ( z - 0.368 ) R ( z ) z 3 0.368z2 +0.45z+0181.
3.11 Refer Section 3.6.
3.12 Refer Gopal M., Digital Control Engineering, New Delhi, Wiley East-
ern, 1988.
3.13 (a) 1 + G(s) = 0; s3 + 3s2 + 2s + 5 = 0
From Routh table, we find that the closed-loop system is stable.
(b) G h0G(z) = (1 – z–1) Z 5
+ 1
RST
) (s + 2 )
2 UVW
s (s
2. 5 5 (z - 1 ) (z -1 )
= – 3.75 + – 1.25
z -1 z - 0.3679 z - 0.1353
The characteristic equation is: z2 + 2.12z + 0.234 = 0; z1, 2 = – 2, – 0.12
A pole lies outside the unit circle; the system is unstable.
SOLUTION MANUAL 15
3.14 z3 – 0.1z2 + 0.2Kz – 0.1K = D(z)
D(1) = 0.1K + 0.9 > 0
D(– 1) = – 1.1 – 0.3 K < 0
From Jury’s table, we get the following conditions. (refer conditions
(2.50b))
|– 0.1K| < 1; True for 0 < K < 10
|0.01K2 – 1| > |– 0.19K|; |0.01K2 – 1| > |0.19K|
K2 + 19K – 100 = 0
The system is stable for 0 < K < 4.293.
-3T
3.15 Gh0G(z) = K(1 – z–1) Z RST= K 1 - e -3T
1 UVW FHG IKJ
3 z-e
s (s + 3 )
K (1 – e –3T) = 0
D(z) = 1 + Gh0G(z) = z – e –3T +
3
(i) For T = 0.5, system stable for 0 < K < 4.723
(ii) For T = 1, system stable for 0 < K < 3.315
3.16 G h0G(z) = (1 – z–1) Z
RST UVW K
sa 2 f s1
=
K ( z - 1) L zkaT -1 + e fz + a 1 - e - Te fp O
-T -T -T
z NM z - 1 az - e f
( QP
)2 -T
D(z) = 1 + Gh0G(z) = 0; z2 – az + b = 0
where, a = e –T + 1 – K(T – 1 + e –T); b = e –T + K(1 – e –T – Te –T)
Put z=1+r
1 - r , then r2 (1 + a + b) + 2r(1 – b) + 1 – a + b = 0
System is stable for,
1 + a + b > 0; 1 – b > 0; 1 – a + b > 0
Substituting for a and b and solving for K yields:
K< 2 1 + e-T a f
T - 2 + 2 e -T + T e -T
1- e - T
K< -T
1- e - T e -T
T(1 – e –T) > 0 or e–T < 1 which implies T > 0.
3.17 For T = 1 sec,
( 0.368z + 0.264 )
Gh0G(z) = K
z az - 1.368z + 0.368f
2
16 DIGITAL CONTROL AND STATE VARIABLE METHODS
D(z) = z3 – 1.368z2 + 0.368(1 + K)z + 0.264K = 0
D(1) = – 0.368 + 0.368(1 + K) + 0.264K > 0
D(– 1) = – 2.368 – 0.368(1 + K) + 0.264K < 0
From Jury’s table, we get the following conditions (refer conditions
(2.50b)):
|0.264K| < 1, gives K < 3.79
|0.07K2 – 1| < |0.361K + 0.368 + 0.368K|
This gives, K < 0.785.
The system is stable for 0 < K < 0.785.
4500 K
3.18 (a) G(s) = ; K = 14.5; z = 0.707; wn = 255.44
s (s + 361.2)
y(t) = 1 – e
-z w n t
F 1- z 2
1- z 2 I
1 - z2
sin HG dw n
it + tan -1 z KJ
(b) T = 0.01 sec,
1.3198z+ 0. 4379 Y ( z ) 13198. z +0.4379
Gh0G(z) = ; =
z2-1027. z+ 0.027 R ( z ) z 2 + 0.2929z + 0.4649
By dividing the numerator polynomial by the denominator polyno-
mial, we obtain,
y(T) = 1.3198, y(2T) = 1.3712, y(3T) = 0.7426, y(4T) = 0.9028,
y(5T) = 1.148 T = 0.001 sec,
0.029z + 0.0257 Y (z) 0.029z + 0.0257
Gh0G(z) = ; =
z2 - 1697. z + 0.697 R ( z ) z 2 -1668. z + 0.7226
Dividing the numerator polynomial by the denominator polynomial,
we can obtain the response.
Y ( z) G G( z)
3.19 = h0
R ( z) 1 + G h0GH ( z )
-1
Gh0G(z) = (1 – z –1) Z 1
RST UVW = 1- e ;
z - e -1
a f
s s1
Gh0GH(z) = (1 – z –1 )Z
RST s 1 UVW = e z - 2 e + 1 -1 -1
as 1f z - 1 az - e f
2
( ) -1
Y ( z)
= a f
1 -e -1 ( z -1 ) ; R(z) = z 0.632z
z -1 ; Y(z) = z 2 -z + 0.632
R ( z) z2 -z+1-e-1
SOLUTION MANUAL 17
(a sin W)z
a k sin (Wk) « ; a2 = 0.632;
z 2 - (2a cos W)z + a2
1 = 0.629; W = 0.89 rad; y(k) = 1.02(0.795)k sin (0.89k)
cos W =
2a
3.20 G h0G(z) = (1 – z–1) Z Y z
RST 1
UVW = z -0.632 ;
( )
=
0.632
z 0.264
;
a f
s s1
0.368 R z( )
z
R(z) =
z -1
0.632z
Y(z) = 1)(z + 0.264) ; y(k) = 0.5 [1 – (– 0.264)k] m(k)
(z -
y(0) = 0; y(1) = 0.632; y(2) = 0.465; y(3) = 0.509 ¼
Y$ (z) = Z {Gh0(s) G(s)e –DTs)} E(z); E(z) = R(z) – Y(z);
Y(z) = Z {Gh0(s) G(s)} E(z)
R ( z)
E(z) =
1 + Z { G h 0 (s ) G (s )}
Y (z) = Z [G (s) G( s) e-Ts ]
$ h0 R(z); Z {G h0(s) G(s)} = 0 . 632
1 + Z [G h0 ( s ) G ( s )] z - 0.368
$
Z [Gh0(s) G(s) e –DTs] = 0 .393z + 0. 239 ; Y ( z ) = 0.393z + 0.239 ;
z (z - 0.368 ) R ( z) z ( z + 0.264)
z
R(z) =
z -1
y$ (k) = [0.5 – 0.107 (– 0.264)k –1] m(k – 1)
y$ (1) = 0.393 = y(0.5T); y$ (2) = 0.528 = y(1.5T)
18 DIGITAL CONTROL AND STATE VARIABLE METHODS
y$ (3) = 0.493 = y(2.5T); y$ (4) = 0.5019 = y(3.5T)
+ 1.2z + 1
3.21 (i) D(z) = 4
-1
FHG z+z01. IKJ FHG z z -0.3z
2
2
+ 0.8 IKJ
-1 -1 -2
LN M
= 4 1-z
1+01. z-1
OQP L N M 1 + 1.2z + z 1 -
0 .3 z - 1 + 0 .8 z - 2
OQP
Refer Figs 3.19 – 3.20
D ( z) 50 46 .62 7.38z + 4. 05
(ii) =- + +
z z 2 - 0.3z + 0.8
z z + 0.1
46.62 7.38 + 4.05z -1
D(z) = –50 + +
1 + 0.1z -1 1 - 0 .3 z -1 + 0 .8 z -2
Refer Figs 3.21 – 3.22
3.22 D(z) = a
10 z2 + z +1 f =
233.33 127.08 + 25 + 106.25
+
z 2 ( z - 0 .5 )( z - 0 .8 ) z -0 . 5 z - 0 .8 z2 z
23333. z-1 127.08z -1
=- + + (106.25 + 25 z –1)z –1
1 - 0 .5 z - 1 1 - 0 .8 z - 1
SOLUTION MANUAL 19
3.23 (a) Process steady-state gain, K = qss = 30 = 30°C/(kg/min)
Qm 1
q(t) = 0.283qss at t1 = 25 min
q(t) = 0.632qss at t2 = 65 min
Therefore (refer Eqns (3.53b))
1
tD +
3 t = t1 = 25
tD + t = t2 = 65
This gives
tD = 5 min, t = 60 min
1
(b) tCD = tD + T = 5.5
2
K c = 1.5t/KtCD = 0.545
TI = 2.5tCD = 13.75 min
TD = 0.4tCD = 2.2 min
3.24 Ultimate gain, Kcu = 5
Ultimate period, Tu = 34 sec
Kc = 0.45 Kcu = 2.13
TI = Tu /1.2 = 666.66 sec
20 DIGITAL CONTROL AND STATE VARIABLE METHODS
3.25
TIM001 TIM000
# 0030
TIM000 TIM001
# 0060
TIM000 10000
10000 10001
10001 TIM002
# 0015
TIM002 TIM003
# 0030
TIM002 TIM003 10002
10002 10003
I/O Assignment:
10000–N(Green); 10001–N (Red)
10002–S(Green); 10003–S (Red)
TIM000–Timer for 30 sec delay
TIM001–Timer for 60 sec delay
TIM002–Timer for 15 sec delay
TIM003–Timer for 30 sec delay
SOLUTION MANUAL 21
3.26
00000
10003 10000
10000
00002
10000 10002
00000 00002
00003 10001
10001
10001
CNT000
# 0005
00001
CNT000 10003
I/O Assignment:
00000–Start Push button (PB1)
00001–Stop Push button (PB2)
00002–Upper level sensor: 1 if liquid level above LL1;
otherwise 0
00003–Lower level sensor: 1 if liquid level above LL2;
otherwise 0 10000–
Liquid supply valve (V1) 10001–
Drain valve (V2) 10002–Stirring
motor (M) 10003–Buzzer
22 DIGITAL CONTROL AND STATE VARIABLE METHODS
CNT000–Counter with a Set Value of 5.
3.27
00000
CNT000 10000
10000
00001
00002 10000
CNT000
# 0005
10001
CNT000 TIM001 10001
10001 TIM001
# 0002
I/O Assignment:
00000–Start push button 00001–
Stop push button 00002–Product
proximity sensor 10000–
Conveyor motor 10001–
Solenoid
CNT000–Counter with a Set Value of 5
TIM001–Timer for 2 sec delay
SOLUTION MANUAL 23
3.28
00002
TIM000 10001
10001
00001
TIM001 10000
10000
10000 00001
TIM000
# 0020
00000
TIM001 01000
01000
01000 00000
TIM001
# 0020
I/O Assignment:
00000–S1; 00001–S2 00002–
S3; 10000–M1 10001–M2;
01000–Work-bit TIM000–
Timer for 20 sec delay TIM001–
Timer for 20 sec delay
24 DIGITAL CONTROL AND STATE VARIABLE METHODS
3.29
00000
00001 10001 10000
10000 00003 00002
00003
TIM000
# 0007
TIM000
00001 10000 10001
00002
10001
I/O Assignment:
00000–PB1; 00001–PB2
00002–LS1; 00003–LS2
10000–Forward motor
10001–Reverse motor
TIM000–Timer for 7 sec delay
CHAPTER 4 DESIGN OF DIGITAL CONTROL ALGORITHMS
4.1 Steady-state error can be calculated from the corresponding continuous-
time system as sampling does not affect steady-state performance of a
continuous-time system.
R(s) + E(s) + 1 1 (s)
K1
Js s
K2
K
G(s) = (s) = 1
E(s) s(Js K2 )
Kp = lim G(s) =
s0
K
Kv = lim sG(s) = 1
s0 K
2
Ka = lim s2G(s) = 0
s0
4.2 Plant model:
T
j
157. 157. e 2 ; T = 1.57 sec
G(s) = ; Gh0( j) G( j) =
s(s 1) j( j 1)
Bode plot analysis:
Phase margin (without ZOH) = 45 deg
Phase margin (with ZOH) = 0 deg
Specification: M = 45 deg
Let us use a lag compensator.
From the Bode plot of the uncompensated system, we see that the phase
margin of 45 deg may be realized if the gain cross over frequency is moved
from the present value (1 rad/sec) to a frequency of 0.5 rad/sec. To accom-
modate phase lag, we take c2 = 0.4 rad/sec
20 log = 8; = 2.5
1
=
c2 = 0.04; 1 = 0.016; D1(s) = 1 s = 1 25s
10 1 s 1 62.5s
Phase margin of the compensated system is about 45 deg.
26 DIGITAL CONTROL AND STATE VARIABLE METHODS
Bilinear transformation: s = 2 z 1 = 1.274 z 1
T z 1 z 1;
D1(z) = 0.4(z 0.939)
(z 0.975)
1.57
Kv of the original analog system is given by, Kv = lims0 s = 1.57
s(s 1)
Kv of the equivalent digital system is:
1
Kv = T z (z – 1) D1(z) Gh0G(z)
®1
0.792
157.
where Gh0G(z) = 1.57
lim
LNM
z 1 z 0.208 OQP , K = 1.57
v
4.3 Kp = lim Gh0G(z) = ; K v = 1T z (z – 1) Gh0G(z) = 3.041
z1
1 lim (z – 1)2 Gh0G(z) lim
Ka = 2 =0
z1
T 1
ess (unit step) = 0; ess (unit ramp) = 0.33; ess (unit acceleration) =
4.4 z2 – 1.9z + 0.9307 = 0; z = 0.95 ± j0.168 = 0.965e± j0.175 = re± j
enT = 0.965 = r ; nT = – ln r; nT 1 2 =
From the above equations, we get
In r ln r
= ; =
1 2 ln2 r 2
1 2 2
n = In r ; = 0.199; n = 8.93
T
4.5 (a) (i) W(s) = 0;
Y1(z) = Gh0G(z) [R(z)D2(z) + {R(z)D3(z) – Y1(z)}D1(z)]
Y1(z) = [ 2 ( 1) 3 ( ) h0 ( )] ()
() D z 1DDz D
(z)Gz GG(z)G z R z
1 h0
(ii) R(s) = 0
Y2(z) = GW(z) – Gh0G(z) D1(z) Y2(z)
GW(z)
Y2(z) = ; Y(z) = Y1(z) + Y2(z)
1 (z)G G(z)
D
1 h0
(b) D3(z) = D2(z) Gh0G(z)
SOLUTION MANUAL 27
Y1(z) = [1 D1 (z)Gh0 G(z)]D3 (z)R(z)
= D3(z) R(z)
1 D (z)G G(z)
1 h0
GW(z)
Y2(z) = ; Y(z) = Y1(z) + Y2(z)
1 (z)G G(z)
D
1 h0
(c) D1(z) can be made large to reject the disturbances.
4.6 Consider the corresponding continuous-time system.
K sK K
(i) D(s) = K1 + 2 ; D(s) G(s) = 1 2
s s(s 1)
1 1
Kv = K2; = 0.01 = K
Kv
2
(ii)
Y(s) s 1
W(s) = s(s 1) K1s K2
; Y(s) = s(s 1) K s K ; yss = 0
1 2
Thus a PI compensator meets the requirements.
T
4.7 G(s) =
K K(1 e ) ;
T
t s +1 ; Gh0G(z) =
z e
0.393 1 z 0.607
For K = = 1, Gh0G(z) = ; S(z) = =
z 0.607 1 G h0G(z) z 0.214
S(e jT) = cos(T ) 0.607 j sin(T ) ; |S(e jT)|2
cos(T ) 0.214 j sin(T )
13685. 1.214cos(T )
=
10458. 0.428 cos(T )
s = 2 = 6.28 rad/sec
2 2T
28 DIGITAL CONTROL AND STATE VARIABLE METHODS
|S |2 |S|
0 0.25 0.5
1 0.45 0.67
2 0.8752 0.9355
2.5 1.0827 1.04
3.14 1.3086 1.144
4 1.53 1.23
6.28 1.753 1.324
| S | < 1 for 0 2.
4.8 (a) (z, K) = A(z) + KB(z)
= (z – 1) (z – 2) L (z – k)
We consider the effect of parameter K on the root k. By definition,
(k, K) = 0. If K is changed to (K + K), then k also changes and the
new polynomial is,
(k + k, K + K) = (k, K) + D k
z z k
K + L = 0
K z k
Neglecting higher order terms, we obtain,
k = – LNM / K
/ z OQP z k
K
1
= B(k) = – KA( k ); = )
K k
z z k ( i
k k i
k = A(k )
SKk =
K / K (k i )
i k
K 0.393K
(b) G(s) = ; (z, K) = 1 + Gh0G(z) = 0
s 1 ; Gh0G(z) = z 0.607
A(z) + KB(z) = (z – 0.607) + K(0.393) = 0
Nominal value of K = 1. Closed-
loop pole is at z = 0.213 =
d(z)
A() = 0.213 – 0.607 = – 0.394; = 1; SK= – 0.394
dz z
SOLUTION MANUAL 29
For a 10% change in nominal gain, the change in the root location is
K
given by, (k) = SK = – 0.0393
K
1
1 1 e 2
(c) G(s) = ; Gh0G(z) = ; (z, ) = 1 + Gh0G(z) = 0;
s 1 1
z e 2
1
z + 1 – 2e 2= 0
1 1
Let p = p = 1 e 2
e 2 ;
22
Characteristic equation is,
z + 1 + p(– 2) = 0; A(z) + p(B(z)) = 0
1
Nominal value of p = e 2 = 0.6065
Closed-loop pole is at z = 0.213 =
A() = 1.213;
d(z) = 1; Sp= 1.213 = ()
dz z p p / p
1
p 1 e 2 1 = 0.5 ; S= 0.6065
Now = =
p 22 p 2
For 10% change in the nominal value of , the change in root location
is given by,
= 0.06065
(k ) = S
4.9 0.368z 0.264 ; T = 1 sec; z = 1 0.5w
Gh0G(z) =
z21368. z 0.368 1 0.5w
0.0381(w 2)(w 1214. )
Gh0G(w) =
w(w 0.924)
IK FH1 j
FH1 j 2 1214. IK
Gh0 G( j) =
j FH1 j 0.924 IK
From the Bode plot and Nichols chart, we obtain,
M = 28º; GM = 8 dB; b = 1.35 rad/sec; b = 1.6 rad/sec
1
4.10 G(s) = ; T = 0.1 sec
s(s 2)
(z 0.9355) ; z = 1 0.05w
Gh0G(z) = 0.004683
(z 1)(z 0.8187) 1 0.05w
30 DIGITAL CONTROL AND STATE VARIABLE METHODS
(1 0.001666w)(1 0.05w)
Gh0G(w) = 0.5
w(1 0.5016w)
(a) lim wGh0G(w) = Kv = 0.5K; K = 10
w0
5(1 0.001666w)(1 0.05w)
Gh0G(w) =
w(1 0.5016w)
Bode plot analysis: M = 30º (crossover at 2.6 rad/sec)
11.994w
(b) Phase lead design: D(w) = w
1 12.5
(obtained by standard design procedure),
M = 55º, Kv = 5, GM = 12.4 dB
(c) D(w) = K(1 w) ; Kv = 5
(1 w)
K v = lim wD(w) Gh0G(w), gives K = 10.
w0
The Bode plot of G(w) = 5(1 0.001666w)(1 0.05w)
w(1 0.5016w)
(uncompensated system; K = 10 has been used in the plant model)
gives M = 30º
Required phase margin = 55º + 15º (error compensation).
Crossover frequency c2 = 0.7
D(w) = 1 w ; 1 = c22 = 0.18; = 5.71
1 (2)
Corresponding gain = 20 log10 = 17; = 7.0;
014. (w 018. )
D(w) =
(w 0.02)
w = 2 z 1 gives, D(z) = 0141. (z 0.98)
T z 1 (z 0.998)
(d) From Nichols chart we find that bandwidth values b for three designs
corresponding to parts (a), (b) and (c) are respectively 4.8 rad/sec,
9.8 rad/sec and 1.04 rad/sec.
(e) Reasonable sampling rates are 10 to 30 times the bandwidth.
2 = 62.83.
s =
T
SOLUTION MANUAL 31
1 0.005(z 1)
4.11 G(s) = , T = 0.1, Gh0G(z) =
s2 (z 1)2
z = 1 0.05w ; Gh0G(w) = 1 0.205w ; Gh0G( j) = 1 j0.05
1 0.05 w ( j)2
Bode plot analysis:
M = – 2 deg.
In the low frequency range, Gh0G( j) is about –180º. Therefore, a lag
compensator cannot fulfil the requirement of 50º phase margin.
(w 1)
The lead compensator D(w) = 64 satisfies the requirements.
(w 16)
The gain crossover frequency = 4
M = 50.62º, GM = 13 dB, Kv = , Ka = 4.
4.12 (a) K = 50
0.0043K(z 0.85)
Gh0G(z) = ;
(z 1)(z 0.61)
w
Gh0G(w) =
10 FH1 20 IK FH1246.67w IK
wFH1 4.w84 IK
Bode plot/Nichols chart analysis:
Gain crossover frequency = 6.6 rad/sec.
M = 20º, b = 10 rad/sec, b = 9.27 rad/sec.
(b) Lead compensator D(w) = 0.219w 1 results in b = 18 rad/sec,
0.06w 1
b = 14.65 rad/sec.
Lag compensator D(w) = 16. w 1 results in b = 5 rad/sec,
6.4w 1
b = 4.9 rad/sec.
(c) For partial compensation, we design lag section by selecting a cross
over frequency of 3.2 rad/sec. The uncompensated plot has to be
brought down by 9 dB.
20 log = 9; 3
1 3.2
= = 0.8
22
1.25w 1
D1(w) = 3.75w 1 results in M = 54º, b = 4.3.
We constrain the lead section design by taking = 1 = 0.333. The
lag compensated system has a dB of
32 DIGITAL CONTROL AND STATE VARIABLE METHODS
1
– 10 log = – 4.77 at 4 rad/sec.
1 1
= 4 = 2.3; = 6.92
D2(w) = 0.4347w 1
0144. w 1
Lag-lead compensator results in M = 60º, b = 8, b = 7.61 rad/sec.
z 0.793
(d) D1(z) = 0.342 z 0.923 ; D2(z) = 2.49
FH IK FH IK
z 0.973 z 0.484
Refer Figs 3.19–3.22 for realization schemes.
4.13 (a)
1 49
Kp = 0.8K; = 0.02; K = 61.25; G(s) =
1 0.8K 3s 1
7.5215
(b) Gh0G(z) =
z 0.8465
Closed-loop pole: z + 6.675 = 0
The system is unstable.
49(1 w / 4)
(c) Gh0G(w) = (1 3w)
Lag compensator D(w) = 1 w satisfies the requirements.
1 10w
z 1 z 0.6
w=4 FHz 1 IK
; D(z) = 0.122
z 0951. FH IK
(d) Lead compensation will increase the gain. Since gain is to be reduced
to stabilize the system, lead compensation cannot be employed.
4.14 (a) Refer Example 4.5.
K(z 0.9048)
(b) Gh0G(z) =
(z 1)2
Sketch a root locus plot; complex roots lie on a circle. Using magni-
tude condition, we obtain the value of K at the closed-loop pole
z = – 1. It is 2.1. Therefore, the system is stable for 0 < K < 2.1. There
is a double pole at z = 0.81. The value of K at this point is obtained as
0.38.
T 1 T T 2
K[(T 1 e )z (1 e Te )z ]
4.15 Gh0G(z) = 1 T 1
(1 z )(1 e z )
SOLUTION MANUAL 33
(i) T = 1 sec,
0.3679K(z 0.7181)
Gh0G(z) =
(z 1)(z 0.3679)
The root locus is a circle; the breakaway points are at z = 0.6479 and
z = – 2.0841.
At the point of intersection of the root locus with unit circle, we find
by magnitude condition, K = 2.3925. This gain results in marginal
stability.
(ii) T = 2 sec, Gh0G(z) = 11353. K(z 0.5232)
(z 1)(z 01353).
Breakaway points are at z = 0.4783, – 1.5247; Critical gain
K = 1.4557.
3.0183K(z 0.3010)
(iii) T = 4 sec, Gh0G(z) =
(z 1)(z 0.0183)
Breakaway points are at z = 0.3435, – 0.9455; Critical gain
K = 0.9653. The smaller the sampling period, the larger the critical
gain for stability.
4.16 Gh0G(z) = K(z 0.717)
(z 1)(z 0.368)
The root locus is a circle with breakaway point at z = 0.648, – 2.08.
(a) At the point of intersection with the unit circle, K = 0.88 and
z1,2 = 0.244 ± j0.97 = 11.33 rad
= e jT; = 1.33 rad/sec.
(b) The value of K at this point is 0.072.
e–T/= 0.648, = 2.3 sec.
(c) At the point of intersection of the root locus with = 0.5 locus, we get
K = 0.18. The line through intersection point makes an angle of 32º
with real axis. Therefore
nT 1 2 = 32º = 0.558 rad; n = 0.644 rad/sec
4.17 z2 + 0.2Az – 0.1A = 0; 1 + 0.2 A(z2 0.5) = 0; Gh0G(z) = K (z 0.5)
2 ;
z z
= K = 0.2 A
The root locus is a circle. At the point of intersection with unit circle, we
find by magnitude criterion, K = 0.666. Therefore, A = 3.33.
34 DIGITAL CONTROL AND STATE VARIABLE METHODS
4.18 G(s) = 1
; T = 0.1
s 1
PT 0.091K
H(s) = = 0.9554; Gh0GH(z) =
2 z 0.9048
The root locus is a circle.
(a) 1 + Gh0GH(z) = 0; z – 0.9048 + 0.091K = 0
For K = 1, z – 0.8138 = 0
e–T/ = 0.8138; T = 0.206; = 0.4854 sec
(b) Required time-constant = 0.4854 = 0.12136
4
e–T/0.12136 = 0.43867; 0.091K = 0.46613; K = 5.1223
0.01873K(z 0.9356)
4.19 Gh0G(z) =
(z 1)(z 0.8187)
(a) = 0.5; n = 4.5; z = e nT nT(1 – 2)
This gives z1,2 = 0.6354 ± 45º = 0.4493 ± j0.4493.
Angle deficiency at point P corresponding to z1 is – 72.25 deg. We
choose the zero of the controller to cancel the pole at z = 0.8187.
Then the pole of the controller is determined to satisfy the angle con-
dition at P. This gives
z 0.8187
D(z) = ; |D(z)Gh0G(z)| = 1, requires K = 13.934
z 01595.
13.934(z 0.8187)
D1(z) =
(z01595. )
1
(b) Kv = T z (z – 1) D(z) Gh0G(z) = 3.
limz 1 ; 1 1
(c) D2(z) = =3
z 2 1 2
1
z 0.94
Let, 2 = 0.98, then 1 = 0.94; D2(z) =
z 0.98
From the root locus plots of 1 + D 1 (z) G h0 G(z) = 0 and
1 + D2(z) Gh0G(z) = 0, it is seen that lag compensator decreases the
margin of stability.
(d) Refer Figs 3.19 – 3.22 for realization of D2(z) D1(z).
SOLUTION MANUAL 35
4.20 Gh0G(z) = 0.2 K(z 0.368)
(z 0.368)(z 0.315)
The root locus of the uncompensated system is a circle. At point P corre-
sponding to the intersection of root locus with = 0.5 locus, we get
0.2 K = 0.3823 or K = 1.91.
At this point,
n = 1.65, Kp = 0.957.
We will use lag compensator. Kp is to be increased by a factor of
7.5 z 1 ; 1 1
= 7.837; D(z) = = 7.837
0.957 z 2 1 2
Let, 2 = 0.98, then 1 = 0.84
n is slightly decreased with lag compensator (as seen from root-locus
plot of the lag-compensated system), which is acceptable.
4.21 Gh0G(z) = K T 2 z 1
; T = 1 sec
2 (z 1)2
= 0.7, n = 0.3, z = enT nT(1 – 2)
This gives z1,2 = 0.78 ± j0.18
Place a compensator zero at 0.8.
Angle criterion gives compensator pole location as z = 0. Magnitude crite-
rion gives K/2 = 0.18.
0.36 z + 1 z -0.8
Gh0G(z) D(z) = ;
2 (z - 1 ) 2 z
1 ® (z – 1)2 G h0G(z)
Ka = T 2 z lim
D(z) =1 0.072
Corresponding to K/2 = 0.18, we find from the root locus that third pole is
located at z = 0.2. It slows down the response.
- s/120
40e 1 0.00133(z + 0.75)
4.22 G(s) = s(s + 40) ; T = sec; Gh0G(z) =
120 z(z -1)(z - 0.72)
The closed-loop poles are required to lie inside the circle of radius 0.56.
Let us try a lead compensator. Cancel the pole at z = 0.72 by zero of D(z).
By angle criterion, at a point on circle of radius 0.56, the pole of D(z) is
found at z = – 0.4. The magnitude criterion at the point of intersection of
the root locus with the circle of radius 0.56 gives K = 0.2.
0.2(z - 0.72) = 150 (z - 0.72)
Therefore, D(z) =
0.00133(z + 0.4) (z + 0.4)
36 DIGITAL CONTROL AND STATE VARIABLE METHODS
The third pole corresponding to K = 0.2 lies inside the circle of radius
0.56.
0.2(z + 0.75)
Gh0G(z) D(z) =
z(z -1)(z + 0.4)
Kp = lim Gh0G(z) D(z) = ; ess* = 0
z®1
4.23 (a) Refer Examples 4.9–4.10.
1 0.0048(z + 0.9833)
(b) G(s) = ; T = 0.1 sec; Gh0G(z) =
s(s + 1) (z -1)(z - 0.9048)
We select an M(z) that has pole excess of at least equal to that of
Gh0G(z), and unstable (or critically stable) poles of Gh0G(z) are in-
cluded in 1–M(z) as zeros. M(z) = z–1 satisfies these requirements.
1 M(z)
D(z) = LNM
G G(z) 1 - M (z) OQP = 208.33 LNM z -+0.9048
0.9833 OQP
h0
1
4.24 G(s) = ; T = 0.1 sec
s(s + 1)
2 nT
(a) = 0.8, n = nT 1 2
10T ; z = e
This gives z1,2 = 0.55 ± j0.22
Gh0G(z) = (T 1 eT )(z a) ; a = 1 T
(z 1)(z eT ) e TeT
T 1 eT
= 4.8 × 10–3 (z 0.9833)
(z 1)(z 0.9048)
(z) = z2 – 1.1z + 0.3509
We select an M(z) that has pole excess of at least equal to that of
Gh0G(z), unstable poles of Gh0G(z) are included in 1 – M(z) as zeros,
and satisfies transient accuracy requirements.
z
1 – M(z) = (z – 1) F(z); F(z) =
z2 1.1z 0.3509
E(z) = R(z) [1 – M(z)]
e*ss(unit-step) = lim (z – 1) E(z) = 0
z ®1
e*ss(unit-ramp) = lim (z – 1) Tz 1
(z – 1) F(z) = TF(1) =
z ®1 z 12 Kv
SOLUTION MANUAL 37
Kv = 5, T = 0.1: F(1) = 2
1-a
F(1) =
1 -1.1 + 0.3509
a = 0.7491 satisfies steady-state accuracy requirements.
(0.6491z - 0.3982 )
M(z) =
z 2 - 1.1z + 0.3509
D(z) =
1
G G(z) LNM 1 -M(z)
M (z)
OQP
h0
(z 0.9048) (z 06135. )
= 135.227
(z09833. ) (z 07491. )
(b) y(k) = 0, 0.5, 1, 1, K
Y(z) = 0.5z –1 + z –2 + z –3 + L
Y ( z) = (0.5z –1 + z –2 + z –3 + ) (1 – z –1)
R ( z) L
M(z) = (0.5z–1 + 0.5z–2); Gh0G(z) = 4.8 × 10–3 (z + 0.9833) -
(z 1) (z - 0.9048)
(z 0.9048) z
D(z) = 104.17
1(z 0.9833) (z
0 .5)
E(z) = R(z) [1 – M(z)]
ess = limz ®1 (z – 1) E(z) = 0.15.
1 0 .18
4.25 G(s) = ; T = 2 sec; Gh0G(z) =
10 s + 1 z - 0.82
1
y(t) = 1 – e–t; Y(s) = - 1
s s +1
z z 0.86z
Y(z) = - = ;
z -1 z - 0 .14 (z -1)(z - 0 .14)
Y (z) 0 .86
M(z) = =
R(z) z - 0 .1 4
1 M(z) OQP = 48
- -1
D(z) =
G G(z) LNM 1 - M (z ) 3 9 -1
h0 1. - z
4.26 Parallel to Review Example 4.3. .
z
Result:
u(k) = 10 e(k) – 6e(k – 1) – 0.75u (k – 1)
U(z) = 10E (z) – 6z–1 E(z) – 0.75z–1 U(z)
38 DIGITAL CONTROL AND STATE VARIABLE METHODS
U(z) 10 - 6z - 1
= D(z) =
E(z) 1 + 0.75z - 1
2
4.27 G(s) = 2) ; T = 1 sec
(s + 1 )( s +
+ 0.368 )
(z 1
Gh0G (z) = 0.4 ; R (z) =
(z
- 0.368 ) ( z - 0.135 ) 1 - z- 1
M(z) may be chosen as z–1; but, as can be examined, the response will
exhibit intersample ripples. We therefore take,
M(z) = a1z–1 + a 2z–2
E(z) = R(z) [1 – M(z)]
limz ®1 (z – 1) R(z) [1 – M(z)] = 0 gives a1 + a2 = 1
For no intersample ripples, we require (refer Eqn. (4.81))
U(z) = u(0) + u(1)z–1 + u(2) [z–2 + z–3 + ]
L
Dividing U(z) by R(z),
U(z) = u(0) + [u(1) – u(0)]z –1 + [u(2) – u(1)]z –2 = b0 + b1z–1 + b2z–2
R(z)
a - 1 a -2
1 z + 2 z
Y (z) Y (z) / R(z) b b
Gh0G(z) = = = 0
b 0
b
U(z) U(z) / R(z) 1 z-1 + 2 z-2
1+
b b
0 0
0 . 4z 1 0 .1472z 2
=
1 0 .503z 1 0. 04968z 2
Comparing the coefficients, we get
a1 = 0.731, a 2 = 0.269,
b0 = 1.8275, b 1 = – 0.919, b 2 = 0.09
D(z) =
1
G G(z) LNM 1 -MM(z( z) ) OQP1=-Y U zz / R z
( )
( )
( )
( )
h0 Rz /
=18275. - 0 .919z - 1 + 0.09 z - 2
-1 -2
1 - 0.731z - 0.269z
1
4.28 G(s) = s (s + 1) ; T = 1 sec
SOLUTION MANUAL 39
1 2
0.3679z 0.2642z ; M(z) = 1z–1 + 2z–2 = Y z
Gh0G(z) =
1 1.3679z 1 0.3679z 2 R z
U(z) = u(0) + u(1)z–1 + u(2) [z–2 + z–3 +
]
L
1 ;U = 0 + 1z–1 + 2z–2
R(z) =
1 z 1 zR
z
a - 1 a -2
1 z + 2 z
Y z / Rz b b
Gh0G(z) = = 0
b 0
b
U z/ 1+
1 z-1 + 2 z-2
Rz b b
0 0
1 + 2 = 1
Comparing the coefficients of Gh0G(z), we get
1 = 0.582, 2 = 0.418; M(z) = 0.582z–1 + 0.418z–2
OQP = Uz
1 M (z) ( R )z ( ) / = 1.582 0.582z 1
D(z) =
G G(z) LNM 1 -M (z ) 1 -Y (z ) / R ( z ) 1 0.418z 1
h0
Output sequence,
Y = 0.582z–1 + 0.418z–2; R(z) = 1
zR 1 z 1
z
y(k) = 0, 0.582, 1, 1,
5s 2
e 0 .3935z
4.29 G(s) =
10s 1 ; T = 5 sec; Gh0G(z) = 1 0. 6065z 1
y(0)
Y(z) =
= 0, y(1) =–20,+ y(2)
0.6225z z–3 +=z1.582(1
–4 + =– 0.6225z
e–0.5) = –2
0.6225
+ z–3
y(k) = 1; k 3
1
L 1 z1
Y = M(z) = 0.6225z–2 + 0.3775z –3
zR
z
Pole excess of M(z) = 2 = pole excess of Gh0G(z)
2
1 M (z ) 1 0 .3678z
D(z) =
G G(z) LNM 1 -M (z )
OQP = 1.582 1 0 .6225z 2 0 .3775z 3
h0
U(z) =
Y z/ Rz
G Gz/ Rz
= 1.582 c1 0.3678z h 2
h0 c1 z h
1
40 DIGITAL CONTROL AND STATE VARIABLE METHODS
= 1.582 + 1.582z–1 + z–2 + z–3 +
L
Since u(k) is constant for k 2, there are no intersample ripples in the
output of the system after the settling time is reached.
2
4.30 Gh0G(z) = 0 .3935z
1 0. 6065z 1
Pole excess = 2; second-order model.
Y = 2z–2
zR
z
U = u(0) + [u(1) – u(0)]z–1 + [u(2) – u(1)]z–2 = 0 + 1z–1 + 2z–2
zR
z
2 z 2
Y z / Rz 0
= = Gh0G(z)
U z/ 1 1 z 1 2 z 2
Rz 0
0
From the steady-state error requirement, 2 = 1. This gives
0 = 2.541, 1 = – 1.541, 2 = 0
OQP = Uz
1 Mz Rz /
D(z) = LNM
G G(z) 1Mz
( ) ( )
1 -Y (z ) / R ( z )
h0
= 2.541
c1 0 .6065z h 1
c1z hc1 z h
1 1
= z–2 + z–3 + z–4 +
It is physically realizable.
y(k) z–20, 1, 11, 1,
Y(z) = 0,
1 z 1 L
K
u(0) = 0 = 2.541
u(k) = 2.541, 1, 1, 1
u(1) = 1 + u(0) = 1, u(2) = 2 + u(1) = 1
K
CHAPTER 5 CONTROL SYSTEM ANALYSIS USING STATE
VARIABLE METHODS
5.1
Je = n2J = 0.4 ; Be = n2B = 0.01
x&1 = x2 ; 0.4 x&2 + 0.01x2 = 1.2 x3
0.1 x&3 + 19x3 = 100 x4 – 1.2x2 ; 5 x& 4 + 21x4 = 4
or x& = Ax + bu
L0 1 0 0 O L0O
A = MMM0 0 .1 2 0 2 5 1903 10000 P P ; b = M M 0 0 P P
N0 0 0 4.2 Q N0.2 Q
y = L = nx1 = 0.5 x1
5.2
u 1 if 1 1
KA sL + R + 1 KT
f f x3 Js + B x2 s x1
x&1 = x2 ; 0.5 x&2 + 0.5x2 = 10x3
20 x&3 + 100x3 = 50u ; y = x1
L0 1 0 O L0 O
A = MMM0 1 2 0 P P ; b = MM 0 P P ; c = [1 0 0]
N0 0 5Q N2.5Q
42 DIGITAL CONTROL AND STATE VARIABLE METHODS
5.3 x1 = M ; x2 = & M , x3 = ia ; y = L
x&1 = x2
2 x&2 + x2 = 38 x3
2 x&3 + 21x3 = ea – 0.5 x2
k1
ea = k1(R – L) – k2 & M = k1R – x1 – k2x2
20
L 0 1 0 O 0L O
A = MM PP MM PP 1
0 05. 19 ; b = 0 ; c = LN M 0 0OQP
k (k 05. ) 21 k1 20
1 2
N 40 2 2 Q 2N Q
5.4 x1 = ; x2 = ia
J& + B= KT ia
di
Raia + La a
= ea – Kb
dt
ea = Kcec = Kc [k1 (er – Kt ) – k2 ia}
B K
L J J
O T
A = M M (k K K K ) (R k K ) P P ;
1 t c b a 2 c
L L
N a
Q a
b =
L k 0K O
1 c
NM L QPP ; c = [1 0 ]
a
5.5 A = P–1 AP = LNM1511 68OQP
b = P–1b= LNMOQP12 ; c = cP = [2 –1]
2
Y(s) P11 s 1
= = ) =
U(s) 1 (3s1 2s 2 s 2 3s 2
SOLUTION MANUAL 43
1 s–1 X2 1 s–1
X =Y
U 1
–3
–2
Y(s) P P P P
= 1 1 2 2 3 3 4 4
U(s)
= 2s1 (1 8s1 ) 15s2 (1) (2s 1 ) (1 11s1 ) 2s1 (6s1 )2(1)
1 [11s1 8s1 (15s 1 )(6s 1 )] [(11s1 )(8s1 )]
1
=
s2 3s 2
s–1 X1
1 2
–11 –15
U Y
6
2 –1
s–1 X2
5.6 A= LNM00 10OQP;b=LNMOQP01
A = P–1 AP = LNM–11 –11OQP;b=P b=LNMOQP0
–1
|I – A| = |I – A | = 2
5.7 X(s) = (sI – A)–1 x0 + (sI – A)–1 b U(s)
= G(s)x0 + H(s) U(s)
Ls(s 3) s 3 1 O 1 LO
1 1
G(s) =
MM 1 PP
s(s 3) s ; H(s) =
s MM PPP
1
N s s2
Q s2 NQ
= s3 + 3s2 + 1
44 DIGITAL CONTROL AND STATE VARIABLE METHODS
5.8
5.9 Taking outputs of integrators as state variables, we get (x 1 being the
output of rightmost integrator),
x&1 = x2
x&2 = – 2x2 + x3
x&3 = – x3 – x2 – y + u
y = 2x1 – 2x2 + x3
L 0 1 0 O L0O
A = MMM0 2 1 P P ; b = MMMP0 P ; c = [2 –2 1]
N2 1 2Q N1Q
5.10 Taking outputs of integrators as state variables (x1 and x2 are outputs of
top two integrators from left to right; x3 and x4 are corresponding vari-
ables for other integrators):
x&1 = – 4x4 + 3u1; x&2 = x1 – 3x2 + u1 + 2u2;
x&3 = – x2 + 3u2; x& 4 = – 4x4 + x3;
L0 0 0 4 O L3 0O
A = MM10 31 00 0 0 P P ; B = M M 10 2 3 P P ; C = LNM0 10 00 OQP
01
N0 0 1 4Q N0 0Q
5.11 (a) G(s) = c (sI – A)–1 b
s 3
=
(s 1)(s 2)
SOLUTION MANUAL 45
1
(b) G(s) =
(s 1)(s 2)
5.12 1 = – tr (A) = – 4
L2 1 0
; 2 = – 1 tr(AQ2) = 6
O 2
Q2 = A + I = MMM 1
1 3 2
PPP
N1 0 3Q P P
L 1 1 2O
Q = AQ + I = MMM3 2 4 ;
3 2 2
N1 1 3Q
3 = – 1 tr(AQ3) = – 5
3
As a numerical check, we see that the condition: 0 = AQ3 + 3I is satis-
fied. Therefore, (s) = s3 – 4s2 + 6s – 5.
(sI – A)+ = Q1s2 + Q2s + Q3 = Q(s)
CQ(s)B 1
G(s) =
(s)
=
(s)
LNMs3 s25s
2 2(s4(2 s 3s3)1) OQP
5.13 x&1 = – 3x1 + 2x2 + [– 2x1 – 1.5x2 – 3.5x3]
x&2 = 4x1 – 5x2
x&3 = x2 – r
PP
L5 0.5 35. O L 0 O
A = MMM4 5 0 PP ; b = MMM 0 ; c = [0 1 0]
N0 1 0 Q N1Q
14
G(s) = c(sI – A)–1 b =
(s 1)(s 2)(s 7)
5.14 (a) x1 = output of lag 1/(s + 2)
x2 = output of lag 1/(s + 1)
x&1 + 2x1 = x2 ; x&2 + x2 = – x1 + u
2 1
y = x2 + (– x1 + u)
1OQP
1
A = LNM;b= LNMOQP
01 ; c = [–1 1]; d = 1
46 DIGITAL CONTROL AND STATE VARIABLE METHODS
(b) x1 = output of lag 1/(s + 2)
x2 = output of lag 1/s
x3 = output of lag 1/(s + 1)
x&1 + 2x1 = y ; x&2 = – x1 + u
x&3 + x3 = – x1 + u ; y = x2 + x3
L2 1 1O L0O
A = MMM1 0 0 P P ; b = MMMP1 P ; c = [0 1 1]
N1 0 1Q N1Q
5.15 Taking outputs of pseudo-integrators as state variables (x1, x2, x3, x4: from
top to bottom):
x&1 + x1 = u1; x&2 + 5x2 = 5u2; x&3 + 0.5x3 = 0.4u1; x& 4 + 2x4 = 4u2
u1 = K1r1 – K1y1; u2 = K2r2 – K2y2
y1 = x1 + x2; y2 = x3 + x4
Writing the state equations we get,
x& = Ax + Bu
L1 K K5 5K0
1 1
0
O
5K2
A=
MMMM 0.04 K 0.4 K 0.5
1
1
2
PP;
0
4K 2 4K Q
N 0 0
2
2
LK 0O 1
B = MMMM0.40K 1
5K
0
P P ; C = LNM10 1 0
2
01 OQP
01
N 0 4K Q 2
s 3 2 –1
5.16 (i) Y(s) = 2) =
U(s) (s 1)(s s 1 s 2
= LNM01 02OQP;b=LNMOQP11 ; c = [2 –1]
SOLUTION MANUAL 47
u+ x1
2
+
+ y
–1
+
+ x2
–1
+
–2
Y(s) 5
(ii) 3 =
U(s) = s3 1s2 2s 3 s3 4s2 5s 2
From Eqns (5.56), the second companion form of the state model is given
below.
L0 0 2O L5O
A = MMM1 0 5 P P ; b = MMMP0 P ; c = [0 0 1]
N0 1 4Q
N0Q
u + x1 + x2 + x3 = y
5 2
– – –
2 5 4
s3 1s2 2s 3 3
= s 8s22 17s 8
Y(s)
(iii) = 03 2
U(s) s 1s 2 s 3 s3 6s 11s 6
From Eqns (5.54), the state model in second companion form is given
below.
48 DIGITAL CONTROL AND STATE VARIABLE METHODS
L0 1 0 O L0 O
A = MMM0 0 1 P P ; b = MMMP0 P ; c = [2 6 2]
N6 11 6Q N1Q
+ + + y
+ + +
1 8 17 8
u + x3 x2 x1
– z z z
6 11 6
+ +
+ +
Y(s) s 1 2 s 3
5.17 (i) = 2 s = 2
U(s) s3 3s 2 s3 1s 2 s 3
From Eqns (5.56):
L0 0 0 O L1O
A = MMM1 0 2 P P ; b = MMMP1 P ; c = [0 0 1]
N0 1 3Q N0Q
Y(s) 1
(ii) = = 3
2
U(s) s3 6s 11s 6 s3 1s2 2s 3
From Eqns (5.54):
L 0 1 0 O L0 O
A = MMM0 0 1 PPP ; b = MMM0PPP ; c = [1 0 0]
N6 1 1 6Q N1Q
3
(iii) Y(s) = s 8s22 17s 8 = 1 1 2 1
Us s3 6s 11s 6 s 1 s 2 s 3
SOLUTION MANUAL 49
L1 0 0O L1O
= MMM0 2 0 P P ; b = M M1P P ; c = [–1 2 1] ; d = 1
N0 0 3Q N1Q
Y(s) 1000s 5000 2s 3
5.18 (a) = = 2
U(s) s3 52s2 100s s3 s 2s 3
1
From Eqns (5.54):
L0 1 0 O L0O
A = MMM0 0 1 P P ; b = MMMP0 P ; c = [5000 1000 0]
N0 100 52Q N1Q
Y(s) 1000s 5000 = 50 3125. 18.75
(b)
U(s) = s3 52s2 100s s s 2 s 50
L0 0 0 O L 50 O
= MMM0 2 0 PP ; b =
MMM3125.P P ; c = [1 1 1]
N0 0 50Q N 1875. Q
2
Y(s) 2s 6s 5 1 1 1
5.19
U(s) = (s 1)2 (s 2) = (s 1)2 s 1 s 2
From Eqns (5.65):
L1 1 0 O L0O
= MMM0 1 0 PP ; b = MMMP1 P ; c = [1 1 1]
N0 0 2Q N1Q
x(t) = zt
0
e(t – ) bu()d
Le t te t 0 O
e–t = L –1 [(sI – )–1 ]=
MMM0 e t 0 PPP
e2t
N0 0 Q
50 DIGITAL CONTROL AND STATE VARIABLE METHODS
t
Lz t
0
(t )e
(t )
d O
L t
O t
1 e te
z e(t )bu()d = MMM e
0
z t
(t )
d P P P = M M 11(1e e ) P P
t
2
0
N z
0
t e
2(t )
d Q N2 Q t
y = x1 + x2 + x3 = 2.5 – 2e–t – te–t – 0.5 e–2t
1 1
+ x2 + x1
u 1
+ –
–1 –1
+y
+ x3 +
1
+
–2
5.20 (i) A= LNM10 12OQP; |I – A| = (– 1) (– 2) = 0
1 = 1; 2 = 2
LNM 0
2 1
adj(I – A) =
1 OQP
For 1 = 1: adj(1I – A) = LNM01 10OQP;v =LNMOQP10 1
For 2 = 2; adj(1I – A) = LNM00 11OQP;v = 2 1
SOLUTION MANUAL 51
( i i ) A= LNM1 320 OQP ; |I – A| = 2 + 3 + 2
LNMOQP11 , v = LNMOQP21
1 = – 1, 2 = – 2; v1 = 2
L 0 1 0O
(iii) A= MM
M 3 0 2 PPP ; |I – A| = (+ 1) (+ 2) (+ 3) = 0
N12 7 6Q
1 = – 1, 2 = – 2, 3 = – 3
(1I – A)v1 = 0 gives
L1 1 0 O L O L0O 11
M M 3 1 2PPP M M P P = MMM0P P
12
N12 7 5Q N Q N0Q 13
v1 = [1 – 1 – 1]T
(2I – A)v2 = 0 gives
v2 = [1 – 2 1/2]T
(3I – A)v3 = 0 gives
v3 = [1 – 3 3]T
5.21 (a)
L0 1 0 . . . 0
OP P
MM 0 0 1 . . . 0
. . . . . . .
A=
. . . . . . .
0 0 0 . . . 1
. . . 2 1
N n n1
Q
L i
1 0 . . . 0
OP P
MM 0 1 0 . . 0
i
.
(iI – A) =
.
0 0 . . . i 1
N n n 1 . . . 2 i i Q
52 DIGITAL CONTROL AND STATE VARIABLE METHODS
vi = [ck1 ck2 . . ckn]T; the cofactors of the k th row.
Let k = n
cn1 = (– 1)n+1 [determinant of (n – 1) × (n – 1) matrix obtained by
deleting last row and first column] = (– 1)n+1 [(– 1)n–1] = 1
cn2 = (– 1)n+2 [determinant obtained by deleting last row and second
column] = (– 1)n+2 [i(– 1)n–2] = i
cn3 = (– 1)n+3 [2i (– 1)n–3] = 2i
.
.
.
cnn = ni 1
L1 1 . . . 1 O
1 . . .
2 n
P=
MM 21
2 . . . 2 PP
2 n
. . . . . .
N n11
n1
2
. . . n1
n
Q
(b)
L 0 1 0O
A= MMM 0 0 1PPP; |I –A| =0 yields: 1 = –2, 2 = –3, 3 = – 4
N24 26 9Q
L 1 1 1O
P= MMM2 3 4PPP = [v v v ] 1 2 3
N 4 9 16 Q
L 0 1 0O
5.22 (a) A = MMM0 0 1 PP
N2 4 3Q
The characteristic equation is,
3 + 32 + 4 + 2 = 0
1 = – 1 + j1, 2 = – 1 – j1, 3 = – 1.
SOLUTION MANUAL 53
L 1 1 1O
MMM P=
j1
1j1
1
1 P P ;
N j2 j 2 1Q
L1 j1 0 0O
P AP = = MM 0
–1
1 j1 0
PP
N 0 0 1Q
L1/ 2 j1/ 2 0O L1 1 0OP P
(b) Q = MMM1/2 j1 / 2 0PPP ; Q Q = MMM1 1 0 –1
N 0 0 1Q N0 0 1Q
5.23 A=LNM6 435OQP ; |I – A| = (+ 1) (– 2) = 0
adj(I – A) = LNM65 34 OQP;
6
1 = – 1, adj(1I – A) = LNM 3OQ LNMOQP1
3
P 6
= 2, adj( I – A) = LNM
2 2 ;v =LNMOQP
3 ;v = 12 2 1
3OQP
P=
LNM
1 1 OQP ; J = P AP = –1
LNM01 02OQP
1 2 6
e = Pe P = P Le 6 0 O P = L 2e e e e O
t 2t
t t 2t
At Jt –1 –1
NM 0 e QP NM2e 2e e 2e QP 2t
t 2t
t 2t
L s 4 3 O
5.24 (a) A = LNM01 43OQP ; (sI – A) =
M M (s 1)(s 3) (s 1)(s 3) P P
–1
1 s
N (s 1)(s 3) (s 1)(s 3) Q
L 23 e 12 e t
3 e
2
3t e O
3 t 3t
e = MM At 2
1 e
1e 1e t 3t 3 e PPP t 3t
N 2 2 2 2
Q
54 DIGITAL CONTROL AND STATE VARIABLE METHODS
L 23 e t 1 3t
e
1
e
1 3t
t
e
O
= M M 3 2 2 2
(b) eAt
e
t 3 3t
e
1 t 3 3t
e e
PPP
N2 2 2 2
Q
5.25 (a) A= LNM0 1 OQP
; |I – A| = 2 + 5+ 6 = 0; 1 = – 2, 2 = – 3
6 5
g() = 0 + 1; f(A) = eAt; f() = et
f(i) = g(i) gives
e–2t = 0 – 2 1; e–3t = 0 – 3 1
Solving we get,
1 = e–2t – e–3t, 0 = 3e–2t – 2e–3t
L 3e 2e
eAt = 0I + 1A =
e e2t O 3t 2t 3t
NM6e 6e 2e 3e QP 2t 3t
2t 3t
(b) A=L
NM02 24OQP; f(A) = e , = = – 2; g() = +
At 1 2 0 1
f(1) = g(1) gives e–2t = 0 – 21
d d
f ( ) = g( ) gives
d 2 d 2
1 = te–2t, 0 = (1 + 2t)e–2t
eAt = L(1 2t)e 2t
2te2t O
NM 2te (1 2t)e2t
2t QP
5.26
SOLUTION MANUAL 55
G (s) = LNMGG ((ss)) GG
1121 1222 ((ss)) OQP ; H(s) = LNM
H H ((ss))OQP
12
X (s) 1 1
1
0 = G11(s) = s (1 2s )
x 1 (2s1 2s1 s2 ) (2s 1 )(2s1 )
1
s1 (1 2s 1 ) = 1 / 2 1 / 2
=
s 1 s 3
X (s)
1 = G12(s) = s2 (1) = 1 / 2 1 / 2
x0 s 1 s 3
2
X (s)
2
0 = G21(s) = s2 (1) = 1 / 2 1 / 2
x s 1 s 3
1
X (s) = G22(s) = s1 (1 2s 1 ) = 1 / 2 1 / 2
2
0
x s 1 s 3
2
X1(s) = H1(s) = s2 (1) s1 (1 2s 1 ) 1
=
U(s) s 1
X 2 (s) 1
= H2(s) =
U(s) s 1
Zero-input response:
x(t) = e At x0 = L –1 [G(s)x 0]
L
= 1 e t e 3t
t
e
3t O x 0
NM
2 e et
e
t 3t QPLNMO
x
1
QP
0
e e 2
t
Zero-state response: 3
x(t) = z
t
eA(t )bu() d
= L –1 [H(s)U(s)] = L1 e O
t
0
NM1 e QP
t
L 0 1 0O L0 O
5.27 A = MMM0 0 1 P P ; b =
MMM0PPP |I – A| = (+ 1) (+ 2) (+ 3) = 0
N6 1 1 6Q N2Q
56 DIGITAL CONTROL AND STATE VARIABLE METHODS
L1 1 O = L1
1 1 1O L1 0 0O
P = MMM P P MMM1
1 2 2 3 PPP ; = P –1 AP = MMM0 2 0 PP;
3
N 21 22
Q N1
23
4 9Q N0 0 3Q
b = P–1b =
LM M 1 OPPP ; c = cP = [1
2 1 1]
N1 Q
The state model in Jordan canonical form:
x& = x + b u; y = cx
The transformed initial vector is:
L1 O
x 0 = P–1 x 0 = M M 2PPP
N1 Q
The solution is,
t
x1 (t) = e– t x1
t
z
0
0t +
(
d =1
e
)
)d = – 1 – e–2t
x2 (t) = e–2t x2
0 +
z
et
0
2(t
2
) d = 1 e–3t
x3 (t) = e–3t x3
+
x(t) = P x0 (t)
z
e
0 3(t
3 3
x1(t) = 13 – e–2t + 23 e–3t; x2(t) = 2(e–2t – e–3t)
x3(t) = – 2(2e–2t – 3e–3t); y(t) = x1(t)
5.28 A = LNM0
1 OQP ; eigenvalues are = – 1, = – 2
1 2
2 3
Y(s) = c(sI – A)–1 x0 + c(sI – A)–1 b U(s)
s 4 1
=
(s 1)(s 2) s(s 1)(s 2)
SOLUTION MANUAL 57
3 2 1/2 1 1/2
=
s 1 s 2 s s 1 s 2
1 2e t 3 e2t
y(t) =
2 2
5.29 Y(s) = C(sI – A)–1 BU(s) = LNM1 1 LNMOQP2 sOQsP LNM20 11OQP LNM 1/(1s/ s3)OQP
1 0
L 3s 16s 18 O2
3 1
= M M s(s 1)(s 2)(s 3) P P
4s 6
N s(s 2)(s 3) Q
5 e e 1 e Ot 2t
y(t) = LNM yy ( t ) OQP = LNMM3 2
3t
21 2
1 e 2e QP
2t 3t
5.30 x&1 = – 3x1 + 2x2 + [7r – 3x1 – 1.5 x2]
x&2 = 4x1 – 5x2
A = LNM64 5 ;b= LNMOQP07 ; c = [0 1]
05
eAt = L –1 [(sI – A) –1 ]
.
L 1 e4t 2 e7t
0.5 e4t 0.5 e7t
O
3 3 3
= M M OQP
4 e4t 4 e7t
3
2 e4t 1 e7t PPP
N 3 3 3 3
Q
t
4 4 e7(t )
y(t) = x2(t) = 7 LNM 3 e 4(t ) OQP d
z
0
3
28 1 1
= e4t
LN M e7t
OQP
3 41( ) 71( )
te t
5.31 eAt = LNMe te te
–t t t
et tet OQP
x(t)= eA ( t t0 ) x(t0 )
Given: x1(2)= 2 ; t0 = 1, t = 2
58 DIGITAL CONTROL AND STATE VARIABLE METHODS
Manipulation of the equation gives
x1(2) = 2e–1 x1(1) + e–1 x2(1) = 2
If x2(1) = 2k, then x1(1) = e1 – k
Thus
Le k O
1
LNMxx ((11))OQP for any k 0
21
NM2k QP is a possible set of states
L 0 1 0O
5.32 (a) A = MM 3 0 2 PP
N12 7 6Q
1 = – 1, 2 = – 2, 3 = – 3
Modes: e–t, e–2t, e–3t
(b) Eigenvectors:
L 1 O L 1 O L1 O L 1 1 1 O
v =
1
MMM1PPP ; v = MMM 2 PPP ; v = M M 3P P; P = MMM1
2 3
2 3PPP
N1Q N1/ 2 Q N 3 Q N1 1/ 2 3Q
L1 0 0O
x = P x ; x& = P AP x = MMM0 2
–1
0 PP x
N0 0 3Q
x (0) = P–1 x(0)
Le t 0 0 O L x (0) O
1
x (t) = MMM0 e 2 t 0 PPP MMM x (0)PPP
2
e3t
N0 0 Q Nx (0)Q
3
x1(0) = x2 (0) = 0. x3 (0) = k 0
With these initial conditions, only the mode corresponding to e–3t will
be excited.
L0O L k O
x(0) = P x (0) = P MMM0 =
P P M M 3kPPP ; k 0
Nk Q N 3k Q
SOLUTION MANUAL 59
5.33 (a) x&= LNM20 11 OQP x; y = [1 2]x
1 = 2, 2 = –1.
Modes are e2t and e–t
(b) adj(I – A) = LNM 2 1 1OQP
For = 2, adj(I – A) = LNM12 12OQP;v =LNMOQP12 1
For = –1, adj(I – A) = LNM2 1 OQPLNMO
2
1 ; v2 = QP
P = LNM12 11OQP
1
x = P x gives
1
x& = P–1 AP x = LNM20 0 1 OQP LNMOQP
x
1
; y(t) = cP x = [5 –1] x
2
x
LNM
x1
x
t 2(t t0 )
t( )
0 O LNMxx ( t ) OQP
2 1 00
0 e(t t0 )
2
() QP
NL
If x1 (t0 ) = 0, the mode e2t will be suppressed in y(t) = 5 x1 – x2 .
M OQ
x(t0) = P x (t0) = P
= P e
LNMOQP= K
0
With this initial condition, the mode e2t will be hidden from y(t).
LNMOQP ;K
L O LNM LNMO L O LNM LNMO
e2t e0 t K
5.34 OQP= ac d b
OQP ac d b
NM QP
2e 2 t
QP NM QP e t =
QP
This gives
1 L e1 e O
t 2t t 2t
e = LNMac d b
OQP = 2 ee e
At
2t t 2t t
2; NM 2e 2e1 e QP
60 DIGITAL CONTROL AND STATE VARIABLE METHODS
= L –1 [(sI – A ) –1 ]
L 2 s 2 1 1
1 O
(sI – A)–1 = M M s 1 PPP
s 1 s 2
1
2 2 2
N s 2 s 1 s 2 s 1Q
(sI – LNM2s s 1
A) =
0 OQP
A = LNM
3
1 OQP
L c O
5.35 V = MM c A PPPP 2 is a triangular matrix with diagonal elements equal to unity;
NcAM Q |V| =3 (– 1) for all ’s. This proves the result.
n 1 n i
5.36 U = [b Ab ... An–1 b] is a triangular matrix with diagonal elements equal
to unity; |U| = (– 1)n for all i’s. This proves the result.
5.37 None of the rows of the B matrix corresponding to the Jordan blocks for
1 = – 1, 2 = – 2, 3 = – 3 is zero row. The system is completely control-
lable.
First column of C matrix which corresponds to the eigenvalue –1, is a
zero column. Other columns are nonzero. The system is not completely
observable.
5.38 (i) U = [b LNM10 12OQP ; (U) = 2
Ab]=
Completely controllable
V = LNMOQP
cA LN1M=3 3 OQP
1 ; (V) = 1
c
Not completely observable.
(ii) The system is in Jordan canonical form; it is controllable but not
observable.
(iii) The system is in Jordan canonical form; it is both controllable and
observable.
SOLUTION MANUAL 61
(iv) The system is in controllable companion form. The given system is
therefore controllable. We have to test for observability property only.
Lc
( V) =
O
MMM cA P P = 3
NcA Q 2
The system is completely observable.
(v) Given system is in observable companion form. We have to test for
controllability property only.
(U) = [b Ab A2b] = 3
The system is completely controllable.
5.39 (i) Observable but not controllable
(ii) Controllable but not observable
(iii) Neither controllable nor observable.
Controllable and observable realization:
A = –1 ; b=1 ; c=1
G(s) = c(sI – A)–1 b = 1
5.40 (i)
s2
Given state model is in observable companion form. Since there is a
pole-zero cancellation, the state model is uncontrollable.
s 4
(ii) G(s) =
(s 2)(s 3)
The given state model is in controllable companion form. Since there
is a pole-zero cancellation, the model is unobservable.
5.41 (a) |I – A| = ( – 1) (+ 2) ( + 1)
The system is unstable.
(b) G(s) = c(sI – A)–1 b
1
=
(s 1)(s 2)
The G(s) is stable
(c) The unstable mode et of the free response is hidden from the transfer
function representation
62 DIGITAL CONTROL AND STATE VARIABLE METHODS
10
5.42 (a) G(s) = = 2
2
s 2 s 2
s s 1
A = LNM0 11OQP;b=LNMOQP01 ; c = [10 0]
(b) Let us obtain controllable companion form realization of
10(s 2) 10s 20 2s 3
G(s) = = = 2
s(s 1)(s 2) s3 3s2 2s s3 s 2s 3
1
L0 1 0O LMMM00O
A =
M M0 0 1 PPP ; b = PPP ; c = 20 10 0
N02 3Q N1Q
(c) Let us obtain observable companion form realization of
10(s 2)
G(s) =
s(s 1)(s 2)
L0 0 0 O L20 O ; c = 0
A =
M M1 0 2 PPP ; b = M M10 P P 0 1
N0 1 3Q N0 Q
5.42 Refer Section 5.4.
CHAPTER 6 STATE VARIABLE ANALYSIS OF DIGITAL
CONTROL SYSTEMS
L -3 O
1 0 L-3O
6.1 F=
M M- 4 0 1PP;g=
M M 7P P
N -1 0 0Q N0Q
+ 3 - 1 0O
(zI – F) = Lz 4 z - 1 P P ; |zI – F| = z + 3z + 4z + 1 = D
MM 3 2
N 1 0 zQ
L z 2 z 1 O
(zI – F) z = 1 M M- (4z + 1) z(z + 3)
–1
z + 3 PP z = G(z)
D -z -1
z(z
N + 3) + 4Q
L -3z - 7z O
2
H(z) = (zI – F) g = 1 - 7z - 9z + 3
–1
D
M M 3z + 7 P
2
N Q
6.2
64 DIGITAL CONTROL AND STATE VARIABLE METHODS
2 -5O
6.3
L
F= 1 ; g = LNMOQP; c =[2 0]; |zI –F| =z2 –z + 1 2 =
-1QP 0
NM 2 D 1
G(z) = c(zI – F)–1 g = 2z + 2
1
z2 - z +
2
2 -5O
6.4 C= LNM21 -0 1 OQP ; G = LN1M0 -1 2
L
03 OQP ; F = 1 -1 ; D = LNM0 40 -02 OQP
NM 2 QP
D = |zI – F| = z2 – z + 1
2
G(z) = C(zI – F)–1 G + D
=
L2z +12
1 4D- 4z -14 -3 0 O
NMMz+2 -2D- 3z - 9QPP
D
-3z - 4
6.5 x1, x2 and x3 : outputs of unit delayers starting at the top and proceeding
towards the bottom.
x1(k + 1) = 12 x1(k) + 14 x2(k) + 2x3(k) + u(k)
x2(k + 1) = – 1
2 x2(k) – x3(k) – u(k)
x3(k + 1) = 3x2(k) + 1
3 x3(k) + 2u(k)
y(k) = 5x1(k) + 6x2(k) – 7x3(k) + 8u(k)
1 1 O
L2 4 2 L1O
-1 P P 6 –7]; d = 8
MM
F= 0
2
MM PP
-1 ; g = 1 ; c = [5
N0 3
1
N 2Q
3Q
6.6 x1, x2 and x3 : outputs of unit delayers starting at the top and proceeding
towards the bottom.
x1(k + 1) = x2(k) + u1(k); x2(k + 1) = 3x1(k) + 2x3(k)
x3(k + 1) = – 12x1(k) – 7x2(k) – 6x3(k) + u2(k)
SOLUTION MANUAL 65
L0 1 O 0 1 0 L O LNM0 OQP ; D =LNM2 0 01OQP
F=
MM 3 0 PP 2 ;G= 0 0 ;C= MM PP 20 01
N-12 -7 -6Q N0 1 Q
Y(z) 3z 2 - z - 3 = 0 z 2 1z 2
6.7 (i)
R(z) = z2 + 1 z - 2 z2 1z
3 3 2
0
L 1 O
F = 2 -1 ; g =
1 QP LNMOQP ; c = [– 1 – 2];
NM
3 3 d=3 0
Y (z) = - 2 z 3 + 2 z 2 - z + 2 b z3 + b z2 + b z + b 3
(ii) R z 3 2 3 = 0 1 2
z+z-z- z3 + a z2 + a2 z + a3
1
4
L0 0 3 O L-0.5O
F = MMMM1 0
PP
4 1 ; g = M M 3 P P ; c = [0 0 1]; d = – 2
N0 1 -1Q N 4Q
Y(z) 1 2 1
6.8 (i) + +
R(z) = 1 – z + 1 z + 1 z + 3
L -1 0 0 O 1 LO
F= MM 0 -2 P MM PP
0 ; g = 1 ; c = [– 1 2 1]; d = 1
N0 0 -3 Q N1Q
Y(z) 5 -2 31
1 IK
(ii) 3
+ 2
+
R(z) =
FH z - 31IK FH z-
3
FH z- 3IK
L13 1 0 OP P
L0O
F = MMMMM0 1 3 1 ; g = M M 0 P P ; c = [5 – 2 3]; d = 0
N0 0 13Q N1Q
66 DIGITAL CONTROL AND STATE VARIABLE METHODS
6.9 (i) y(k + 3) + 5y(k + 2) + 7y(k + 1) + 3y(k) = 0
Refer Fig. 6.3.
x1(k + 1) = – 3x3(k)
x2(k + 1) = – 7x3(k) + x1(k)
x3(k + 1) = – 5x3(k) + x2(k)
L
0 0 -3 O 0 LO
MM PP
F = 1 0 -7 ; g = 0 ; c = [0 0
MM PP 1]; d = 0
N0 1 -5 Q N0Q
(ii) y(k + 2) + 3y(k + 1) + 2y(k) = 5r(k + 1) + 3r(k)
Y(z) 5z + 3 -2 7
R(z) = z 2 + 3z + 2
=
z+1
+
z+2
;F= LNM01 02 OQP ; g = LNMOQ
1
c = [–2 7]; d = 0
P;
(iii) y(k + 3) + 5y(k + 2) + 7y(k + 1) + 3y(k) = r(k + 1) + 2r(k)
Y(z) bz+b z+2
2 3
R(z) = z3 +a z2 +a z +a = z3 + 5z2 + 7z + 3 1
1 2 3
L0 1 0
LO
0
F=
O PP MM PP
; g = 0 ; c = [2 1 0]; d = 0
MMN 0 0 1 N1Q
3 7 5 Q
6.10 F=LNM03 41OQP; g(l) = b 0 + b 1l
|lI – F| = l2 – 4l + 3 = 0; l1 = 1, l 2 = 3
f (l) = lk; f (1) = 1 = g(1) = b0 + b1; f (3) = 3k = g(3) = b0 + 3b1
b0 = 1.5 – 0.5(3)k; b1 = 0.5[(3)k – 1]
Fk = b0I + b1F = NL
M 15. - 0.5(3) 0.5[(3) k -1]
k
O
15. [(3)k -1] -0.5 + 15. (3)k QP
6.11 Refer Example 6.3
zOQP
(zI – F)–1 = 1 LNM
-0 1 6 .
+z 1 1
(z + 0.2)(z + 08. )
X(z) = (zI – F)–1 zx(0) + (zI – F)–1 gU(z); U(z) = z
z -1
SOLUTION MANUAL 67
17 22 25
L z
9 18
z z O
X(z) =
MM 6
z 0.2 z 08. z 1 PP
34. 17.6 7
z z z
6 9 18
z 0.2 z 08. z 1
N Q
L-17 (-0.2) + 22 (-08. ) + 1825 O
k k
x(k) = MMM34.6 1769. k
7 PPP; y(k) = cx(k) = x (k)
k
1
+
N 6 (-0.2) - 9 (-08. ) 18 Q
6.12 x1(0) = – 5; x2(0) = 1
3
zX1(z) + 5z = X1(z) – X2(z) + 3U(z)
2
zX2(z) – z = X1(z) – X2(z) + 2U(z)
z
U(z) =
z -1/ 2
-5z 2z + -2z -2z 4z -z
X1(z) = 1 + 1 ; X2(z) = 1 + 1 +
z-2 z 2 z -1 z-2 z+2 z -1
k k k k
- -
x1(k) = – 5 FHIK12 +2 FH IK
21 –2;x2(k)=–2 FHIK 12 + 4 21 FH IK –1
k k
-
y1(k) = – 3x1(k) + 4x2(k) – 2u(k) = 5 FHIK12 + 10 FH IK
21
+2
k k
-
y2(k) =– x1(k) +x2(k) =3 FHIK12 +2 FH IK
21
+1
L1 1 O0
6.13 F = MMMN0 1 0
0 0 2 P Q
Eigenvalues of matrix F are – 1, – 1 and – 2.
(a) Therefore the modes of the free response are (– 1)k, k(– 1)k and (– 2)k
L(-1) k
k( - 1 ) k -1 0 O L0 O Lk(-1) O k-1
(b) x(k) = F x(0) =
M M 00
k ( - 1) k 0
PPP M M1P P = MMM (-1) PPP k
0 (-2 )k
N Q N1 Q N (-1) Q k
68 DIGITAL CONTROL AND STATE VARIABLE METHODS
1 ; G(z) = (1 – z –1) Z
6.14 (a) Ga(s) =
s(s + 2) RST s (s1+ 2) UVW
2
0.2838z +01485.
= z2-11353. z+01353.
LNM
F= -01353.0 11353. 1 OQP; g = LNMOQP
1 ; c = [0.1485 0.2838]; d = 0
0
(b)A=LNM00OQP ; b = 20 1 1
LNMOQP ; c = [1 e -1 O
L1 2 (1-0]e )O ; g =
1
O 2 L 1 (T + )
-2T
M M 1 (1 - e ) PP
T
-2T 2
F=e = AT
NMM0 e QP -2 T z 0
e
t
A
dt
QPP b = N 2 Q
-2T
Thus for T = 1 sec, NMM
L
F= LNM1 0 01353. OQP; g. =0 0. 2838
0.4323 4 3 2 3 LNM OQP ; c
= [1 0]
6.15 F = eAt = L
N
M 00123.696 00..246572OQP; g =(e AT – I)A–1b= LNM-0.747 0 ;
021 .
c = [2 – 4]; d = 6
1
O
6.16 Let x1 be the output of the block 1
s and x2 be the output of the block 10s + 1 QP
x&1 = x2; x&2 = – 0.1x2 + u + 0.1w
0 1
A=LNM0 -01. ; b = LNMOQP 01 ; b LNMOQP
01= . 1
OQP 0
L1 1 O
(sI – A) = MMMs s(s +1 PPP; e = L1 10(1- e )O
–1
At
-0.1t
01. )
NM0 e QP -01. t
N0 s + 01. Q
T
F = LNM10 1 0 (1 e e = L10T -100 +100e
O
0 .1 T 0 .1 T
) OQP; g = e bdq
N M 10 - 10e QPz 0 Aq -0.1T
-0.1T
SOLUTION MANUAL 69
T
LT -10 + 10e O
g1 = z 0
eAq b1 dq
=
NM 1 - e QP -01. T
-0.1T
For T = 0.1 sec,
F= LNM10 001.99. OQP ; gLNM=0. 00051 . OQP ; g = LNM0.01OQP ;
1
LNMxx ( kk ++1)1) OQP =LNM1 0
21 001.9 9. OQP x(k)L+NM .01. OQP u(k) + LNM0.01OQP w(k)
0 005
s +
1
01.
L 0O Le -0.1t 0 O ; T = 3 sec
6.17 (sI – A)–1 =
01. MM 1 PP; e = At
e-01. t
(s + 01. )2
N s
+01. Q
NM01. te -01. t QP
T
LNM
F = eAt = 0 7410.222 0 0. 7 4 1 . 0 OQP= LNM25918236.936. 2591820. OQP;
;G=
q
e d
C =
z
LNM10 01OQP Aq B
6.18 (a) G(z) = (1 – z–1) Z
LNM s (s1+ 1) OQP(z =- 0)(z
2
+
3679- .0 7181 )
. (
Y(z) G(z) = 0.3679z + 0.2642 . )
(b) z
R(z) = 1 + G(z) z 2 - z + 0.6321
LNM
F = - 0.6321
0 11 ; g = 1 OQP LNMOQP; c = [0.2642
0.3679] 0
-0 .4 s
6.19 G a(s) = e
s +1
-0 .4 s -0 .4 s
(a) G(z) = (1 – z –1) Z RST e
s(s + 1)
UVW =(1 –z ) Z RST
–1 e-s0.4s -
e
s+1
UVW
T = 1; tD = 0.4 = DT; m = 1 – D = 0.6
From Table 3.1, we obtain
G(z) = (1 – z–1) Z 1 e -0 .6
-
z - e -1 UVW = 0.4512z + 01809.
RST z -1 z -03679.
2 z
70 DIGITAL CONTROL AND STATE VARIABLE METHODS
F= LNM00 0.36791 OQP; g =1 0 LNMOQP ; c = [0.1809
0.4512]
-0.4s
(b) Y (s) = e
Us s +1
State model,
x&1 (t) = – x1(t) + u(t – 0.4); tD = 0.4, N = 0, D = 0.4, m = 0.6
F = e–1 = 0.3679
0.6 0.4
g2 = z0
e-s ds = 0.4512; g1 = e–0.6 z 0
e-s ds
= 0.1809
x1(k + 1) = 0.3679x1(k) + 0.1809u(k – 1) + 0.4512u(k)
Let us introduce a new state,
x2(k) = u(k – 1);
x(k + 1) = Fx(k) + gu(k); y(k) = cx(k)
F= LNM0.36790 01809.0 OQP ; g = LNM0.4512 OQP; c = [1 0]
6.20 x& (t) = – x(t) + u(t – 2.5); tD = 2.5 = NT + DT; T = 1
N = 2, D = 0.5, m = 0.5
0.5
F = e–1 = 0.3679; g2 = z0
e-s ds
= 0.3935;
0.5
g1 = e–0.5 z0
e-s ds
= 0.2387
x(k + 1) = 0.3679x(k) + 0.2387u(k – 3) + 0.3935u(k – 2)
x2(k) = u(k – 3), x3(k) = u(k – 2), x4(k) = u(k – 1)
x(k + 1) = Fx(k) + gu(k)
L0.3679 0.2387 0.3935 0 O L0 O
F = MM 00 00 10 01 P P ; g = M M 0 P P
N0 0
-st
0 0Q N1 Q
Y (s) = G a (s) = e s D
6.21 ; 0 D T
2
U s
x1 = y, x2 = y& ; x&1 = x2, x&2 = u(t – D)
SOLUTION MANUAL 71
LNM00 10 OQP ; b = 1 0
A=
F = e = I + AT + A T
AT
LNMOQP ; c = [1 2
0]
2
2!
+ L= LNM10 T 1 OQP
D = D T = (1 – m)T
L
mT
(T )2 /2
DT
O
g2 = z 0
eAs bds
= LNMD
T D ; g1 = eAmT OQP z
0
eAs bds
=
NM
D (T
D
2
D )
QP
N = 0 (Refer Eqn. (6.35))
x(k+1)= LNM10 T1 OQPx(k) +g u(k –1) +g u(k) 1 2
Introduce x3 = u(k – 1). Then,
x(k + 1) = Fx(k) + gu(k); y = cx(k)
L1 T D T
FH D
IK OP P L (T 2 ) O D 2
F = MM0 P P ; c = [1
2
1 D ; g = M M T D 0 0]
0 0 0 1
N Q N Q
6.22 For this problem, the solution comes from Review Example 6.3 with
K = 2.
6.23 x1, x2 and x3: outputs of the blocks 1 1 1
and respectively.
s, s+ 1 s+ 2
(a)
x&1 = x2; x&2 = – x2 + x3; x&3 = – 2x3 + u
L0 1 0O L0 O
A= MMMN0 1 1 P P ; b = M M0P P
0 0 2Q
N1 Q
Eigenvalues of A are l1 = 0, l2 = –1, l3 = –2
g(l) = b 0 + b 1 l + b 2 l 2 ; f (l) = e lT
For l = 0, e lT = 1 = b 0
For l = –1, e –T = b 0 – b 1 + b 2
For l = – 2, e–2T = b 0 – 2b1 + 4b2
72 DIGITAL CONTROL AND STATE VARIABLE METHODS
b0 = 1; b1 = 12 (3 + e–2T – 4e–T ); b2 = 12 (1 + e–2T – 2e–T)
eAT = b0I + b1A + b2A2
1
L1 1 - e-T 2
(1 + e-2T - 2e-T ) O
= MM0 PP
-T -2T
e -T e -e ;
-2T
0 0 e
N Q
1 -T 1
T
L +
-43 2 T + e -
4
e -2 T
O
g= z
0
eAq bdq M M
=
1
2
-T
-e + e
1 1 -2 T
1 -2 T
2 PPP
N - e
2 2
Q
x(k + 1) = eAT x(k) + g[r(k) – x1(k)] = Fx(k) + gr(k)
1 1 2
7 T eT e T 1 (1 e2T 2e T
L 1 e T )O
4 2 4 2
1 T 1 2T
e e e T e T e 2T
F=
MM
2
1 1 2T
2 PPP
2T
e
N 2 2
0 e Q
t
(b) x(t) = eA(t – kT) x(kT) + z
kT
eA( t )bu()d ; kT t < (k + 1)T
6.24 Eigenvalues of A are l1 = –1, l2 = –2.
e lT = b 0 + b 1 l
e –T = b0 – b1; e–2T = b0 – 2b1
b1 = e–T – e–2T ; b0 = 2e–T – e–2T ;
-2T
eAt = b0I + b1A = L
2e-T -e e
-T
-T
-e
-2T
2e -2T
O
-2e
NM
-T + 2 e -2 T -e + ; QP
T
O
g= z0
eAq bdq
= L0.5 - e + 0.5e
N
Me -e -T
QP
-T
-2 T
-2T
SOLUTION MANUAL 73
0.6 0.233
For T = 1 sec, eAT =
LNM-0.465 - 0.0972
OQP; g =LNM0.233
0 2. OQP
Discrete-time model of the plant is, x(k + 1) = e AT x(k) + gu(k);
y(k) = x1(k)
For the feedback system,
e(k) = r(k) – x1(k) = u(k)
x(k + 1) = eAT x(k) + g[r(k) – x1(k)] Discrete-
time model of the closed-loop system is, x(k + 1)
= Fx(k) + gr(k); y = cx(k)
LNM
F = -0.6980 4 -0.0972
. OQP ; g LNM
= 0.233
02 . OQP ;
0 233 .
6.25 Plant model, c = [1 0]
0.6 0.233
x(k + 1) = LNM-0.465 - 0.0972
OQP x(k) +LNM0.233
0 2 . OQP e (k);
2
e2(k + 1) = – 2e2(k) + e1(k)
Let e2(k) = x3(k), then x3(k + 1) = – 2x3(k) + [r(k) – x1(k)]
Discrete-time model of the closed-loop system is,
x(k + 1) = Fx(k) + gr(k); y = cx(k)
L 0.6 0.233 0.2 0 O LO
F=
M M-0.465 -0.0972 0.233 PP MM PP
; g = 0 ; c = [1 0 0]
N -1 0 -2 Q N1Q
6.26 D(s) = 9 + 4.1s = UE(ss) ; 4.1 dedt(t) + 9e(t) = u(t)
By backward-difference approximation,
e(k) - e(k - 1)
4.1 LNM T OQP
+ 9e(k) = u(k); u(k) = – 41e(k – 1) + 50e(k)
Choosing e(k – 1) as controller state variable, xc(k), we obtain,
xc(k + 1) = e(k), u(k) = – 41xc(k) + 50e(k) as the state model of the con-
troller. The plant difference equations are given by (solution to Problem
6.16)
x(k + 1) = LNM10 001.99. OQP x(k)L+NM .01. OQPu(k)
0 005
74 DIGITAL CONTROL AND STATE VARIABLE METHODS
The augmented state model becomes,
Lxx(k(k + 1) O = L1
1 01. 0 O Lxx (k(k)) O + L0 O e(k)
1
M M + 1)P P M M 0
2 0.99 0 P P M M P P M M0P P
2
Nx (k + 1)Q N0
c 0 0 Nx (k )Q N1 Q
c
Q
MLM 0.005OPPP [– 41x (k) + 50(r(k) – x (k))]
c 1
+ 01.
N 0 Q
MLM 0.75
01. -0.205 OP P x(k) + LM M 0.255 OP P r(k)
= - 5 0.99 -41.
1 1
N
-1 0 0 Q N 1 Q1 1
LNMOQP ; r (V) = 2
; r (U) = OQP
6.27 (a) U = [g Fg]= LNM2; V=
0 0 1 cF c
1
Therefore system is both controllable and observable.
(b) Given system is in Jordan canonical form. It is both controllable and
observable. LNMOQP
; c = [1
0]
6.28 A= LNM01 10OQP;b= 1 0
LNMOQP = 1
U = [b Ab]=LNM01 10OQP; r (U) = 2; V = c A LNM0 01OQP; r (V) = 2
The continuous-time system is both controllable and observable.
Comparing the given state model with Eqn (6.59), we observe that the
given system is a harmonic oscillator with frequency w = 1 or period
T = 2p.
Therefore, T = np; n = 1, 2, K will lead to hidden oscillations.
For T = p, for example, the discrete-time model is given by (refer Eqns
0
(6.60)) LNMOQP
u(k); y(k) = [1 0]x(k)
LNM OQ
x(k+1)=
1
1 0 x(k) + 0
2
The system isPobviously both uncontrollable and unobservable.
For T = 2p, we have the following discrete-time model;
x(k + 1) = LNM10 01OQP x(k)+ LNMOQP0 u(k); y(k) = [1 0]x (k)
The system is both uncontrollable and unobservable. In general, for
T = np, n = 1, 2, K the system is uncontrollable and unobservable.
SOLUTION MANUAL 75
6.29 The poles are: s1 = –1, s2,3 = –0.02 ± jp
For Re(li) = Re(lj)
Im(li – lj ) = 2p
2np
T¹ ¹ n ; T ¹ 1, 2, 3, K
2p
1 1
6.30 (a) |lI – F| = FHl - 4 IK FHl - 2 IK
Eigenvalues of F are: l1 = 14 , l2 = 1
(b) G(z) = c(zI – F)–1 g = 1
1
FH z - 4 IK
(c) Since there is a pole-zero cancellation, the system is either uncontrol-
lable or unobservable or both.
Given state model is in controllable canonical form. Therefore, the
model is controllable but not observable.
CHAPTER 7 POLE-PLACEMENT DESIGN AND STATE
OBSERVERS
n
7.1
Y(s) 1s 1 2 sn2 L n
sn1 L n
n
U(s) = s 1
0 1 0 . . 0
L O L00O
x& =
MM 0
.
0
.
1 0 .
. . .
0
.
P Px + M M . P P u
0 0 . . . 1 .
N n n1 . . . 1
Q N1Q
y = [bn bn–1 L b1] x; u = – kx + r; k = [k1 k2 L kn]
x& = [A – bk] x + br; y = cx
0
L 1 0 . . 0
O
A – bk =
MM 0
.
0
.
1 0 .
. . .
0
.
PP
0 0 . . . 1
n1 k 2 . . . 1 kn
N k
n 1 Q
L *1 O L0 O
G(s) = c[sI – (A – bk)]–1 b=c
MM *2
.
P P M M 0. P P × 1
D
. .
N Q N1 Q
*n
*1 = Co-factor of – an – k1, is independent of k.
*2 = Co-factor of – an–1 – k2, is independent of k.
.
.
Zeros are not affected by k.
7.2 (a) k = [k1 k2 k3]
L 0 1
O0
A – bk =
M M-6 0-k 0
-11- k2 -6- k
PPP
1
3
N 1 Q
SOLUTION MANUAL 77
Charteristic equation is,
s3 + (6 + k3)s2 + (11 + k2)s + 6 + k1 = 0
Desired characteristic equation is
(s + 5) (s + 2 + j3.464) (s + 2 – j3.464) = s3 + 9s2 + 36s + 80 = 0
k = [74 25 3]
(b) ~ x = x$
x– ~ x = (A – mc)~ x ; mT = [m1
&
m2 m3]
-m1 L 1 0 O
A – mc = -m2
-6- m MM 0 1 PP
N
3 -11 -6 Q
|sI – (A – mc)| = s3 + (6 + m1)s2 + (11 + 6m1 + m2)s + 11m1 + 6m2
+ m3 + 6
(s + 5) (s + 2 + j3.464) (s + 2 – j3.464) = s3 + 9s2 + 36s + 80
m1 = 3, m2 = 7, m3 = – 1
Observation equation is Eqn (7.31) and the structure is given in
Fig. 7.6.
L0 1 O L0O 0
(c) x& = MMN 0 0 1 P P x + M M 0P P u
6 11 6Q
N1Q
y = [1 0 0]x
Aee = LNM110 16 OQP ; a = [1 le 0]
~& x e = (Aee – male)~ x e;
mT = [m1 m2]
|sI – (Aee – male)| = s2 + (6 + m1)s + 6m1 + m2 + 11
(s + 2 + j3.464) (s + 2 – j3.464) = s2 + 4s + 16
m1 = – 2, m2 = 17
Observer equations may be obtained from Eqns (7.38) – (7.49).
7.3 (a) k = [k1 k2 k3]
A – bk =
L-k 1 -k 2 -6 - k 3 O
M M 10 0
1
-1 1
-6 PP
N Q
78 DIGITAL CONTROL AND STATE VARIABLE METHODS
|sI – (A – bk)| = (s + 5) (s + 2 + j3.464) (s + 2 – j3.464)
k1 = 3, k2 = 7, k3 = – 1
(b) m T = [m 1 m2 m3]
|sI – (A – mc)| = (s + 5) (s + 2 + j3.464) (s + 2 – j3.464)
m1 = 74, m2 = 25, m3 = 3
L x&x& O = L -6
3 O Lxx O + L0 O u; y = [1 0
0 1 3 x3
0] x1
LO
(c) M M P P M M--161
1 P P M M P P M M1 P P
01 00 1 MM PP
Nx& Q N
2 Q Nx Q N0 Q
2 Nx Q
2
A =LNM01
ee 00OQP;a =[0 1]; m
le T = [m1 m 2]
|sI – (Aee – male)| = (s + 2 + j3.464) (s + 2 – j3.464)
m1 = 16, m2 = 4
7.4 Estimation error should decay in less than 4 sec.
4
Settling time = 4; n 1
n
The observer poles may be fixed at s = – 2, – 3.
Characteristic polynomial: s2 + 5s + 6.
|sI – (A – mc)| = s2 + (2 + m2)s + 2m2 + 1 + m1
1
Comparing and solving the resulting equations: m =
LNMOQP3
$& x = (Ax$ + (B – md)u + my
– mc)
7.5 The estimation error should decay as fast as e–10t at least. Hence, the pole
should be at s = – 10. Desired characteristic polynomial: s + 10
x& = Ax + bu; y = cx
A= LNM10 00OQP;b=LNMOQP1 ; c = [2 –1]
We obtain a transformation: x(t) = Qq(t), that transforms c from
[2 –1] to [1 0]
q& = Q–1 AQq + Q–1bu; y = cQq
[2 –1] Q = [1 0]
SOLUTION MANUAL 79
1 1
Q= LNM
1 2 OQP ; Q =
LNM2 1 11OQP ;
–1
q& = LNM1 2 21OQP q + LNMOQP
0 u; y = [1 0]q
1
q&2 = (Aee – male) ~ q2 = (– 1 –
2m) ~ q2 ~
Characteristic polynomial: s + 1 + 2m = s + 10; m = 4.5
Refer Eqn (7.49b)
q$ q
q&2
q$2 – 10y – 4.5u; q$ 2 = q2 + my; q$ = q$ 1 = 1
q$2 LNMOQP LNMOQP
2
= – 10
x$ = Q q$ = LNMyy2q$q$ OQP
22
7.6 LNM01 90OQP ; b = 09
(a) A =
(b) k = [k k ] 1 LNMOQP ; c = [0
2
1]
(A–bk)= LNM91k 1 9 09k2 OQP ; |sI – (A – bk)| = s + 9k s + 9k – 9
2 1 2
Desired polynomial: (s + 3 + j3) (s + 3 – j3) = s2 + 6s + 18.
k = [2/3 3]
(c) m = [m1 m2]T
A–mc= LNM01 9mm2 1 OQP ; |sI – (A– mc)| = s + m s +m – 9
2 2 1
Desired polynomial: (s + 6 + j6) (s + 6 – j6) = s2 + 12s + 72.
m = 12LNMO
QP
(d) A = LNM01 90OQP;b=LNMOQP9 ; c = [0 1]
Select81 gain k which places one of the closed-loop poles at s = – 1.
Pole-zero cancellation makes the feedback system unobservable.
80 DIGITAL CONTROL AND STATE VARIABLE METHODS
Desired characteristic polynomial: (s + 1) (s + 2) = s2 + 3s + 2
|sI – (A – bk| = s2 + 3s + 2, gives k = 1 2
9 LNM 9 ; OQP
A–bk= LNM01 72OQP ; c(A – bk) = [0 –2]
V= LNMc(Acbk)OQP =LNM
0 0 21OQP ; (V) = 1. System is unobservable
7.7 y&& + 02 y = u
0
(a) x& = LNM0 20 10 x + LN1MOQP u
OQP
(b) n = 20; = 1; s = – 20
Characteristic polynomial: (s + 20)2 = s2 + 40s + 40
1
A – bk = LNM 0k
20 1
k2
OQP; |sI – (A – bk)| = s + k s + 2 2 02 + k1
k = [302 40]
(c) m = [m1 m2]T
OQP
|sI – (A – mc| = (s + 100)2 gives m = LNM2099 0
2 .
0
Figure 7.6 gives a block diagram of the observer-based state-feed-
back control system. LNMOQP
; c =[1 0]; ~ 0 x2 =(Aee
–male) ~ x2 =–m~ x2
(d) A = LNM0 20 10 ; b =
1
&
OQP
Characteristic 100 x2s +
x2 = –polynomial: – m. = x2polynomial:
x2 Desired + s + 100
1010 2 y + u; 100y
m = 100
Refer Eqns (7.38) – (7.49) and Fig. 7.7.
& $
7.8 (a) k = [k1 k2]
1
(A – bk) = LNM20.60 k k2
OQP
1
SOLUTION MANUAL 81
Characteristic polynomial: |sI – (A – bk)| = s2 + k2s – 20.6 + k1
Desired polynomial: (s + 1.8 + j2.4) (s + 1.8 – j2.4) = s2 + 3.6s + 9.
k = [29.6 3.6]
(b) m = [m1 m2]T
|sI – (A – mc)| = (s + 8)2 gives m = 846. LNM
U(s) = k [sI – (A – bk – mc)]–1 m = 77816. s 3690.72
(c)
Y(s)
2
OQP
s 196. s 1512.
(d) & x = Ax – bk $ x; $& x = (Ax$–16 + my
mc – bk)
= LNM
93616. 361. OQP x$ + LNM8 4 6 .
7.9 (a) A = LNM00 10OQP ; b = 10 OQP x 16 1
1 LNMOQP ; c = [1
(b) n = 1; = 2; 0]
|sI – (A – bk)| = s2 + 2ns + n gives k = [k1 k2] = [1 2]
(c) n = 5; = 0.5; s2 + 2ns + n = s2 + 5s + 25
m
m = LNMOQ
|sI – (A – mc)| = s2 + 5s + 25 gives m =
LNMOQP
1
2
25
(d)
U(s) = k [sI – (A – mc – bk)]–1 m = P
40.4(s 0.619)
Y(s) s2 6.414s 3307.
( e ) A= LNM00 10OQP ; b = 10 5
~& x = (A –LNMOQP
2 ee ma ) ~ ; c = [1
le x2 = –m ~ x2 ;
s + m = s + 5; m = 0]5
Refer Eqns (7.38) – (7.49).
& x$ 2 + u; x$ 2 = x2 +
5y
1
(f) x&2=x–2 5=x–2–
5 25y + u; X2(s) = [– 25Y (s) + U (s)];
s5
u = – k1x1 – k2 [ x2+ 5y]
82 DIGITAL CONTROL AND STATE VARIABLE METHODS
U(s) = 807. (s 0.62)
Y(s) (s 6.41)
7.10 (a) Desired polynomial: (s + 2) (s + 1 + j1) (s + 1 – j1)
= s3 + 4s2 + 6s + 4
x&1 = x2; x& 2 = – x2 + x3; x& 3 = – 2x3 + u; y = x1
~x1 = x1 – r; ~x2 = x2; ~x3 = x3
~& x=
A~ x+
bu L 0 1 0O L0 O
A = MMMN0 1 1 P P ; b = MMM0P P
0 0 2Q N1Q
u = – k~x = – k1x1 – k2x2 – k3x3 + k1r; N = k1;
L0 0 1 O
U = [b Ab A2b] = MMMN01 3PPPQ
1 2 4
p 1 = [1 0 0]
Lp O L1 1
0 0O
P = MMM p A = 0
PP MM1 1 0PPP; |sI – A| = s + 3s + 2s 3 2
NpA Q N01 2 1 1Q
k = [4 6–2 4–3]; P = [4 3 1]
(b) Desired polynomial: s3 + 8s2 + 24s + 32
& = AT+ cT ; = mT
L1
O 0 0
U = [cT ATcT (AT)2cT] = 1 1 MMMN0
0 0 1 PQ
L p O L0 0 1 1 O
p1 = [0 0 1]; P = MMM p A P P = MMMN0 1 2
Np (A ) Q 1 3
1
1 T
T 2
4 PQ
|sI – A| = s3 + 3s2 + 2s
mT = [32 24 – 2 8 – 3] P = [5 7 8]
SOLUTION MANUAL 83
L x& L1
1
O L x O L1O L 0O 1
O 0 0
7.11 MMM x& P P = MMN 0
2 2 0PPPQ MMM x P P + MMMP1 P u + MMN 0 P P r
2
1 3 0 1Q
N z& Q N z Q N0Q
L1 1 1O
U = [b Ab A b] = M MMN1 2 4 P P ; |U| = –
2
5
0 4 7Q
Conditions for existence of integral control solution are satisfied.
p 1 = [– 0.8 0.8 0.2]
L p O L0.8 1 0.8 0.2 O
P = MMM p A P P = MM 1
1 1 0 PP
Np A Q N 11 2 2 0Q
Desired polynomial: s3 + 4s2 + 8s + 8
|sI – A| = s3 + 3s2 + 2s; k = [8 8 – 2 4 – 3] P = [– 1.4 2.4 1.6]
u(t) = 1.4x1 – 2.4x2 – 1.6
x1 = ; x2 = ; x3 = ia
&
z (y – r)dt
x& = Ax + bu
L0 1 O L 0O
0
A = MMMN0 1 1 P P ; b = M M10
0 PP;
0 1 10Q N Q
|sI – (A – bk)| = s3 + (11 + 10k3) s2 + (11 + 10k2 + 10k3)s + 10k1
Characteristic polynomial:
(s2 + 2ns + n2 ) (s + 10) = (s2 + 2s + 4) (s + 10) = s3 + 12s2 + 24s + 40
k = [4 1.2 0.1]
7.13 x1 = ; x2 = ia
x&1 = – x1 + x2; x& 2 = – x1 – 10x2 + 10u
A= LNM1 1110OQP; bLNMOQ
= 10
t P
z= z 0
( y r)dt;
z& = y – r = x1 – r
0
84 DIGITAL CONTROL AND STATE VARIABLE METHODS
L1 1 0O L0O
A= MMMN1 10 0 ; b = M M10PPP
0Q
PPPQ N
1 0 0
|sI – ( A – b k)| = s3 + (11 + 10k2)s2 + (11 + 10k1 + 10k2)s + 10k3
= (s + 10) (s + 1 + j 3 ) (s + 1 – j 3 ) = s3 + 12s2 + 24s + 40
k = [1.2 0.1 4]
7.14 c = [1 0 0]
|sI – (A – mc)| = s3 + (11 + m1)s2 + (11 + 11m1 + 11m2)s + 11m1
+ 10m2 + m3
Desired polynomial: (s + 10) (s + 3 + j 3 ) (s + 3 – j 3 )
= s3 + 16s2 + 72s + 120.
m = [m1 m2 m3]T = [5 6 5]T
7.15 x1 = , x2 =
& , x3 = 0.1ia
= 50ia
KT ia = J && ; &&
x&1 = x2; x& 2 = 5x3;
di
u – Kb& = La a + (Ra + 0.1)ia
dt
This gives, x&3 = – 2x3 – 20x2 + 20u
L0 1 0O L0O
A = MMMN0 0 5 P P ; b = MMM 0 P P
0 20 2Q N20 Q
|sI – (A – bk)| = s3 + (20k3 + 2)s2 + (100 + 100k2)s + 100k1
Desired polynomial: (s + 3 + j3) (s + 3 – j3) (s + 20)
= s3 + 26s2 + 138s + 360.
k= [3.6 0.38 1.2]
k1= k1KA = KA
k2= k2KA; k2 = 0.11
k3= k3KA; k3 = 0.33
7.16 10if = 0.5&&+0.5&
u = 100if + 20 di
f
dt
SOLUTION MANUAL 85
1
x&1 = x2; x& 2 = –x2 + 20x3; x& 3 = – 5x3 +
20 u
L0 1 0 O L0O
A= M
MMN0 1 2 0 PP; b = MM0 PP
1
0 0 5Q N 20 Q
k1= k1KA = KA; k2= k2KA; k3= k3KA
|sI – (A – bk)| = s3 + (6 + 0.05k3)s2 + (5 + 0.05k3+ k2)s +
k1Desired polynomial: (s2 + 2s + 4) (s + 10) = s3 + 12s2 + 24s +
40. k= [40 13 120]
KA = 40
k2 = 0.325
k3 = 3
Y(s)
7.17
U(s) = s(s )
( a ) x&1 = x2; x&2 = – x2 + u
A=LNM00 1OQP ; b = LNMOQ
|sI – (A – bk)| = s + P (+ k )s + k = s + a s + a
2 2 1 2 1 2
k1 = a2; k1 = a2 ; + k2 = a1; k2 = a1 ; N = k1
0
7.18 x1 = ; x2 = ia
x&= LNM2000 50200 OQP x + LNM200 OQP u + LNM50OQP T L
z& = y – r = x1 – r,
L x& L 0 1
OL x O L 0 O L 0 O L50O
1
MMM x& OP P = MMM200
50 0
200 0PPP MMM x P P + MMM200P P u + MMM 0 P P r + M M 0 PP T
L
0 Q
2 2
N z& Q N 1 0 0Q N z Q N 0 Q N1Q N
|sI – (A – bk)| = s3 + 200 (1 + k2)s2 + 10000(1 + k1)s + 10000k3
86 DIGITAL CONTROL AND STATE VARIABLE METHODS
Desired polynomial:
(s + 10 + j10) (s + 10 – j10) (s + 300) = s3 + 320s2 + 6200s + 60,000.
k = [– 0.38 0.6 6]
Resulting system is of type-1.
Steady-state error to constant disturbance is zero, (t) r.
7.19 ( a ) A= LNM43 25OQP;b= LNMOQP
0 ; c = [0
1]
|sI – (A – bk)| = s2 + (8 + k1)s
1 + 7 + 5k1 + 4k2
Desired polynomial: (s + 4) (s + 7) = s2 + 11s + 28.
k = [3 1.5]
6 6 1
(b) A – bk = LNM4 5 ; x& = LNM4 5 x+ 0 wLNMOQP
05 05
At steady state, x& = 0; xls = 54 x2s. Hence, x2s = 17 w
. .
L3 2 0O L1O
(c) z& = y = x ; AOQP
= MMN 4
2 5
OQP
0 ; b = MMM0P P
PPPQ N0Q
0 1 0
|sI – (A – bk)| = s3 + (8 + k1)s2 + (7 + 5k1 + 4k2)s + 4k3
Desired polynomial: (s + 1) (s + 2) (s + 7) = s3 + 10s2 + 23s + 14.
k = [2 1.5 3.5]; x = [A – bk] x + bw
&
L5 0.5 35. O
A – bk = MMM4 5 0 PP
N0 1 0 Q
St steady state, x& = 0; ys = x2s = 0
A= LNM43 25OQP ; b = LNMOQP
0
; c = [0
1]
1
(a) |sI – (A – bk)| = (s + 4) (s + 7), gives k = [3 1.5]
1 = – c [A – bk]–1b; N = 7
(b)
N
With u = – kx + Nr, the feedback system becomes,
SOLUTION MANUAL 87
x&1 = – 6x1 + 0.5x2 + 7r; x&2 = 4x1 – 5x2
As t , &x 1 = x&2 = 0
4x 1s – 5x2s = 0; x1s = 5
4 x2s;
– 6 × 5 x1s + 0.5x2s = – 7r; x2s = r = y ()
4
(c) & x1 = – 3x1 + 2x2 – 3x1 – 1.5x2 + w;
x& 2 = 4x1 – 5x2
x 2s () = y () = 1
7w
(d) z& = y – r = x2 – r
L x& O L3
1 2 0 O L x O L1O L 0O L1O
1
MMM x& P P = MMMN4
2 5 0PPPQ MMM x P P + MMMP0 P u + MMN 0 P P r + MMMP0 P w
2
N z& Q 0 1 0
N z Q N0Q 1Q N0Q
k = [2 1.5 3.5]
L x& L5 0 . 5
1
3.5O L x O L 1 O L 0O
O 1
0 P M Mx P P + MMM0 P P w + MMN 0 P P r
MMM x& P P = MMMN4 5
2 2
1Q
N z& Q 0 1 0 QNz Q N0 Q
Y(s) 4s ; y() = 0; Y(s) 14
;
W(s) = (s 1)(s 2)(s 7) R(s) = (s 1)(s 2)(s 7)
y() = r
7.21 & = – 0.5+ 100u; u = – K+ Nr; & = (– 0.5 – 100K)+ 100 Nr
(a) Time constant = 0.1 sec.
s + 0.5 + 100K = s + 10; K = 0.095
N–1 = – c (A – bK)–1b = 10; N = 0.1;
At steady-state & 0 . This gives () = r
(b) A = – 0.5; A + A = – 0.6
& = – 0.6+ 100u = – 0.6+ 100 (– 0.095+ 0.1r) = – 10.1+ 10r
10
() =
101. r
(c) z& = – r
& 0
LNMOQP = LNM 01.5 0 OQP LNMOQP + 100 u+ LNMOQP
z& z
r
1
88 DIGITAL CONTROL AND STATE VARIABLE METHODS
K
100K2
A – bK = LNM 1 1
0 OQ P
0
|sI – (A – bK)| = s2100+ (0.5 + 100K1)s + 100 K2 = s2 + 11s + 50
K1 = 0.105, K2 = 0.5.5
t
u(t) = – 0.105(t) – 0.5 z 0
((t) r)dt
At steady-state, z& 0; this gives () = r.
L0 1 O L0O0
7.22 F = MMMN40 20 11Q;Pg=P MMMN01PPPQ
1 1 1 1
z j z j
Desired characteristic equation: z
2
FH 2 2 IK FH 2 IK
= z3 + z2 + 1
2z
|zI – (F – gk)| = z3 + (1 + k3) z2 + (2 + k2) z + 4 + k1
3
k= LNM4 2 0 OQP
L 12 1 0O
7.23 F = MMMM1 0 1 P P ; c = [1 0 0]
N 0 0 0Q
1
|zI – (F – mc)| = z + FHm 2 IK z + (1 + m )z + m
3 1 2 2 3
1 1 1 1
Desired characteristic polynomial: z FH z 2 j 4 IK FH z 2 j 4 IK
= z3 + z2 + 5
16 z.
T
3 11
m= LN M OQP
2 16 0
L
0 1 0 L0 O
F= O
7.24
MM P P ; g = MMM0P P
N 0 0 1
N1Q
0.5 0.2 11.Q
SOLUTION MANUAL 89
|zI – (F – gk)| = z3 + (k3 – 1.1) z2 + (k2 + 0.2) z + k1 + 0.5
Desired polynomial: z3.
k = [– 0.5 – 0.2 1.1]
LN M
7.25 F = 016.0 1OQP
1 ; c = [1 1]
The current observer equations are:
x (k + 1) = F x$ (k) + gu(k)
x$ (k + 1) = x (k + 1) + m[y(k + 1) – c x (k + 1)]
State error equation is, ~x (k + 1) = (F – mcF) ~x (k)
|zI – (F – mcF)| = z2 + (1 – 0.16m1) z + 0.16 (1 – m1 – m2)
Desired characteristic polynomial: z2
m = [6.25 – 5.25]T
L 0 1 0O L0O
7.26 x(k + 1) = MM 0 0 1 P P x(k) + MMMP0 P u(k)
N0.5 0.2 11.Q N1Q
Lx (k 1)O = L 0 00 10O Lx (k )O + L0 O u(k)
2 2
MMM x (k 1)P P MMN0.2
1 P P MMM x ( kP) P MMM0 P P
0.5 11.Q
1 1
Nx (k 1)Q
3 Nx (k )Q N1 Q
3
Lx (k )O 2
y(k) = [1 0 0]
MMM x (k ) PPP1
Nx (k )Q 3
~xe (k + 1) = (Fee – mf1e) ~xe (k)
LNM0 0.5 110 OQP
Fee = . ;f 1e = [0 1]
|zI – (Fee – mf1e)| = z2 + (m2 – 1.1) z – 0.5m1
Desired characteristic polynomial: z2
m = [0 1.1]T; x$ 2 (k) = x2(k) = y(k); x$ e (k) = LNMxx$$ ( kk) OQP
13
Refer Eqns (7.91) – (7.97).
x$ e (k + 1) = LNM00.5 00OQPx $(k) + LNMOQP
e 01 u(k) + LNM
10 . 2 OQP y(k) + LNMOQP
11.0 y(k + 1)
90 DIGITAL CONTROL AND STATE VARIABLE METHODS
7.27 ( a ) F= LNM21 11OQP;g= LNMO3
LNM3QP 1
4 5
U = [g Fg]=
1 p1 OQP
4
p1 = 19 [3 – 4]; P = p F LNM OQP = 19 LNM103 47OQP
1
|zI – F| = z2 – 3z + 1; |zl – (F – gk)| = FH z j 1 IK FH z j 21 IK = z 2 +1
4
18
3
k=
4 LNM 3 OQP P = LNM11176 19 OQP
(b) x$ (k + 1) = (F – mc) x$ (k) + (g – md)u(k) + my(k); c = [1 1]
(k + 1) = FT(k) + cT(k); (k) = mT(k)
U = [cT FTcT] = 1 0 LNM OQP; p = [1 1
– 1] 1
1
P= LNMp pF OQP = LNM
3 1 2OQP
1 1T
|zI – FT| = z2 – 13z + 1
|zI – (FT – mTcT)| = z2
mT = [– 1 3] P = [8 – 5]
(c) x(k + 1) = Fx(k) + gu(k); u(k) = – k $
x$ (k + 1) = (F – mc) x$ (k) + gu(k) + my(k); y(k) = cx(k) + du(k)
x1(k + 1) = 2x1(k) – x2(k) – 5.84 x$ 1 (k) + 3.79 x$2 (k)
x2(k + 1) = – x1(k) + x2(k) – 4.38 x$1(k) + 2.84 x$2 (k)
and
x$1 (k + 1) = – 11.84 x$1(k) – 5.21 x$ 2 (k) + 8[x1(k) + x2(k)]
x$ 2 (k + 1) = – 0.38 x$1(k) + 8.84 x$ 2 (k) – 5[x1(k) + x2(k)]
Y(z) 1
7.28 (a) 2
U(z) =
z z 016.
x(k + 1) = Fx(k) + gu(k); y(k) = cx(k)
SOLUTION MANUAL 91
0 11
F=
LNM 016 .
;g=
1
LNMOQP ; c = [1
0]
O
(b) |zI – (F – gk)| = z2 + (1 + k2)z +0 0.16 + k1
Desired characteristic equation: (z – 0.6 + j0.4) (z – 0.6 – j0.4)
QP = z2 – 1.2z + 0.52
k = [0.36 –2.2]
0 1
(c) F = LNM 016
;g= LNMOQP
1
; c = [1
1 O 0]
x2 (k + 1) = Fee x$2 (k) + fe1 y(k) 0+ geu(k) + m(y(k + 1) – f11 y(k)
QP .
– g1u(k) – f1e x$2 (k))
= (– 1 – m) x$2 (k) – 0.16y(k) + my(k + 1) + u(k)
m = – 1 gives dead-beat response.
x$ 2 (k + 1) = – 0.16y(k) – y(k + 1) + u(k)
(d) u(k) = – 0.36x1(k) + 2.2 x$ 2 (k) = – 0.36y(k) + 2.2 [– y(k)
– 0.16y(k – 1) + u (k – 1)]
= – 2.56 y(k) – 0.352y(k – 1) + 2.2u(k – 1)
1
U(z) =2.56(101375. z )
Y(z) (1 2.2z 1 )
7.29 Let us transform c from [1 1] to [1 0].
x(k) = Qq(k); Q = LNM10 11OQP
q(k + 1) = Q–1 FQq(k) + Q–1 gu(k) = F q(k) + g u(k)
F= LNM0160
1 ; g = 1 LNMO
1 O
y(k) = cQq(k) = c q(k) = [1 0] q(k)
QP .
QP
Controller design:
|zI – ( F – g k)| = z2 + (1 + k2)z + 0.16 + k1
0
Desired characteristic polynomial: z2 – 1.2z + 0.52;
k = [0.36 – 2.2]
92 DIGITAL CONTROL AND STATE VARIABLE METHODS
Observer design:
0 1
F= LNM 016
;g=
1
LNMOQP
; c = [1
1 O 0]
q2 (k + 1) = Fee q$2 (k) + fe1y(k) +0 geu(k) + m(y(k + 1) – f11y(k) – g1u(k)
QP . – f1e q$2 (k))
= – q$ 2 (k) – 0.16y(k) + my(k + 1) – mu(k) – m q$2 (k)
q~2 (k + 1) = (Fee – mf1e) q~2 (k) = (– 1 – m) q~2 (k)
m = – 1 gives dead-beat response.
q$2 (k + 1) = – 0.16y(k) – y(k + 1) + u(k)
u(k) = – 0.36q1(k) + 2.2 q$2 (k) = – 2.56y(k) – 0.352y(k – 1)
+ 2.2u (k – 1)
U(z) =2.56(101375. z1 )
Y(z) 1 2.2z 1
7.30 Double integrator plant:
x(k + 1) = Fx(k) + gu(k);
y(k) = cx(k)
F= LNM10 T 1 OQP ; g = L T T/2 O ; c = [1
2
0]
NM QP
Regulator: = 0.5; n = 4, z1,2 = enT ej nT 1 2 = 0.77 ± j0.278
Characteristic polynomial: z2 – 1.54z + 0.67
2
T2 k
|zI – (F–gk)| =z2 + LNM Tk2 2 1 2 OQP z + 2 T 1 – Tk2 + 1
k = [13 3.95] k
Prediction observer:
Result follows from Example 7.14.
m= LNMOQP ; = k [zI – (F – gk – mc)] –1 m = 655. (z 0.802)
10 Y(z) z 2 0.46z 0.26
U
z
7.31 x(k+1)= LNM 102 00.0952.905 OQP x(k)LNM+0.0952
. OQP
0 u(k); y(k) =[1 0] x(k)
(
) 00484
SOLUTION MANUAL 93
(F) = LNM10 OQP ;
00.0952.905 2
U = [g Fg] = LNM00.00484.0952 OQP
00..08620139
Using Ackerman’s formula:
k = [0 1]U–1 (F) = [105.01 14.648]
Observer design:
(k + 1) = FT(k) + cT(k); (k) = mT(k)
(FT) = LNM0.09521 0.9050 OQP2
U = [cT F Tc T] = LNM10 0.09521 OQP
mT = [0 1] U–1 (FT) = [19 8.6]
Reduced order dead-beat observer:
F= LNM10 00.0952.905 OQP; LgNM=0.0952
. OQP; c = [1 0]
~x2 (k + 1) = (Fee – mf1e)0 00484
~x2 (k); Fee = 0.905, f1e = 0.0952
Desired characteristic equation: z = 0; m = 9.51
Refer Equations (7.91)– (7.97)
x$ 2 (k + 1) = 9.51y(k + 1) – 9.51y(k) + 0.05u(k)
7.32 (a) y& + y = u + w; T = 1 sec; A = – 1, b = 1;
T
eAT = 0.368; g = ed = 0.632
z
0
y(k + 1) = 0.368y(k) + 0.632u(k) + 0.632w(k)
T
(b) Time constant = 0.5 sec; z = e = 0.135
Desired characteristic equation: z – 0.135 = 0
F – gk = 0.368 – 0.632K
|z – (F – gk)| = z – (0.368 – 0.632K) = 0
Comparison with desired characteristic equation gives, K = 0.3687
94 DIGITAL CONTROL AND STATE VARIABLE METHODS
1 = – c (F – gk – 1)–1 g; N = 1.37
N
With u(k) = – 0.3687y(k) + 1.37r we have
y(k + 1) = 0.135y(k) + 0.866r + 0.632w(k)
At steady state, with w = 0;
ys = 0.135ys + 0.866r; ys = 0.866 r r
0865.
(c) At steady state, with r = 0;
ys = 0.135ys + 0.632w; ys = 0.632 w = 0.73w
0.865
(d) Integral control:
= 0.5, n = 4
re±j= enT ejnT 1 2
= – 0.128 ± j0.043
(z + 0.128 + j0.043) (z + 0.128 – j0.043) = z2 + 0.256z + 0.018
Desired characteristic equation: z2 + 0.256z + 0.018
v(k) = v(k – 1) + y(k) – r
y(k)
LNMvy((kk 11))OQP = LNM00..368 OQP LNMv(k) OQP + LNM0.632OQP u(k) + LNM00..632 632 OQP w(k) + 0
1
36 LNMOQ
801
Pr
LNMyvvy OQP; ~x(k+1)=Fx~(k)+ gu~(k)
~x = ss
OQP; g = LNM0.632OQP
F=LNM00..3683 6 8 0 1 ;
|zI – F | = z2 + 0.256z + 0.018
U = [ g Fg ]= LNM00..632 OQP
632008646..2326
158 158
LNM OQP
p1 = [– 1.58 1.58] .
p .
P = p 1F =
1
LNM0 158. O
k = [– 0.35 QP = [0.553
1.624]P 2.013]
SOLUTION MANUAL 95
0 018 127
( e ) F – gk= LNM0.018 . 0.27
.
With w = 0,
y
LNMOQP
v
s
L
N
M OQP y
00.018018 0127..27OQP LNMOQP
=
0
v + LNMOQP
s
s s
r
Solving the above set, we get ys = r
With r = 0:
1
y y
LNMOQP L
s
v =
s
N
M OQP LNMOQP LNM OQP
00.018018 0127..27 v s +
s
00..632 632 w
Solving the above set, we get ys = 0.
CHAPTER 8 LYAPUNOV STABILITY ANALYSIS
8.1 A= LNM01 12 OQP . Let us take Q = LNM04 00OQP=LNMOQP20 [ 2 0] = HHT
LNMHH AOQP = LNM2 0OQP = 2
TT
ATP + PA = – Q gives P = LNM25 12OQP
Since P is positive definite, the system is asymptotically stable.
Also, V(x) = xT Px as ||x||
Therefore the system is asymptotically stable in-the-large.
8.2 A=LNM1 011OQP ; A P + PA = – I T
L 3 1 O
Solving for P, we get: P = M M 2 2 PP
1 1
N2 Q
P is not a positive definite matrix; the system is unstable.
8.3 x&1 = x2, x& 2 = – x1 – x2 + 2
Lx e
Equilibrium state xe = NMO
x QP
1
e
0 = x2e ; 0 = – x1e – x e + 2; xe = LNMOQP20
2
Let ~ x1 = x1 – 2, ~ x2 = &x2; then ~
x = A~ x
L3 1O
NM10 11OQP ; A P + PA = – I gives P = MMM 21 21 PPP
A= L T
N2 Q
P is positive definite matrix. Therefore equilibrium state [2 0] T is
asymptotically stable.
SOLUTION MANUAL 97
L7 1 O
8.4 A = LNM44 OQP ; A P + PA = – I; P = MMM 401K
T 10K
3 PPP
K
K N10 K 20K
Q
P is positive 4definite for K > 0; the system is asymptotically stable for
K > 0. 6
K we have
8.5 From Fig. P8.5,
K
x&1 = – x1– Kx3; x& 2 = x1 – x2; x& 3 = x2 – x3
L1 0 K O
x& = Ax; A =
M M 01 1
1 1
PP
0 ; ATP + PA = – Q;
N Q
L0 0 0O
Take Q = MMM0 0 0 PPP = HH ; H = [0T T 0 2]
N0 0 2Q
From Lyapunov equation, we obtain,
1
L3 3 K 2 O
P=
(K 1)(K 8)
MMM3 ( K 4 ) ( K 4) PPP
NK2 ( K 4) (5K 8)Q
3 3(K 4) 9
For P to be positive definite, > 0; > 0,
(K 1)(K 8) (K 1)2 (K 8)2
and
1
L3 3 K 2 O
(K 1)(K 8)
MMM3 ( K 4 ) ( K 4) PPP > 0
NK2(K 4) (5K 8)Q
These conditions reduce to the following:
(K + 1) (K – 8) < 0 or K > – 1; K < 8
K>–1
(K + 1)2 (K – 8) < 0; K < 8
Therefore, – 1 < K < 8 will guarantee system stability. It can easily be
examined that Routh criterion gives the same result.
98 DIGITAL CONTROL AND STATE VARIABLE METHODS
8.6 F= LNM 0 1 .5 OQP LNM
; 235.. 2538752..25 OQP
FTPF – P = – I gives P = 1 1
P is a positive definite matrix. Therefore system is asymptotically stable.
0 0.5
8.7 F = LNM 0.5 1OQP; F PF–P=–I, gives,
T
L 52 40 O
P = M M 27 27
PPP
40 100
N 27 27 Q
P is a positive definite matrix. Therefore, the system is asymptotically
stable.
8.8 x&1 = x2; x& 2 = – (1 – |x1|) x2 – x1
Take V(x) = x12 + x2
Then, V&(x) = 2x1 x&1 + 2x2 x&2 = – 2 x2 (1 – |x1|)
For V& (x) to be negative definite, (1 – |x1|) > 0 for x2 0 or |x1| < 1
V& (x) is not identically zero anywhere other than the origin. Therefore, for
|x1| < 1, origin is the equilibrium state and is asymptotically stable.
8.9 x& 1 = x2; x& 2 = – x1 – x1 2
x2
V(x) = x 12 + x 2 ; V(x) as ||x||
V&(x) = – 2 x1 < 0
2 x2
Therefore origin is the equilibrium state and is asymptotically stable in-
the-large.
8.10 LNM
x& 1 = – 3x1 + x2; x& 2 = x1 – x2 – x2 3 ; J = 31 1 13 x 22 OQP
Take P = I. Then Q= – (JT + J) = LNM2 OQP
6262x22
|Q| = 36 x2 + 8 > 0
Q is positive definite; therefore origin is asymptotically stable.
CHAPTER 9 LINEAR QUADRATIC OPTIMAL CONTROL
9.1 The system of Fig. P9.1 is governed by the differential equation:
y + 2 y& + y = 0
&&
Defining state variables as x1 = y, x2 = y& ,
we obtain the following state equations for the system,
x& = LNM1 021 OQP LNMO 0
x = Ax; x(0) =
QP
J=
z
0
e2(t)dt = 1 z
0
2 x (t)dt; Q=
12
LNM20 00OQP ; R = 0; K = 0
The Lyapunov equation becomes,1
ATP + PA + Q = 0
L2 21 1 O
Solving for P, we get: P = M M
1 1 PP
2
N Q
1
J = xT(0) Px(0) = +
4
2
dJ 1 d J > 0; Jmin = 1
=1– = 0; = 0.5; 2
d 42 d
9.2 The closed-loop transfer function Y(s) K
R (s) = s2 s K
y + y& + Ky = Kr; y(0) = y& (0) = 0
&&
e = r – y; e&& + e& + Ke = 0; x1 = e, x2 = e&
LNM0K 1 OQP x; x(0) = LNMO0
x& =
QP
J=
z z
0
e2(t)dt =
0
x12 (t)dt; Q=
LNM20 00OQP ; R = 0; K = 0
Lyapunov equation: ATP +1 PA + Q = 0
Solving for P, we get
100 DIGITAL CONTROL AND STATE VARIABLE METHODS
L 1 1
K ;J=1
O 1
P = MM K PP
1 1 2 xT (0) Px(0) = 2K 2
K
N K
Q
2
(i) K = constant: J 1 1 J > 0
= K ; = K, 2
2 2 2
(ii) = constant: KJ = 2
1
K 2 FH IK = 0; K
9.3 A= LNM00 10 OQP ; B = LNMOQP
01 ; K = [1 LNk];M0 Q 01OQP;
= 1
LNM01 1kOQP;x(0)= LNMO1
R = 0; (A – BK) =
(A – BK) P + P(A – BK) + Q = 0
T
Solving for P we get,
QP
L k 2 12 O
2
x (0) Px (0)1 = k 2 2k 4
P = M M 2k
1 1 PPP ; J = 1
2
T
4k
N 2 k
Q
J = 0 gives k = 2; Jmin = 3
k 2
|I – (A – BK)| = 2 + 2+ 1; 1 = – 1, 2 = – 1.
The system is stable.
For k = 1.5, J = 1.54.
For k = 2, J = 1.5
Skopt = J / J = 0.04 / 15. = 0.107
k / k 0.5 / 2
9.4 Y(s) = G(s) = 100 ; &&y = 100u; y(0) = y& (0) = 0
Us s2
& x& =
x1 = y, x2 = y; LNM0 10OQPx+ LNMOQP
100 u
u = r – y(t) – K y(t)
&
Let ~ x1 = y – r = x1 – r, ~y& = x2
x2 =
SOLUTION MANUAL 101
Then u = – ~x1 – Kx~2 ; K = [1 K]
x& = Ax ~ + Bu; ~ x (0) = 1
~
0;Q= LNM20 00OQP ; R = 0
LNMOQP
(A – BK)TP + P(A – BK) + Q = 0
Solving for P, we get,
L100K 1 2 1 O
P = MM1001 K 100
1 PPP
N 100 104 K
Q
1
J = 1 ~xT (0) P~x (0) = 100K 2 ; J = 0 gives K = 0.1;
2 200K K
2
J
Jmin = 0.1, 2 > 0
K
For K = 0.1, J = 0.1.
For K = 0.09, J = 0.100556
opt J / J = 0.000556 / 01.
SK = K / K = 0.0556
0.01 / 01.
9.5 A = LNM0 1 0 OQP ; B 1= 0 LNMOQP ; KLN=kM [k 1
1
k
1
2
OQP
k2]; (A – BK) = 0
Closed-loop system: x& = LNM0k 1k OQP x or x& = x ; x&
1 2 1 2 2 = – k1x1 – k2x2
Eliminating x2 from this equation yields &&x1 + k2 x& 1 + k1x1 = 0
Since the undamped natural frequency is specified as 2 rad/sec, we obtain
k1 = 4.
Therefore, (A – BK) = LNM 04 1k OQP ; R = 0; Q = LNM10 01OQP;x(0)=LNMOQP1
2
(A – BK)TP + P(A – BK) + Q = 0
Solving for P, we get
k
L 2k5 2 1
O k
P = MM
2
1
8 8
5 PP
;J=
1 xT(0) Px(0) = 1
2 2
LNM 25k 8 OQP ; kJ
2
2
2
=0
8 8k2
N Q
102 DIGITAL CONTROL AND STATE VARIABLE METHODS
2 J
gives k2 = 20 ; >0
k22
5
For this value of k2 : Jmin =
4
9.6 A= LNM00 10 OQP ; B = LNMOQP
01 ; K = [k LNMk]; (Ak –1kOQP
BK) = 0
Q= LNM20 02OQP ; R = 0; x(0) = LNMOQP1
(A – BK)TP + P (A – BK) + Q = 0
Solving for P we get
L12k 1 O
P = MM 1 k k ; J = 1 xT (0) Px (0) = 1 + 21k ; J
2(k 1) PP
2 k=0
N k 2k 2 Q
gives k
9.7 (A – BK)TP + P(A – BK) + KTRK + Q = 0; Q = LNM20 02OQP ; R = 2
Solving Lyapunov equation, we get
1 k 2
L(k 1) 2 O
; J = (1 k ) 2 ; J
P= MM k k PP
1 k 2 (1 k)(1 k 2
) 2k k = 0 gives k = 1; Jmin = 2
N k k 2
Q
For k = 1, J = 2.
For k = 0.9, J = 2.0055.
Skopt = J / J = 0.0055 / 2 = 0.0275
k / k 01. / 1
9.8 A= LNM00 10 OQP ; B = LNMOQP
01 ; u = – Kx; Q = LN2M0 02OQP ; R = 2
{A, B} pair is controllable, and Q is positive definite.
Matrix Ricatti equation is: ATP + PA – PBR–1BTP + Q = 0
Solving for P, we get,
P=
L2 3 2 O; K = R –1BP = [1 3]
NM 2 2 3QP
SOLUTION MANUAL 103
9.9 The matrix Ricatti equation is: ATP + PA – PBR–1BTP + Q = 0
Q=LNM20OQP = H H = 00 QP20 [ 2 0]; LNM
T HA
OQ
L Sufficient conditions satisfied.
{A, H} pair is observable.
Solving the Ricatti equation, we get
NMO P= 2
P=
L2 2 2 O ; K = R BP = [1 2 ]; H –1
NM2 2 2 QP
|I – (A – BK)| = 2 + 2 + 1
The roots of this equation are in the left half of the complex plane. The
optimal closed-loop system is therefore stable.
9.10 A= LNM00 01OQP ; B = LNMOQP
1 ; Q = LN2M0 00OQP ; R = 2
{A, B} pair is controllable.
2
Q = HTH = NMO
0 QP
[ 2 0]
{A, H} pair is not observable. Sufficient conditions not satisfied.
Solving the Ricatti equation, ATP + PA – PBR–1BTP + Q = 0, we get
L
P= LNM68 168 OQP ; K = R B P = [– 1
–1 T 4]
|I – (A – BK)| = 2 + 2+ 1
Optimal closed-loop system is asymptotically stable:
u = – Kx = – [– 1 4]x
1
9.11 A = LNM 11 00OQP; B = LNMOQP
0 ; Q = LN2M0 00OQP ; R = 2
{A, B} pair is controllable.
Q = HTH = L 02 [ 2 0]
QP
{A, H} pair is not observable. Sufficient conditions not satisfied.
Solving Ricatti equation, ATP + PA – PBR–1BTP + Q = 0, we get
NMO
2(– p11 + p12) – 1 2 + 2 = 0; – p12 + p22 – 21 p11p12 = 0; 1 p122 = 0
2 p11
This gives p 11 = p22 = 0. Therefore a positive definite solution of the
Ricatti equation is not possible. Hence an optimal solution to the control
problem does not exist.
104 DIGITAL CONTROL AND STATE VARIABLE METHODS
9.12 x& = LNM0 21 OQP x + LNMOQP
20
u; y = x ; J = 1
2
1
z
0
[y(t) – 1]2 + u2dt; yd = r = 1
Let ~x1 = x1 – r = x1 – 1; ~x02 = x2. Then
~&
x= LNM0 2 1OQP ~x + LNMOQP
20
u= A~ x +
Bu; 0
2
1z
J = 1 (~x 2 + u2)dt; Q =
0
LNM10 00OQP ; R = 1
{A, B} pair is controllable
Q= 0 LNMOQP[1 0] =HH. {A, H}pair is observable.
T
1
ATP + PA – PBR–1BTP + Q = 0
Solving for P, we get
L 6.63 0.05 O
P = M M 20
0.05
4.63 PPP; K=R B P=[1 –1 T 0.23]
N 400 Q
u = –K~x = – x1 – 0.23x2 + r
9.13 A= LNM00 10 OQP ; B = LNMOQP
01 ; C = LN1M0 02OQP
J=1
2 z
0
2 ( y12 + y2 2
0
z
+ u2)dt = 1 2 (yTy + u2)dt = 1
2 z
0
(xTCTCx + u2)dt
Q= LNM20 08OQP ; R = 2
{A, B} pair is controllable. Q is positive definite.
Solving Ricatti equation, ATP + PA – PBR–1BTP + Q = 0, we get
P=
L 24 2 O ; K = R B P = [1 6 ]; u = – x –
–1 T 1 6 x2
NM 2 24 QP
0
9.14 A = LNM0 11OQP ; B = LNMOQP ; Q = LN2M0 02OQP ; R = 2
1
Solving Ricatti equation, ATP + PA – PBR–1BTP + Q = 0, we get
SOLUTION MANUAL 105
P=LNM42 22 OQP ; K = R B P = [1
–1 T 1]
Equation of the state observer:
m
x$& = (A – MC) x$ + Bu + My: M = m 1 LNMOQP ; C = [1
2
0]
|I – (A – MC)| = 2 + (1 + m1)+ (m1 + m2) = 0
If the poles of the observer are to lie at s = – 3, the desired characteristic
equation is 2 + 6+ 9 = 0. Comparing the coefficients, we get
m1 = 5, m2 = 4; u = – x$ 1 – x$2
x$& = A x$ + Bu + M[y – C x$ ]; M = 4LNMO
9.15
QP
State variable description of the system, obtained from Fig. P9.15, is given
by
0
x& = LNM0 51OQP x + LNMOQP
1
u; x(0) = 0 ; y = [1 0]x
5
In terms of the shifted state variables, ~x1 = x1 – r; ~x2 = x2, the model
becomes
~& LNM0 51OQP ~x + LNMOQP
x= u = A~ x
1
+ Bu 0
The problem is to determine optimal control law, u = – K~x , that mini-
mizes
J= 2~1
1 u2 dt IK
x 2
0
From this J, we obtain the following matrices:
FH
Q = LNM20 00OQP ; R = 1
z
The pair {A, B} is controllable.
Q = HTH = L 02 QP [ 2 0]. The pair {A, H} is observable.
Solving the matrix Ricatti equation, A TP + PA – PBR–1B TP + Q = 0,
we get
NMO
106 DIGITAL CONTROL AND STATE VARIABLE METHODS
P=
L7495. 2 O
NM 2 0.275 QP
The optimal gain matrix is K = R–1BTP = [ 2 0.275]
The matrix (A – BK) is stable.
The minimum value of J for an initial condition ~x (0) = [– 5 0]T is,
J 0 = 1 ~(xT 0)~(Px 0) = 93.2375
2
9.16 A= LNM00 1 5 OQP ; B = LNMOQP
01 ; Q = LN2M0 00OQP ; R = 2.
Solving Ricatti equation, ATP + PA – PBR–1BTP + Q = 0, we get
L F 2 I O
2 2 1/ 2
M M 25
1/ 2
KJ PP
P= HG
2 1/ 2
F 25
2 I
N 2 HG 5 KJQ
Case (i): = 0.1
P= LNM035397..6325 OQP; K=R B P=[3.1623
001194..6325 –1 T 0.5968]
Poles: – 0.6377, – 4.9592
Case (ii): = 0.01
P= LNM
0.2 13416 0.0342OQP; K=[10 1.7082]
02
Poles: – 2.2361,. – 4.4721
Case (iii): =. 0.001
P= LNM00..06325941 00..0088 OQP ; K = [31.6228 0 6 3 2 4 . 3 9 3 9 ]
Poles: – 4.6970 ± j3.0921
9.17 ~& x = A ~ x + Bu; u = –K ~
x = – [k1 k2]~ x
The constraint of partial state feedback can be met by setting k2 = 0 in the
optimization problem.
For the problem under consideration, the Lyapunov equation is,
(A – BK)TP + P(A – BK) + KTRK + Q = 0
SOLUTION MANUAL 107
Solving for P we get,
2 k 2
L(25 k10k)(2 k )
1
2
1
2k
1 O
P = MM 2 k
1
1
2
1
2 k 2
1
PP
N 2k 1
10k
1 Q
For an initial condition ~x (0) = [– 5 0]T, the performance index has the
value:
1 ~x T (0)P ~x (0) = 25(25 k1 )(2 k12 ) J
J= 20k ; = 0 gives k 1 = 1.345;
2 1
k1
2 J
>0
k12
Jmin = 93.26
The matrix (A – BK) is stable.
9.18 From Fig. P9.18, we obtain,
y& = – y + u + w; y(0) = 0
Let ys and us be steady-state values (assuming w = 0 for the time being).
At steady state: 0 = – ys + us
The steady-state equation can now be expressed as,
y& = – ~ y + ~ u , where ~ y = y – ys, ~ u2 = u 2– udts; J
z
0
= A = –(~1, B = 1,
(a) ~) Q = 2,~R = 2
ATP + PA – PBR–1BTP + Q = 0, gives P2 + 4P – 4 = 0
P = 2 2 – 2; K = R–1BTP = 2–1
(b) u – us = – K(y – ys)
u = – Ky + Nr; Kys + us = Nr
N –1 = – C (A – BK)–1 B = 1
2;N= 2
Y(s) 1 1 ; W(s) = 1
(c) From Fig. P9.18, =
W(s) = s 1 K s 2 s;
1
Y(s) =
s(s 2 )
1
Steady-state error due to disturbance: lim sY(s) =
s 0 2.
108 DIGITAL CONTROL AND STATE VARIABLE METHODS
(d) y& = – y + u; z& = y – r
&
y
LNMOQPz& = LNM11 00 OQPLNMOQz + LNMOQP u +
0
At steady stateP y& = z& = 0, and therefore
1
LNMOQP 0 sy LNMOQP
r = – LNM 1 0 OQPLNMOQP+ LNMOQPu
1 y s zr 00
s 1
Substituting in state equation, we get
~ ~
&
LNMOQP LNM OQPLNMOQ LNMOQ
y = 11 00 ~ +
~&
z 0
1
z
P P
~y = y – ys; ~z = z – zs; u~
~ = u – us
J= z
0
(~y 2 ~z 2y u~)2 dt
u
1
1
A= LNM 11 00OQP; B = LNMOQP ; Q = LN2M0 02OQP ; R = 2
0
This shifted regulator problem has already been solved in Example
9.8. The matrix, K = [1 1]
t
Therefore, u(t) = – y(t) –
z
0
[y(t) – r]dt
(e) Block diagram of the control scheme is shown in the figure that
follows:
Block diagram manipulation gives (for r = 0)
Y(s) (s s1)2 ; W(s) = 1s ; Y(s) = (s 11)2
W(s) =
Steady-state error: lim sY(s) = 0
s 0
SOLUTION MANUAL 109
9.19 (a)
& = – 0.5+ 100u
Let s and us be the steady-state values. At steady state:
0 = – 0.5s + 100us
The state equation can now be expressed as:
&
= – 0.5 ~ +
100 ~ u ~
where, ~ = – s; u~ = u – us
J= z
0
(~2
100u~)2 dt
A = – 0.5, B = 100, Q = 2, R = 200
Solving Ricatti equation for P: ATP + PA – PBR–1BTP + Q = 0, we get
– P – 50P2 + 2 = 0. This gives P = 0.19; K = R–1BTP = 0.095.
Now, u~ = – 0.095~ ; u = – 0.095+ 0.095s + us; us + 0.095s = Nr
N –1 = – C(A – BK)–1 B = 10, N = 0.1
The control law, therefore, is u = – 0.095+ 0.1r
The closed-loop system becomes: & = – 0.5+ 100u = – 10+ 10r
At steady-state:
& = 0, () = r
(b) A = – 0.5, A + A = – 0.6
& = – 0.6+ 100u = – 0.6+ 100(– 0.095+ 0.1r) = – 10.1+ 10r
10
At steady-state: () = r
101.
(c) z& = – r
& = 0.5 0 0 100
LNMOQP
z&
LNM 1 OQPLNMOQPz + LNMOQP
0 u+ 0
LNMOQ
At steady-state: & = 0, z& = 0. Therefore,
0.5 0 Pr 1
LNMOQP
1
r=– 1 0OQPLNMOQPz – LNMOQ
s
0
where LNM , u , z are steady-state
s s s
P u values. Substituting in the state
s
equations,
0
~
& 0.5 0
L LNM
&~ = 1 OQPLN~MOQPz + LNMOQ
100
NMM QP
z~
0 0
P~
~ = – , ~z = z – z , u~ = u – u
O
s s s
100
110 DIGITAL CONTROL AND STATE VARIABLE METHODS
0.5 0
J= z
0
(~2 ~z 2
100u~)2 dt; Q =
LNM20 0 2 OQP; R = 200; A = LNM 1 OQP
0 ;
B= LNMO
0
A P + PA – PBR B P + Q = 0, gives
–1 T
T
QP
P=L
NM00.21.2 20..22OQP; K=R B P=[0.105 –1 T 0.1]
100
t
u(t) = – 0.105(t) – 0.1 z 0
[(t) – r]dt
The control scheme is shown in figure that follows.
100
For G(s) = , the closed-loop transfer function is:
s a
(s) 10.5
=
R(s) s(s 10 a) 10.5
For R(s) = 1s , we have () = lim s (s) =
0
1 A + A = a, the steady-state error is zero.
Therefore, for
9.20 F = 1, G = 1, Q = 2, R = 1.5
From Lyapunov equation, (F – GK)TP(F – GK) – P + K TRK + Q = 0,
we get
2
P = 2 15. K
2K K 2
J=1 2 xT(0) Px (0)= 12 0 75
2
{x(0)}2
. K K K 2
KJ = 0 gives K = 23 .
SOLUTION MANUAL 111
For K = 0.67, J = 1.499.
For K = 0.57, J = 1.526.
opt J /J = 0.027 / 1499.
SK = K/ K = 0.1207
01. / 0.67
9.21 x(k + 1) = 0.368x(k) + 0.632u(k)
J= [x2(k) + u2(k)]; F = 0.368, G = 0.632, Q = 2, R = 2
k 0
From matrix Ricatti equation, P = Q + FTPF – FTPG(R + GTPG)–1GTPF,
we get
0.3994P2 + 0.9304P – 4 = 0
P = 2.207; K = (R + GTPG)–1GTPF = 0.178; u(k) = – 0.178x(k)
9.22 G h0G(z) = (1 – z–1) Z e T
RST s(s 11) UVW z= e T
1
0.4 = Y(z)
For T = 0.5, Gh0G(z) =
z 0.6 U(z) ; y(k + 1) = 0.6y(k) + 0.4u(k)
(a) Let ys and us be the steady-state-values. At steady-state,
ys = 0.6ys + 0.4us
Substituting in the state equation,
~y (k + 1) = 0.6 ~y (k) + 0.4u~ (k)
where ~y = y – ys, u~ = u – us
J=1
2 k 0
~(y 2 k) + u~2 (k); F = 0.6, G = 0.4, Q = 1, R = 1
The Ricatti equation P = Q + FTPF – FTPG(R + GTPG)–1GTPF gives,
0.16P2 + 0.48P – 1 = 0; P = 1.415
K = (R + GTPG)–1GTPF = 0.277
(b) The closed-loop system is described by the equation,
y(k + 1) = 0.6y(k) + 0.4[0.277 (r – y(k)] = 0.4892y(k) + 0.1108r
At steady-state, y() = ys = 01108. r = 0.217r
0.5108
(c) N –1 = – C(F – GK – I ) –1G = – (0.6 – 0.4 × 0.277 – 1)–1 × 0.4;
N = 1.277
The closed-loop system is,
y(k + 1) = 0.6y(k) + 0.4[– 0.277y(k) + 1.277r]
= 0.4892y(k) + 0.5108r
112 DIGITAL CONTROL AND STATE VARIABLE METHODS
y( ) = 0.5108 r = r
0.5108
9.23 (a) x(k + 1) = 0.5x(k) + 2u(k) = Fx(k) + Gu(k)
Let xs and us be the steady-state values. At steady state,
xs = 0.5xs + 2us
Substituting in the state equation, we get
~x (k + 1) = 0.5 ~x (k) + 2u~ (k)
where ~x (k) = x(k) – xs, u~ (k) = u(k) – us
J=1
2 k 0
~(x 2 k) u~(2 k) ; F = 0.5, G = 2, Q = 1, R = 1
The matrix Ricatti equation,
P = Q + FTPF – FTPG(R + GTPG)–1GTPF yields,
4P2 – 3.25P – 1 = 0; P = 1.0505; K = (R + GTPG)–1 GTPF = 0.2
(b) u~ (k) = – K ~x (k)
u(k) = – Kx(k) + Kxs + us = – Kx(k) + Nr
where,
Kxs + us = Nr
N–1 = – C(F – GK – I)–1G; N = 0.45
u(k) = – 0.2x(k) + 0.45r
The closed-loop system becomes: x(k + 1) = 0.1x(k) + 0.9r.
At steady-state, x() = r
(c) Let
F + F = 0.3
x(k + 1) = 0.3x(k) + 2u(k)
then, x(k + 1) = 0.3x(k) – 0.4x(k) + 0.9r = – 0.1x(k) + 0.9r
At steady state, x() = 0.9 r
11.
(d) Add to the plant equation, an integrator equation,
v(k) = v(k – 1) + x(k) – r where v(k) is the state of the integrator. A
control law of the form, u(k) = – K1x(k) – K2v(k) will provide the
required robustness. Refer Fig. 7.17 for the control structure.
CHAPTER 10 NONLINEAR CONTROL SYSTEMS
10.1 Describing functions of some entries of Table 10.2 have been derived in
Section 10.4 and Section 10.11.
10.2 Revisiting Example 10.1 (Fig. 10.19) will be helpful.
4 1 E
G(j) = ; =
j1 j 2 N E 4M
– 90– 2 tan–1 1 = – 180
This gives 1 = 1 rad/sec
1
N E1 a f =
|G(jE11)|== 28M/
This gives
y(t) = – e(t) = – 8M sin t
10.3 Revisiting Example 10.1 (Fig. 10.22) will be helpful.
5 4
G(j) = ; N(E) = FH 0E.1 IK
1
j 1 j0.1 2 E 2
– 90– 2 tan–1 0.11 = – 180
This gives 1 = 10 rad/sec.
For a stable limit cycle, 2 < E < ; = 0.1
1
– = |G(j1)| = 0.25
af
N E1
This gives E1 = 0.3
Amplitude of limit cycle is 0.3 and frequency is 10 rad/sec.
10.4 Revisiting Example 10.1 (Fig. 10.22) will be helpful.
For a limit cycle to exist, 2 < E < ; = 0.2
G(j1) = – 180for 1 = 10.95. |G(j1)| = 0.206
1
|G(j1)| for any value of E
N(E)
The intersection of the two curves does not occur; therefore no limit cycle
exists.
Intersection of the two curves occurs for
114 DIGITAL CONTROL AND STATE VARIABLE METHODS
< 0.206 or < 0.131
2
10
10.5 G(j) =
1 j0 . 41 j2
N (E) =
4 L 1 FHIKH 2
O
jH ; H = 0.2
E
NM E E QP
1
The following figure shows G(j)-plot and locus.
N E
Im
Re
H
4
E increasing 1 E=H
N(E)
G(j)
1
At the point of intersection of G(j)-plot with locus, measure the
N E
angle of G(j). This comes out to be –115.7.
G(j1) = – tan–1 0.11 – tan–1 21 = – 115.7
This gives 1 = 5.9 rad/sec
|G(j1)| = 0.33
= E1 = 0.33
1
N E1 af 4
This gives E1 = 0.42
K
10.6 G( j) =
j 1 j 2
2L sin 1
1 2
O
N(E) =
2
1 1
FHIKE1
NM E E
QP
SOLUTION MANUAL 115
2 1
1 1 1
=1
LNMsin
E E E
2 1 OQ P
= 1 – Nc (E)
The function Nc(E) is listed in Table 10.3.
For any K > 0, one of the following can happen.
1
(i) G(j)-plot does not intersect locus
N E
1
(ii) G(j)-plot intersects the locus; but the point of intersection
N E
corresponds to an unstable limit cycle.
10.7 Revisiting Review Example 10.3 (Fig. 10.40) will be helpful.
10
G(j) =
a jfa1 j 0.5f
j 1
2 1 1 1
N(E) =
LNM sin
E
1
E
1
E OQP = N (E) 2
c
The function Nc(E) is listed in Table 10.3.
G(j1) = – 180° gives 1 = 2
1
|G(j1)| = gives E1 = 4.25
N E1 af
The limit cycle with amplitude 4.25 and frequency 2 rad/sec is a stable
limit cycle.
10.8 Revisiting Example 10.2 (Fig. 10.24) will be helpful.
K
G(j) =
j1 j 1 j0 .5
1
For K = 1, G(j )-plot does not intersect locus. For K = 2, two
N E
intersection points are found. One corresponds to unstable limit cycle and
the other corresponds to a stable limit cycle of amplitude 3.75 and
frequency 1 rad/sec.
10.9 (a) Characteristic equation has two real, distinct roots in the left half of
s-plane.
The origin in the (y, y& ) plane is a stable node.
d 2 y 1 dy 1
(b) 5 + 6(y – 1) = 0
dt 2 dt
116 DIGITAL CONTROL AND STATE VARIABLE METHODS
& plane. The charac-
The singular point is located at (1, 0) in the (y, y)
teristic equation is
s2 + 5s + 6 = 0 = (s + 3) (s + 2)
The singular point is a stable node.
a f a f
(c) d 2 y 2 2 8 d y 2 + 17(y – 2) = 0
dt dt
The singular point is located at (2, 0) in the (y, y& ) plane. The charac-
teristic equation is
s2 – 8s + 17 = 0 with complex roots in right half s-plane. The singular
point is an unstable focus.
10.10 e = f(R – ) = sin (R – ) = sin (– )
&& &
+ a + K sin = 0
With & , we have
x1 = and x2 =
x& 1 = x2
x& 2 = – K sin x1 – ax2
Singular points are given by the solution of the equations
x2 = 0
– K sin x1 – a x2 = 0
This gives x1 = k; k in an integer. We therefore have multiple singular
points.
Linearized equation around singular point (0, 0):
&& + a
& + K= 0
The characteristic equation is
s2 + as + K = 0
The singular point is stable and is either a node or a focus depending upon
the magnitudes of a and K.
Linearization about the singular point (, 0) gives
&& &
+ a – K = 0
The characteristic equation is
s2 + as – K = 0
The singular point is a saddle point.
d 2 y 1 dy 1
10.11 2 +y–1=0
dt 2 dt
SOLUTION MANUAL 117
(i) = 0; singularity (1, 0) on (y, y& ) plane is a centre
(ii) = 0.15; singularity (1, 0) on (y, y& ) plane is a stable focus.
10.12 Revisiting Example 10.4 (Fig. 10.34) will be helpful.
&
&&
J+ Tc sgn = KA K1 e; e = R –
ch
Therefore
K T
e&& e c sgn
& = 0; K = KAK1
J J e
T
LNM & = 0; n = K / J
e&& 2n e c sgn OQP
K
With x1 = e and x2 = ee&/n, we have
x& 1 = n x2
T
x&2 = – n c
x 1 K sgn n x2 a fOQP
For Tc = 0, we have
& &
LNM
x1 = n x2; x2 = – n x1
dx x
2 = – 1 ; this gives x12 + x 2 = x 21 (0)
dx x
1 2
The effect of the Coulomb friction is to shift the centre of the circles in
phase plane to + Tc/K for x2 < 0 and to – Tc/K for x2 > 0. The steady-state
error found from phase trajectory is – 0.2 rad. From the phase trajectory,
we see that
(a) the system is obviously stable for all initial conditions and inputs; and
(b) maximum steady-state error = 0.3 rad.
10.13 With x1 = y and x2 = y& , we get
x&1 = x2
a1< x 1f
; Region I 1
RS|xx x ; Region II ax 1f
2
x& 2 = 2a 1 1f 1
T|x 22 x ; Region III
2a 1
1 f ax 1f 1
From the phase portrait shown in the figure below, it is seen that the
system is stable in the equilibrium zone.
118 DIGITAL CONTROL AND STATE VARIABLE METHODS
10.14 Revisiting Review Example 10.6 (Fig. 10.42) will be helpful. The system
equation in the linear range is
e&& + e& + e = 0
The characteristic equation
s2 + s + 1 = 0
has complex roots in left half of s-plane. Therefore, on the (e, e&) plane, the
origin is a stable focus.
The system equation in saturation region is
e&& + e& = sgn (e)
The trajectories are asymptotic to the ordinates – 1 and + 1 depending on
whether the error is +ve or –ve.
From the phase trajectories plotted from the given initial conditions (with
and without saturation) we find that velocity is always greater for trajecto-
ries without saturation; thus the error saturation has a slowing down effect
on the transient.
10.15 With x1 = e, x2 = e& and u = (e), we have
x& 1 = x2
x& 2 = – x2 – (x1)
Without hysteresis, the system behaviour is oscillatory with decreasing
(tending towards zero) period and amplitude of oscillations (refer Fig.
10.32). With hysteresis, the system enters into a limit cycle, as is shown in
the figure below.
SOLUTION MANUAL 119
10.16 (a) e&& = – u = – (e); x1 = e, x2 = e&
The trajectories corresponding to x1 > 0 are given by (refer Eqns
(10.24))
x1(t) = – 1 x 22 (t) + x1(0) + 1 x 2 (0)
2
2 2
and trajectories for x1 < 0 are given by
x1(t) = 1 x 22 (t) + x1(0) – 1 x 2 (0)
2
2 2
The system response is a limit cycle as shown in the figure.
(b) e&& = – u = – (e + KD e& ); x1 = e, x2 = e&
The trajectories corresponding to (x1 + KD x2) > 0 are given by
x1(t) = – 1 x 22 (t) + x1(0) + 1 x 2 (0)
2
2 2
and the trajectories corresponding to (x1 + KD x2) < 0 are given by
x1(t) = 1 x 22 (t) + x1(0) – 1 x 2 (0)
2
2 2
With derivative feedback, the limit cycle gets eliminated as shown in
the figure.
120 DIGITAL CONTROL AND STATE VARIABLE METHODS
(c) Constructing a trajectory for the case of large KD proves the point. An
illustrative trajectory is shown in the figure.
x2 x2
Switching
line
x1 x1
1
Slope =
Trajectory KD
Trajectory
x2
Switching
line
x1
Trajectory
&& & &
10.17 + 0.5= 2 sgn(e + 0.5 )
With x1 = e and x2 = e& , we have
x& 1 = x2
x& 2 = – 0.5x2 – 2 sgn(x1 + 0.5 x2)
As seen from the phase trajectory in the figure, the system has good damp-
ing, no oscillations but exhibits chattering behaviour. Steady-state error is
zero.
SOLUTION MANUAL 121
R = const + e+ 2 1 1
2 s + 0.5 s
0.5
x2
2
1 x1
x1 + 0.5 x2 = 0
10.18 (a) With x1 = e, x2 = e& and u = (e), we have
x& 1 = x2
x& 2 = – x2 – (x1)
The system oscillates with everdecreasing amplitude and everin-
creasing frequency (refer Fig. 10.32).
122 DIGITAL CONTROL AND STATE VARIABLE METHODS
(b) A rough sketch of the phase trajectory is shown in the figure.
(i) Deadzone provides damping; oscillations get reduced.
(ii) Deadzone introduces steady-state error; maximum error = ± 0.2.
(c) x&1 = x2
SOLUTION MANUAL 123
x&2 =– x2 – 1
x 1
3
x2 IK
FH
A rough sketch of the phase trajectory is shown in the figure. By
derivative control action (i) settling time is reduced, but (ii) chattering
effect appears.
10.19 Section 10.10 provides solution to this problem. Optimum switching curve
is given by Eqns (10.48). Figure 10.37 shows a few trajectories.
10.20 e&& + e& = – u; x1 = e, x2 = e&
For u = +1 (refer Eqns (10.26))
x IKJ
x1 – x1(0) = – (x2 – x2(0)) + ln FHG 1 1x (0)
2
2
The trajectories are asymptotic to the ordinate – 1.
For u = – 1
x IKJ
x1 – x1(0) = – (x2 – x2(0)) – ln FHG 1 1x (0)
2
2
The trajectories are asymptotic to the ordinate +1.
For x1(0) = x2(0) = 0,
x1 = – x2 + ln (1 + x2); u = + 1
x1 = – x2 – ln (1 – x2); u = – 1
Switch curve is given by
x x 2 IKJ
FHG
x1 = – x2 + | x2 | ln 1 | x2 |
2 2
The figure given below shows the switching curve and a few typical mini-
mum-time trajectories.
CHAPTER 11 NEURAL NETWORKS FOR CONTROL
1 (3w w ))2 (0.8 (2w w0
11.4 E =
b
2 0.4 0 ) g 2
E
w = 0
= – [(0.4 – (–3w + w0)) (–3w + w0) (1 – (–3w + w0)) (–3)
+ (0.8 – (2w + w0)) (2w + w0) (1 – (2w + w0))(2)]
= – [–3x + 2y]
E
= 0 = – [x + y]
w0
This gives x = y = 0
a0.4 (3w w )fa1 (3w w )f(3w w ) 0
0 0 0
(a) 0 only at a
(a) 1 only at a
Therefore
(– 3w + w0) = 0.4
which gives
–3w + w0 = – 0.41
The equation y = 0 gives
(2w + w0) = 0.8
or, 2w + w0 = 1.386
Solving for w and w0, we get
w = 0.36, w0 = 0.666
11.5 zl =
n
FHG w h1 x w h1
li i
IKJ
l0
i 1
tr =
m
FHG w rl l
IKJ
h1 z w h1
r0
l 1
p
v t v
y$ j =
jr r j0
g
r
vjr (k + 1) = vjr (k) + tr ej (k)
b
vj0 (k + 1) = 1vj0 (k) + ej (k)
ej (k) = yj - y$ j (k)
q
wrlh2 (k 1) = wrlh2 (k) tr (1 tr )zl v jre j (k)
j 1
SOLUTION MANUAL 125
q
wrh02 (k 1) = wrh02 (k) tr (1 tr ) v e (k)
jr j
j 1
h1
wh1 (k 1) = wli (k) x z (1 zl )
L e v w t (1 t )O
q j p jr rlh2 r
r
i l
li
NMM QP
j1 r 1
wh1 (k 1) = wh1 (k) z (1 z ) L e v w t (1 t )O
l q j p jr rlh2 r r
l0 l0 l
NMM QP
j1 r 1
2 1 e a
11.6 (a) (a) = 1
1 ea 1 ea
(1 (a))(1 (a)) d(a)
(a) =
2 da
Network Output:
n
y$ (k = FHG w x i i
x
0 1
) i0
Weight update rule:
IKJ ;
wi (k + 1) = wi (k ) y $( ) $ ( i
2
4
yk b1
(b) a(1) = wi xi (1) = 1 + 2 – 0.5 = 2.5 2
i 1
y$ (1) = [a(1)] = 0.848 g
)
w (1) = w (0) + 1 0.848 1 (0.848)y 2 x(1) c h
2 k
= [0.974, – 0.948, 0, 0.526] x
M
(c) y (1) = w x1 1 w2 x 2 (1) w3 x 3(1) w4 x 4(1) 0.8483
$ (1) g
be (1) = y(1) – y$ ( 1 = –1.8483
)
y$ ( 2 = –0.7616; e(2) = –
0.2384 )
y$ (3 = –0.8483; e (3) =
1.8483 )
3 x ( p)e( p) ( y$ ( ) )2
L
w1(1) = w1(0) + 1 b gO
p1
1
NM 2
p
QP
= 1.0518
M
2
11.7 (a) z = F
l HG w x w IKJ ; l 1, 2
li i l0
i1
126 DIGITAL CONTROL AND STATE VARIABLE METHODS
2
y$ = FHG v z v IKJ
l 1
l l 0
e = y – y$
vl (k + 1) = vl(k) + 0.1e (k) zl (k) y$ (k) [1 – y$ (k)]
v0 (k + 1) = v0(k) + 0.1e (k) y$ (k) [1 – y$ (k)]
wli (k + 1) = wli(k) + 0.1xi (k) e (k) y$ (k) [1 – y$ (k)] zl(k) [1 – zl (k)]
wlo (k + 1) = wlo(k) + 0.1e (k) y$ (k) [1 – y$ (k)] zl(k) [1 – zl(k)]
11.8 (a) = 1 (a)2 d(a)
2 da
zl = (wl x + wl0); l = 1, 2, …, m
m
$
y= FHG v zl l v0 IKJ
e(k) = y – y$ (k)
l 1
vl (k + 1) = vl (k )
b1 $ ( 2
e(k )
2 l
2
v (k + 1) = v (k ) e(k ) y$ (kg
0 0
2 b1 )g
)
w (k + 1) = w (k ) e(k ) y$ ( ( ) k
l l
4 b1 y v kb1 z (k )g x (k ) l l2
k 1 z (k )g
2
k
w (k + 1) = w (k) 1 y$ ( 2
4 e(k)b
l0 l0
z k g v k l
l
2
)
(g )
b
)
( )
CHAPTER 12 FUZZY CONTROL
12.7
R
12.11 z* =
FHIK4 41FHIK4 51FHIK4 61FHIK2 71FHIK2 7.5 FHIK34 83FHIK4 93FHIK8
31
FHIK14 FHIK14 FHIK14 FHIK12 FHIK12 FHIK34 FHIK34 FHIK83
= 6.76
12.12 Crisp value for speed =
1600 (0.9) 1700 (0.9) 1800 (0.9) 1900 (0.8) 2000 (0.7)
2100 (0.5) 2200 (0.3) 2300 (015. ) 2400 (0)
0.9 0.9 0.9 0.8 0.7 0.5 0.3 015.
= 1857.28
12.13 x = 4; y = 8
( ), () min 2
1 = min A1 FHG B IKJ 1 3 IK
~ ~2
, FH 32
( ), 4( ) 8min 2 1
2 = min A2 FHG B IKJ IK
3 3 3
~ ~2
, FH 1
IKJ
min 1 ,
C
~1
( )
3 1
FHG 4 8
min ( ,
IKJ = (min)) z2 ,
IKJ =
~ ( min
C~2 3
2
,) FHG
() FHGz
1 ~
2
C C
zz C C
agg (z) = 1 ( ) max RSTmin FHG , C ( ) IKJ , min FHG
~ 3 ~ 1 3 ~2
, ( ) IKJ UVW 2 1 z
z z
128 DIGITAL CONTROL AND STATE VARIABLE METHODS
z* =
FHIK3 32FHIK3 42FHIK3 52FHIK3 61FHIK3 71FHIK3 81FHIK3
21
FHIK13 FHIK23 FHIK23 FHIK23 FHIK13 FHIK13 FHIK13
= 4.7
12.14 x = distance D = 27
y = vehicle speed V = 55
PS~ (55) = 0 ; PM
~
(55) 0.25 ; PL (55) 0.75
~
PS~ (27) = 0.38 ; PM (27) 0.62 ; PL (27) 0
~ ~
1 = min PS (27), PM (55)
FH ~ IK 0.25
~
2 = min FH (27), (55)IK 0.62
PM PL
~ ~
z = breaking force B
min ,
1
IK = min .25, FH
PL
( )
FH~ ~
min 2 PM
IKFH 0.62,0 ~ (z )IK
FH , ~ (z )IK = min
PM
PL
z ( ~) z
(z) = maxRSTminFH ~ ( z )IK, min FH 0.62, ~ ( z )IK UVW
agg
PL PM
0.25,
10 (0.2) 20 (0.4) 30 (0.6) 40 (0.62) 50 (0.62)
z* = 60 (0.62) 70 (0.6) 80 (0.4) 90 (0.25) 100 (0.25)
0.2 0.4 0.6 0.62 0.62 0.62 0.6 0.4 0.25 0.25
= 53.18
4 1
12.15 SD (60) 0 ; MD (60) ; LD (60)
~ ~ 5 ~ 5
3 2
NG (70) 0 ; MG (70) ; LG (70)
~ ~ 5 ~ 5
3
1 = min MD (60), MG ( 70)
FH ~ ( ~), IK ( 5
)IK
2
2 = min FH MD LG
~ ~60 5
70 1
3 = min FH (60), ( 70)IK
LD MG
~ ( ~), ( 5
)IK
1
4 = min FH LD LG
~ ~60 5
70
SOLUTION MANUAL 129
min , ( ) min ,
1 M M
( )~ FH , 35 ~ ( )IK
min 2 L
FH FH~ minIK , z 5 ~( )z IK L
min ,3 IK( ) FHmin2 z ,
L L
( ) ~ z FH FH 5 1~ IK
min FH 4
VL
, ( ) VL
IK~ zmin , z5 (~ )
(z) = max
agg IK
min FH
, 1 IK( ) , min z, ( ) , min , ( )
5 ~
M L UVW
VL
RST z3 2 1 FH
5 ~
IK FH
5 ~
10 (0) 15(0.325) 20 (0.6) 25(0.6) 30 (0.6) 35(0.4)
IK
z =
* FH 40IK(0.4) 45(0.4)
z 50
z (0.4)z 55(0.25) 60 (0.2)
0 0.325 0.6 0.6 0.6 0.4 0.4 0.4 0.4 0.25 0.2
= 34.40
6 0
12.16 With 10 bits we can get solution accuracy of
b g
210 1 or 0.006 in the
interval (0,6).
Let the first string of initial population be :
11001000001110010000
The first substring decodes to value equal to (29 + 28 + 25) = 800 . Thus
6 0800
corresponding parameter value is 0 4.692 . Similarly for
1023
second substring, the parameter value is equal to 5.349. Thus the first
string in initial population corresponds to the point x(1) = [4.692 5.349]T.
The function value at this point is equal to f [x (1)] = 959.680, and the
1
fitness function F [x(1)] = 0.001.
1 959.680
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