State Space State Space Figure P41 MATLAB) Problems 233 13. Whar pole locations characterize (1) the underdamped system, (2) the over damped system, and (3) the critically damped system? 14, Name two conditions under which the respunse generated by a pole can be neglected. 15. How can you justify pole-zero cancellation? 16. Does the solution of the state equation yield the output response of the system? Explain. 17, What is the relationship between (s1 ~ A), which appeared during the Laplace transformation solution of the state equations, and the state- transition matrix, which appeared during the classical solution of the state ‘equation? 18, Name a major advantage of using time domain techniques for the solution of the response. 19. Name a major advantage of using frequency domain techniques for the solution of the response. 20. What three pieces of information must be given 1n order to solve for the ‘output response of a system using state-space techniques? 21. How can the pules of a system be found from the state equations? Problems 1. Denye the output responses for all parts of Figure 4.7 2. Find the output response, e(0), for each of the systems shown in Figure P4.1. Also find the time constant, rise time, and settling time for each case. 3. Plot the step responses for Problem 2 using MATLAB, 4. Find the capacitor voltage in the network shown in Figure P4.2 if the switch closes at t = 0. Assume zero initial conditions. Also find the time constant, rise time, and settling time for the capacitor voltage.234 © Chapter 4 Time Response Figure P42 Figure P43 MATLAB 2 Nie 7 SS. Plot the step response for Problem 4 using MATLAB. From your plots, find the time constant, nse time, anc setting tine, 6, For the system shown in Figure P4.3, (a) find an equation that relates set- ing time of the velocity of the mass to M; (b) find an equation that re- lates rise time of the velocity of the mass to M. 7. Plot the step response for Problem 6 using MATLAB. From your plots find the tme corstant, rise time, and setting tme. 8. For cach of the transfer functions shown below, find the locations of the poles and zeros, plot them on the s-plane, and then write an expression for the general form ot the step response without solving for the inverse Laplace transform. State the nature of each response (overdamped, underdamped, and so on). 2 a= 3 5 BO Baa +O vy - Mts +7) © TO = Oy et 20) 20 O19) — aT Gee aa 2 eT) = 555 £ 15) ~ (s+5) © (s+ 10?Problems 235 MATLAB 9, Use MAFLAB to find the poles ct st+2s+2 MS) — Sey est pasty Ise Saote space 10. Find the transfer function and poles of the system represented in state space here: -4 1 ! 2 olx+|3}uq 7 - 7 a 0 0 aTLAB 1, Repeat Problem 10 using MATLAB, 12, Write the general form of the capacitor voltage for the electrical network shown in Figure P44. y=[2 8 -3[x xO = loKQ Ny Figure Pa. R Ss rin=uin(®) p= 10K. baw Sk Cok waTLaw —) 13. Use MATLAB to plot the capacitor vallage in Problem 12. 14. Solve for x(¢) in the system shown in Figure P4.5 if f(e) is a unit step. Faure Pas - foe un | Kr t Ee O00 4 M fn i i na EY 1S. The system shown in Figure P4.6 has a unit step input. Find the output response as a function of time. Assume the system is underdamped. Notice that the result will be Eq. (4.28). ponerse Ris) oF cs) eA Ee LS P¥2ho,nt ob 16, Derive the relationship for damping ratio as a function of percent overshoot, Eq. (4.39).236 Chapter 4 Time Response MATLAB QUI Tool FigureP47 17. Calculate the exact response of cach system of Problem 8 nsing Laplace transform techniques, and compare the results to those obtained in that problem. 18. Find the damping ratio und natural frequency for each second-order system of Problem 8 and show that the value of the damping ratio conforms to the type of response (underdamped, overdamped, and so on) predicted in that problem. A system has a damping ratio of 0.5, a natural frequency of 100 rad/s. and a dc gain of |. Find the response of the system to a unit step input 20. Foreach of the second-ordersystems that follow, find £, tp. Ts. Tp. Tr and %0S. aS 16 10) = Se a54 6 0.04 b TO = Fy 000s +004 5 x 107 c Ts) = i 341.6 108s + 1.05 107 21, Repeat Problem 20 using MATLAB, Have the computer program estimate the given specifications and plot the step responses. Estimate the rise time from the plots. 22, Use MATLAB's LTI Viewer and obtain setting time, peak time, rise te, and percent ‘overshoot for each of the systems m Problem 20. 23, For each pair of second-order system specifications that follow, find the loca- tion of the second-order pair of poles. a, %OS = 12%: 7, = 0.6 second b. %OS = 10%; %, = 5 seconds ©. T, = Tseconds; T, = 3 seconds Find the transfer function of a second-order system that yields @ 12.3% overshoot and a settling time of 1 second. 25. For the system shown in Figure P4.7, do the following: a. Find the transfer function G(s) = X(s) Fis). b. Find £. ea, %OS, T., Tp, and T,. 33Nm tenn | | ake bene 1 15 Nsim 26. For the system shown in Figure P4.8, a step torque is applied at 6,(0). Find a, The transfer function, Gls) = 03(8)/ T(). b. The percent overshoot, settling time, and peak time for 6(0).Problems = 237 Figure P48 TU) On oun ral Yi ee AQ J tet EI UNimsfead 1 Nanind | 27, Derive the unit step response for each transfer function in Example 4.8. 28. Find the percent overshoot, settling time, rise time, and peak time for 14.145 1) = (ay Bids + 28D eur! 29, For each of the unit step responses shown in Figure P4.9, find the transfer function of the system. Figure P4.9 z ligwe contrues Time (seconds) (a) 25 20 Response 5a 0 1 2 3 4 3 ‘Time fseconds) oy238 Chapter 4 Time Response Figure P49 {oontinved) 4 12 10 os Response 06 04 02 S| 10 6 20 25 ‘Time (seconds) © 30. For the tolowing response functions, determine if pole-zero cancellation can be approximated. If ut can, find percent overshoot, settting time, rise time, and peak time. = (s+3) 8 CO) — EF 4 38+ WD = (s4+25) be CW) = DG? 4 as FO) & ci = HPD CO) Sse Dye + +5) a. Cs) = +201 ss + 2? + Ss + 2) 31. Using MATLAB, piot the time response of Problem 30(a) and from the plot determme percent overshoot, setting time, rise tne, and peak time. 32, Find peak time, settling time, and percent overshoot for only those responses below that can be approximated as second-order responses. a c{f) = 0.003500 — 0.001524e — 0.001976 cas(22. 160) — 0.0005427e— sin(22. 162) B. (8) = 0.05190—0.007353e* 0.007647 * cos(8r) -0.01309e © sin(8t) &. c(f) = 0.009804 — 0.0001857e>" — 0,009990e-* cos(9. 7962) — 0.001942 * sing9.7961) . c(2) = 0.007000 — 0,001667¢~! — 0,008667e~* cos(9.9511) — 0.0008040e sin(9.9512)Problems = 239 33, For each of the following transfer functions with zeros. find the component parts of the unit step response: (1) the derivative of the response without a zero and (2) the response without a zero, scaled to the negative of the zero valuc. Also, find and plot the total response. Describe any nonminirmus- phase behavior, _ #2 §. 9) = Tat s-2 b. G9) = Sys +36 ‘Simulink 34, Use MATLAB's Simulink to obtain the step response of a system, 1 OS) ~ 5535410 under the following conditions: ‘a, The system is linear and driven by an amplifier whose gain 1s 10. b. Anampifer whose gamn is 10 drives the system. The amplifier saturates at +0.25 volts. Describe the effect of the saturation on the system's output. cc. An amplifier whose gain 1s 10 drives the system, The amplifier saturates at 0.25 volts. The system drives a 1:1 gear train that has backlash, The deadband width of the backlash is 0.02 rad. Describe the effect of saturation and backlash on the system's output. State Space 35+ Asystem is represented by the state and output equations that follow, With- out solving the state equation, find the poles of the system, ._|[-2 - 1 «= [72 he [fan y=[B 2x State space 36. A systemis represented by the state and output equations that follow. With- out solving the state equation, find a, the characteristic equation; b. the poles of the system 0 2 3] fo x=|0 6 Six+|tluo 142) | yall 2 Ox240 = — Chapter 4 Time Response State Space 37. Given the following state-space representation of a system, find Fis): . 1 2h fie e-[b Zee ftfina =[1 jx x0) = [Fl ate Baace 38. Given the following system represented in state space, solve for ¥(s) using the Laplace transform method for solution of the state equation: o 1 oO] fo x=-|-2 -4 1 ]x+lole* o 0 -6 1 0 y=[1 0 Olx: wo [| 0 39. Solve the following state equation and output equation for y(r), where (1) is the unit step. Use the Laplace transform method. 2 eu y=[0 Ix: xt) = State space 40. Solve for y(t) for the following system represented in state space, where = (1) is the unit step. Use the Laplace transform approach to solve the state equation, 3 1 Oo] fo K=] 0 -6 Ifx+]i fay o o -s} [i (0 y=(0 1 tx x0 -[e 0,Problems 241 MATLAB Al. Use MATLAB to plot the step response of Problen 40. ‘Symbolic Math 42. Repeat Problem 40 using MATLAB's Symbolic Math Toolbox and Eq. (4.96). In 1 addition, run your program with an initial condition, xf0) = | 1 |. 0 state space, 43. Using classical (not Laplace) methods only, solve for the state-transition - matrix, the state vector, and the output of the system represented here: ay x ya=[l x xO)= lil State Senco 44. Using classical (not Laplace) methods only, solve for the state-transition ‘matrix, the state vector, and the output of the system represented here. where u(t) is the unit step: 4 ae [peo y=(3 2]x, x0 = {}] state Space 48. Solve for y(0) for the following system represented in state space, where 441) is the unit step. Use the classical approach to solve the state equation. 2 1 0 ! 0 0 1[x+]olua 0-6-1) |o 0 =[1 0 Ox wo -[ 0 Symbolic Math ) 46. Repeat Problem 45 using MATLAB's Symbolic Math Toolbox and £9. (4.109). In 1 addition, run your program with an initial condition, x10) = | 0242 Chapter 4 Time Response State Space 47. Using methods described in Appendix G.1 on the accompanying CD-ROM, . Simulate the following system and plot the step response. Verify the expected values of percent overshoot, peak time, and settling time MO raat State Space 48. Using methods described in Appendix G.1 on the accompanying CD-ROM, — simulate the following system and plot the output, y(2), for a step input: Oo 1 0 0 ¥=]-10 -7 1 ]x4 lo} 0 0 -2 1 oI XO=T 1 Ox; x=} 0, 0 49. A human responds to a visual cue with a physical response, as shown in Figure P4.10, The transfer function that relates the output physical response, P(s), to the input visual command. V(x), is = PS) +05) | OO) = Toy > 1 aNe +5) (Stefani, 1973). Do the following: a, Evaluate the output response for a unit step input using the Laplace transform. State Space b, Represent the transter function in state space. MATLAB ¢. Use MATLAB to simulate the system and obtan a plot of the step response, Step 1: Ligh sourceon Step 2 Recognize light source Stop 3: Respond to light source Figure P4.10 Steps in determining the transfer {unction retating ovtout physical ‘response fo the input wsual commandState Space MATLAB Figure P4.11 Vacuum robot ts twobags of sat Problems 243 50. Industrial robots are used for myriad applications. Figure P4.11 shows a robot used to move 55-pound bags of salt pellets; a vacuum head lifts the bags before positioning. The robot can move as many as 12 bags per minute (Schneider, 1992). Assume a model for the open-loop s controller and plant of ws) _ K CAD = Vis) = Ge IE a EO) where «1,(s) is the Laplace transform of the robot's output swivel velocity and V,(s) is the voltage applied to the controller. a, Evaluate percent overshoot, settling time, peak time, and rise time of the response of the open-loop swivel velocity to a step-voltage input. Justify all second-order assumptions. 1b, Represent the open-loop system in state space ‘¢. Use MATLAB or any other computer program to simulate the system and compare your results to fa). 51. Anesthesia induces muscle relaxation (paralysis) and unconsciousness in the patient. Muscle relaxation can be monifored using electromyogram signals from nerves in the hand: unconsciousness can be monitored using the cardio- vascular system's mean arterial pressure. The anesthetic drug is a mixture of isoffurane and atracurium. An approximate model relating muscle relaxation to the percent isoflurane in the mixture is244 Chapter 4 Time Response Costral On. Figure P4.12 Ps) 7.63 x 107 Us) 4115s +028 where P(s) is muscle relaxation measured as a fraction of total paralysis (normalized to unity) and U(s) is the percent mixture of isoflurane (Linkens, 1992) a, Find the damping ratio and the natural frequency of the paralysis transient response. b. Find the maximum possible percent paralysis if a 2% mixture of isoflurane is used. ©. Plot the step response of paralysis if a 19 mixture of isoffurane is used. What percent isoflurane would have to be used for 100% paralysis? 52. To treat acute asthma, the drug theophylline is infused intravenously. The rate of change of the drug concentration in the blood is equal to the differ- ence between the infused concentration and the eliminated concentration, ‘The infused concentration is i(¢) Vz, where i(t) is the rate of fiow of the drug by weight and V, is the apparent volume and depends on the patient. The eliminated concentration is given by kigc(#), where c(¢) is the current concen- tration of the drug in the blood and Xo is the elimination rate constant. The theophylline concentration in the blood is critical—f it is too low, the drug is ineffective; if too high, the drug is toxic (Sannett, 1992). You will help the doctor with your calculations. . Derive an equation relating the desired blood concentration, Cp, to the required infusion rate by weight of the drug, Jn. b, Derive an equation that will tell how long the drug must be administered to reach the desired blood concentration. Use both tise time and settling ume. . Find the infusion rate of theophylline if Vp = 600ml, ko = Q.07h-!, and the required blood level of the drug is 12 mep/ml (“meg” means micrograms). See Jannett (1992) for a description of parameter values. a. Find the rise and settling times for the constants in (c). Design Problems 53. Fiod an equation that relates 2% settling time to the value of f, for the translational mechanical system shown in Figure P4,12. Neglect the mass of all components. h E—al Lr 2NimDesign Problems 245 ‘54, Consider the translational mechanical system shown in Figure P4.13. A |-pound force, f(®, is applied at r = 0. Tf f, = 1, find K and M such that the response is characterized by 2 2-second setting time and a I-second peak time. Also, what is the resulting percent overshoot? FurePa13 mA oi oO M bef 55. Given the translational mechanical system of Figure P4.13, where K = 1 and f(@) is a unit step, find the values of M and br f, to yield a response with 30% overshoot and a settling time of 10 seconds. 56. Find J and K in the rotational system shown in Figure P4,14 to yield a 30% ‘overshoot and a settling time of 4 seconds for a step input in torque. Figure P414 57. Given the system shown in Figure P4.15, find the damping, D, to yield a 30% overshoot in output angular displacement for a step input in torque. Figure P4.15, Ti By a “, a ___| Ny=25 N, 58, For the system shown in Figure P4.16, find NV, Nz so that the settling time for a step torque input is 16 seconds. Figure P4.16 no ] 1 N-mvrad_ N. Ie 1 kg-m? 000 fi LNap-sfrad246 == Chapter 4 Time Response 59. Find M and K, shown in the system of Figure P4.17, to yield x(0) with 10% overshoot and 10 seconds settling time for a step input in motor torque, TnfO- Figure P4.17 eo} ‘ Ny=10 J=1 kgm? 60. IF v,(0) is a step voltage in the network shown in Figure P4.18, find the value of the resistor such that a 20% overshoot in voltage will be seen across the capacitor if C = 10° F and £ = 1H, Figure P4.18 R L AM OBI vine — e G1. If vii) is a step voltage in the network shown in Figure P4.18, find the values 7 of R and € to yield a 20% overshoot and a | ms settling time for ve(#) 62. Given the circuit of Figure P4.18, where € = 10 pF, find Rand L to yield 15% overshoot with a settling time of 2 ms for the capacitor voltage. The input, v(2), is a unit step. 63, For the circuit shown in Figure P4.19, find the values of Ry and C to yield 15% overshoot with a settling time of I ms for the voltage across the capaci- tor, with v,(¢) as a step input. Figure P4.19 1 ao wo) ima Tm Vell)FigureP4.20 Purp diagrern State Spaco MATLAB Design Problems 247 k Large actuator a 4 Nem] Swashptate Piston ; : Discharge port = Setimaa Fe eT Slipper spmg—" AN Smatl actuator 64, Hydraulic pumps are used as inputs to hydraulic circuits to supply pressure, just as voltage sources supply potential to electric circuits. Applications for hydraulic circuits can be found in the robotics and aircraft industries, where hydraulic actuators are used to move component parts. Figure P4.20 shows the internal parts of the pump. A barrel containing equally spaced pistons rotates about the i-axis. A swashplate, set at an angle, causes the slippers at the ends of the pistons to move the pistons in and out. When the pistons are moving across the intake port, they are extending, and when they are moving across the discharge port, they are retracting and pushing fluid from the port. The large and small actuators at the top and bottom, respectively, control the angle of the swashplate, cz. The swashplate angle affects the piston stroke length. Thus, by controlling the swashplate angle, the pump discharge flow rate can be regulated. Assume the state equation for the hydraulic pump is [ex — 14000K,) —0.255 x 10° ‘|: 3 AS + 14000K, Gi rae cad Jos ehere xi [Fl and P, is the pump discharge pressure (Manring, 1996). Find the value of controller flow-gain, K., so that the damping ratio of the system's poles is 0.9. 0.499 x 10! -3.68 Progressive Analysis and Design Problem 65, High-speed rail pantograph. Problem 55(c) in Chapter 2 asked you to find GS) = (Yas) — Yeo); Fuy() (O'Connor, 1997). 18, Use the dominant poles from this transfer function and estimate percent over- shoot, damping ratio, natural frequency, settling time, peak time, and rise time. b, Determine if the second-order approximation is valid, . Obtain the step response of Gts) and compare the results to (a).248 Chapter 4 Tame Response Cyber Exploration Laboratory Experiment 4.1 Objective: ‘To evaluate the effect of pole and zero location upon the time response of first-and second-order systems Minimum required software packages MATLAB, Simulink, and the Control System Toolbox Preiab 1. iven the transfer function G(s) = aa Evaluate settling time and rise time for the following values of a: 1, 2, 3,4. Also, plot the poles. 2. Given the transfer function G(s) = 5° (a) Evaluate percent overshoot, settling time, peak time, and rise time for the following values: a = 4, b = 25. Also, plot the poles. (b) Calculate the values of and & so that the imaginary part of the poles re- Tains the same but the real pan is increased 2 times over that of (a), and repeat Prelab 2(a). (©) Calculate the values of « and b so that the imaginary part of the poles re- mains the same but the real part is decreased J time over that of (a), and repeat Prelab (2a). cy (a) For the system of Prelab 2(2), calculate the values of a und b so that the real part of the poles remains the sartie but the imaginary patt is increased 2 times over that of Prelab 2(a), and repeat Prelab 2(a). (b) For the system of Prelab 2(a), calculate the values of a and b so that the real part of the poles remains the same but the imaginary part is increased 4 times over that of Prelab 2(a), and repeat Prelab 2(a).. 4 (a) For the system of Prelab (a), calculate the values of a and b so that the damping ratio remains the same but the natural frequency is increased 2 times over that of Prelab 2(a), and repeat Prelab 2(a) (b) For the system of Prelab 2(a), calculate the values of a and b so that the damping ratio remains the same but the natural frequency is increased 4 times over that of Prelab 2a), and repeat Prelab 2a). S. Briefly describe the effects on the time response as the poles are changed in each of Prelabs 2, 3, and 4. Lab LL Using Simulink, set up the systems of Prelab | and plot the step response of cach of the four transfer functions on a single graph by using the Simulink LTI Viewer. Also, record the values of settling time and rise time for each step response.Cyber Exploration Laboratory = 249. 2, Using Simulink, set up the systems of Prelab 2. Using the Simulink LTI Viewer, plot the step response of each of the 3 transfer functions on a single graph. Also, record the values of percent overshoot, settling time, peak time, and rise time for each step response. 3. Using Simulink, set up the systems of Prelab 2(a) and Prelab 3. Using the Simulink LTI Viewer, plot the step response of each of the 3 transfer functions ona single graph. Also, record the values of percent overshoot, settling time, peak time, and rise time for each step response. 4, Using Simulink, sct up the systems of Prelab 2{a) and Prelab 4. Usmg the Simulink LTT Viewer, plot the step response of each of the 3 transfer functions on a single graph. Also, record the values of percent overshoot. settling time. peak time, and rise time for each step response. Postlab 1, For the first-order systems, make a table of calculated and experimental values, of settling time, rise time. and pole location. 2, For the second-order systems of Prelab 2, make a table of calculated and experi- mental values of percent overshoot, settling time, peak time, rise time, and pole. location. For the second-order systems of Prelab 2(a) and Prelab 3, make a table of cal- culated and experimental values of percent overshoot, sctiling time, peak time, rrise time, and pole location. For the second-order systems of Prelab 2{a) and Prelab 4, make a table of cal- culated and experimental values of percent overshoot, settling time, peak time, rise time, and pole location. Discuss the effects of pole location upon the time response for both first- and second-order systems. Discuss any discrepancies between your calculated and ‘experimental values. Experiment 4.2 Objective: To evaluate the effect of additional poles and zeros upon the time re- sponse of second- order systems. Minimum Required Software Packages MATLAB, Simulink, and the Control System Toolbox Prelab: 1, ¥ > ” (a) Given the transfer function Gis) = oe Evaluate the percent 25 overshoot, settling time, peak time, and rise time. Also, plot the poles. (b) Add a pole at —200 to the system of (2). Estimate whether the transient response in (a) willl be appreciably affected. (©) Repeat (b) with the pole successively placed at —20, —10, and —2.250 Chapter 4 Time Response 2. A zero is added to the system of Prelab I{a) at —200 and then moved to —50, —20, -10, —5, and —2. List the values of zero location in the order of the greatest (o the least effect upon the pure second-order transient response. 3. Given the transfer function G(s) = me om = 3andb = 3.01, 3.1, 3.3, 3.5, and 4.0. Which values of b will have minimal effect upon the pure Second-order transient response? . ; . 2500 alistay 4. Given the transfer function G(s) = Gt e+ “40s + 2500) 2500) Leta = 30 and b = 30.01, 30.1, 30.5, 31, 35, and 40. Which values of & will have minimal effect upon the pure second-order transient response? Lab 1. Using Simulink, add apole to the second-order system of Prelab 12) and plot the step responses of the system when the higher-order pole is nonexistent, at —200, —20, —10, and —2. Make your plots on a single graph, using the Simulink LT1 Viewer, Normalize all plots to a steady-state value of unity. Record percent overshoot, setting time, peak time, and rise time for each response. 2. Using Simulink, add a zero to the second-order system of Prelab Ia) and plot the step responses of the system when the zero is nonexistent, at —200, —50, —20, =10, 5, and —2. Make your plots on a single graph, using the Simulink LTI Viewer. Normalize all plots to a steady-state value of unity. Record percent overshoot, settling time, peak time, and rise time for each response. 3. Using Simulink and the eransfer function of Prelab 3 with « — 3, plot the step responses of the system when the value of b is 3, 3.01, 3.1, 3.3, 3.5, and 4.0. ‘Make your plots on a single graph using the Simulink LTI Viewer. Record per- cent overshoot, settling time, peak time, and rise time for each response. 4, Using Simulink and the transfer function of Prelab 4 with a = 30, plot the step responses of the system when the value of b is 30, 30.01, 30.1, 30.5, 31, 35, and 40. Make your plots on a single graph, using the Simulink TI Viewer, Record percent overshoot, settling time, peak time, and rise time for each response. Postlab 1. Discuss the effect upon the transient response of the proximity of a bigher-order pole to the dominant second-order pole pair. 2. Discuss the effect upon the transient response of the proximity of a zero to the dominant secand-order pole pair. Explore the relationship berween the lengih of the vector from the zero to the dominant pole and the zero’s effect upon the pure second-order step response. 3. Discuss the effect of pole-zero cancellation upon the transtent response of a dominant second-order pole pair. Allude to how close the canceling pole and zero should be and the relationships of (1) the distance between them and (2) the distance between the zero and the dominant second-order poles.