PROBLEMS

7.1. A step change of magnitude 4 is introduced into a system having the transfer
function
af
Y s
= 2
10
af
X s s +1.6s + 4
Determine

(a) Percent overshoot

(b) Rise time
(c) Maximum value of Y t af
(d) Ultimate value of Y at f
(e) Period of oscillation

Graphical Solution using Simulink:

 Percent Overshoot
(12.54-10)/10*100% =
25.4%

Ultimate Value
10.0

Rise Time
1.09
Peak Value
12.54

Period of Oscillation
5.1-1.7=3.4 time units
 7.2. The two-tank system shown in Fig. P7.2 is operating at steady state. At time
t = 0 , 10 ft 3 of water are quickly added to the first tank. Using appropriate figures and
equations in the text, determine the maximum deviation in level (feet) in both tanks
from the ultimate steady-state values and the time at which each maximum occurs.
Data:
A1 = A2 = 10 ft 2
R1 = 0.1ft / cfm
R2 = 0.35 ft / cfm

Figure P7.2
τ 1 = A1 R1 = 1min τ 2 = A2 R2 = 3.5 min
Q1 1 H1 R 0.1
= = 1 =
Q0 s + 1 Q0 s + 1 s + 1
H2 R2 0.35
= =
Q1 3.5s + 1 3.5s + 1
Q0 = 10 (impulse mag=10)
10 10 s
Q1 = which we can simulate in Simulink as: *
s +1 s s +1

Simulink simulation of the process: Note the s term in the numerator of the Tank 1
transfer function is used to combine with the step input of magnitude 10 to simulate the
impulse input function.
 Tank 1 peaks
at t=0 at 1ft
deviation

Tank 2 peaks at
t=1.75 at 0.605ft
deviation

Expanded
View of
Peak…
Solution 7.2
Solution 7.2 cont’d
Using MATLAB to help solve 7.2:
1
H 1 ( s) =
s +1
35
. ⎡ −1 / 2.5 35. / 2.5 ⎤
H 2 ( s) = = 35
. ⎢ +
( s + 1)(35. s + 1) ⎣ s +1 . s + 1 ⎥⎦
35

where the latter has been expanded in partial fractions. Inverting the two transforms:

H1 (t ) = exp( −t )
H 2 (t ) = ( 35
. / 2.5)( − exp( − t ) + exp( − t / 35
. ))

We can check this last result using Matlab:

H2=invlaplace('3.5/(s+1)/(3.5*s+1)')

H2 =
-1.400000000000000*exp(-1.*t)+1.400000000000000*exp(-
.2857142857142857*t)

Therefore, the maximum deviation in the height of tank 1 is 1 foot at t=0. To find the
maximum deviation in the height of tank 2 differentiate H2 and set equal to zero:

0=exp(-t)-exp(-t/3.5)/3.5
0.6
or

0=3.5-exp[(2.5/3.5)t] 0.5

t=log(3.5)*3.5/2.5
0.4
t =
H2

1.7539
0.3
while the maximum deviation in height in
tank 2 is given by:
0.2
H2max=eval(H2)

H2max = 01
0.6059

Let's plot H2

ezplot(H2,[0 5]), title('Problem 7.2'); ylabel('H2');

7.3. The two-tank liquid-level system shown in Fig. P7.3 is operating at steady state when
a step change is made in the flow rate to tank 1. The transient response is critically
damped, and it takes 1.0 min for the change in level of the second tank to reach 50
percent of the total change.

Figure P7.3
If the ratio of the cross-sectional areas of the tanks is A1 / A2 = 2 , calculate the ratio
R1 / R2 . Calculate the time constant for each tank. How long does it take for the change in
level of the first tank to reach 90 percent of the total change?
P7.3
7.4 Use Simulink to solve Problem 7.3.
R1 1 A2
Critically damped means that τ 1 = A1 R1 = τ 2 = A2 R2 , so = =
R2 2 A1

prob7_3.mdl

1 1
tau .s+1 tau .s+1
Step Transfer Fcn Transfer Fcn 1 Scope

1
Out 1

By trial and error… changing the value of tau manually in the transfer functions and
printing the Scope output.

tau=1 (too big, the response is only ~27% complete at t=1min)

tau=0.5 (too small, the response is ~60% complete at t=1min)

tau=0.6 (pretty close, the response is ~60% complete at t=1min)

Another way, using an m-file to call the Simulink simulation and change
the value of tau automatically.
M-File: prob7_3_driver.m
% the variable h is used to plot each line in different colors
h(1,:)='g- ';
h(2,:)='r-.';
h(3,:)='b: ';
h(4,:)='k--';
h(5,:)='k- ';
for i=1:5
z=[0.2,0.4,0.6,0.8,1.0];
tau=z(1,i);
% the variable tau in the 'sim' statement is taken from the outport in
the model
[t,x,y]=sim('prob7_3',10);
plot(t,y(:,1),h(i,:))
%plot(t,y(:,1),h(5,:)); %plots in all black
hold on
end
grid
title('Height vs time for tau=0.2,0.4,0.6,0.8,1.0');
hold off

Height vs time for tau=0.2,0.4,0.6,0.8,1.0

1

0.9

0.8

tau=0.2
0.7
tau=0.4
tau=0.6
tau=0.8
0.6 tau=1.0
Tank 2 Height

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 1 1
0.6s+1 0.6s+1
Step Transfer Fcn Transfer Fcn 1 Scope

1
Out 1

Yellow is Tank 1
Magenta is Tank 2

The time
for Tank 1
response to
be 90%
complete is
~1.39min
7.5. Design a mercury manometer that will measure pressures up to 2 atm absolute and
will give responses that are slightly underdamped (that is, ζ = 0.7 ).
g
μ Hg = 1.526cP @25C = 1.526*10−2
cmisec
s.g . = 13.6
From Eq(7.10):
8μ 3L
ζ =
ρ D2 2g
The design specs are:
ΔP = 2atm = 1520mmHg = 152cmHg
ζ = 0.7
Specify L and D:

(8) ⎛⎜1.526*10−2
g ⎞
⎟ 3L
⎝ cmisec ⎠
0.7=
⎛ g ⎞ 2 ⎛ cm ⎞
⎜13.6 3 ⎟ D 2 ⎜ 980 2 ⎟
⎝ cm ⎠ ⎝ sec ⎠
1992 D 2 = L
This equation relates L and D for a damping coefficient of 0.7.
L must be sufficient to allow a deflection to produce a reading of 152cm plus enough
additional length to allow for the bottom of the "U" shape, plus more to allow for the
transient overshoot, since the damping coefficient is less than 1.0. From Fig. 7-7, the overshoot is
approximately 10% of the steady state deflection. Thus we need another 15cm to accomodate
the overshoot. So, we need a total of 167cm to cover the maximum deflection of the Hg column
for a 2atm pressure differential, plus additional length to allow for the bottom of the "U" shape.
If we say 12 inches, or approximately 30cm, for the "U" shape, we need a minimum of ~200cm
of mercury column length. Once we choose L, we can calculate an appropriate D.
7.6. Verify Eqs. (7.18), (7.20), and (7.21).
No answer will be given.

7.7. Verify Eqs. (7.25) and (7.26).

No answer will be given.

7.7. Verify Eq. (7.41).

No answer will be given.
7.9. If a second-order system is overdamped, it is more difficult to determine the
parameters ζ and τ experimentally. One method for determining the parameters from
a step response has been suggested by R. C. Oldenbourg and H. Sartorius (The
Dynamics of Automatic Controls. ASME, p. 78, 1948), as described below.
(a) Show that the unit-step response for the overdamped case may be written in the form

af
S t = 1−
r1e r2 t − r2 e r1t
r1 − r2
where r1 and r2 are the (real and negative) roots of
τ 2 s 2 + 2ζτs +1 = 0
af
(b) Show that S t has an inflection point at

ti =
b
ln r2 / r1 g
r1 / r2
(c) Show that the slope of the step response at the inflection point
dS ( t )
|t =ti = S ′ ( ti )
dt
has the value
S ′ ( ti ) = − r1e r1ti = −r2 e r2ti
r1 ( r1 − r2 )
⎛r ⎞
= −r1 ⎜ 2 ⎟
⎝ r1 ⎠
(d) Show that the value of the step response at the inflection point is
r1 + r2
S ( ti ) = 1+ S ′ ( ti )
r1r2
and that hence
bg
1 − S ti 1 1
= −
bg
S ′ ti r1 r2
(e) On a typical sketch of a unit-step response, show distances equal to
1 1 − S ( ti )
and
S ′ ( ti ) S ′ ( ti )
and hence present two simultaneous equations resulting from a graphical method for
determination of r1 and r2 .
(f) Relate ζ and τ to r1 and r2 .
7.9 Solution
7.9 Solution cont’d
7.9 Solution cont’d
 7.10. af
Determine Y(0), Y(0.6), and Y ∞ if
25as +1f
af
Y s =
1
s s 2 + 2 s + 25
Solution:
7.10 MATLAB Solution
syms s t y
y=25*(s+1)/s/(s^2+2*s+25)
y =
(25*s+25)/s/(s^2+2*s+25)
>> Y=ilaplace(y)
Y =
1+(-cos(2*6^(1/2)*t)+2*6^(1/2)*sin(2*6^(1/2)*t))*exp(-t)
ezplot(Y,[0,5])
grid

Matlab Plot of Solution to Problem 7.10

5

4.5

3.5

2.5
X: 0.6005
Y: 2.071

2
Y

1.5

0.5

-0.5

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

t
7.10 Simulink Solution:

Ultimate Value = 1.0

Initial Value = 0
Y(0.6) = 2.08
7.11 In the liquid-level system shown in Fig. P7.11, the deviation in flow rate to the first
tank is an impulse function of magnitude 5. The following data apply:
A1 = 1ft 2 , A2 = A3 = 2 ft 2 , R1 = 1ft / cfm, R2 = 1.5 ft/cfm.

Figure P7.11
af af af
(a) Determine expressions for H1 s , H2 s , and H3 s where H1 , H2 , and H3 are
deviations in tank level for tanks, 1, 2, and 3.
af af af
(b) Sketch the responses of H1 t , H2 t , and H3 t . (You need show only the shape of the
responses; do not plot.)
a f a f a f
(c) Determine H1 3.46 , H2 3.46 , and H3 3.46 . For H2 and H3 , use graphs in Chap. 7
of this text after first finding values of τ and ζ for an equivalent second-order
system.
7.11 Solution
7.11 Solution Cont’d
 2
Out 2
1.5 H2
R2

s 1 1
Impulse Mag 5 s+1 Q1 and H1 3s+1 Q2 2s H3
(since R 1=1)
Step Mag 5 Tank 1 Tank 2 Tank 3
Scope

Q1 and H1
(since R1=1)

3
Out 3

1
Out 1
x=[tout,yout]

x =

0 5.0000 0 0
0.0000 5.0000 0.0000 0.0000
0.0000 4.9998 0.0001 0.0000
0.0002 4.9988 0.0006 0.0000
0.0012 4.9938 0.0031 0.0000
0.0063 4.9687 0.0156 0.0000
0.0314 4.8455 0.0768 0.0004
0.1570 4.2736 0.3536 0.0096
0.4717 3.1197 0.8646 0.0755
0.8717 2.0912 1.2360 0.2184
1.2717 1.4018 1.4030 0.3961
1.6717 0.9396 1.4432 0.5869
2.0717 0.6299 1.4074 0.7776
 2.4717 0.4222 1.3285 0.9604
2.8717 0.2830 1.2276 1.1309
3.2717 0.1897 1.1178 1.2873 t=3.46 is halfway between
3.6717 0.1272 1.0074 1.4290
4.0717 0.0852 0.9012 1.5562
4.4717 0.0571 0.8018 1.6696
4.8717 0.0383 0.7105 1.7703
5.2717 0.0257 0.6277 1.8595
5.6717 0.0172 0.5533 1.9381
6.0717 0.0115 0.4869 2.0074
6.4717 0.0077 0.4279 2.0683
6.8717 0.0052 0.3756 2.1218
7.2717 0.0035 0.3296 2.1687
7.6717 0.0023 0.2889 2.2099
8.0717 0.0016 0.2532 2.2460
8.4717 0.0010 0.2219 2.2776
8.8717 0.0007 0.1943 2.3053
9.2717 0.0005 0.1702 2.3296
9.6717 0.0003 0.1490 2.3508
10.0717 0.0002 0.1305 2.3694
10.4717 0.0001 0.1142 2.3857
10.8717 0.0001 0.1000 2.4000
11.2717 0.0001 0.0875 2.4125
11.6717 0.0000 0.0766 2.4234
12.0717 0.0000 0.0670 2.4329
12.4717 0.0000 0.0587 2.4413
12.8717 0.0000 0.0514 2.4486
13.2717 0.0000 0.0449 2.4550
13.6717 0.0000 0.0393 2.4607
14.0717 0.0000 0.0344 2.4656
14.4717 0.0000 0.0301 2.4699
14.8717 0.0000 0.0264 2.4736
15.2717 0.0000 0.0231 2.4769
15.6717 0.0000 0.0202 2.4798
16.0717 0.0000 0.0177 2.4823
16.4717 0.0000 0.0155 2.4845
16.8717 0.0000 0.0135 2.4865
17.2717 0.0000 0.0118 2.4882
17.6717 0.0000 0.0104 2.4896
18.0717 0.0000 0.0091 2.4909
18.4717 0.0000 0.0079 2.4921
18.8717 0.0000 0.0070 2.4930
19.2717 0.0000 0.0061 2.4939
19.6717 0.0000 0.0053 2.4947
20.0000 0.0000 0.0048 2.4952
 af af af
7.12. Sketch the response Y t if Y s = e −2 s / s 2 +1.2 s +1 . Determine Y t for
t = 0,1,5, and ∞ .

Simulink Solution:

Y (0) = Y (1) = Y (∞) = 0 , Y(5)=0.141

Matlab Solution:

y=exp(-2*s)/(s^2+1.2*s+1)

y =

exp(-2*s)/(s^2+6/5*s+1)

Y=ilaplace(y)

Y =

5/4*heaviside(t-2)*exp(-3/5*t+6/5)*sin(4/5*t-8/5)

t=5

t =

eval(Y)

ans =

0.1396 (very close to the Simulink answer)

7.13. The two tanks shown in Fig. P7.13 are connected in an interacting fashion. The
system is initially at steady state with q = 10 cfm. The following data apply to the
tanks: A1 = 1ft 2 , A2 = 1.25ft 2 , R1 = 1ft / cfm, R2 = 0.8 ft/cfm.

Figure P7.13
af
(a) If the flow changes from 10 to 11 cfm according to a step change, determine H2 s ,
af
i.e., the Laplace transform of H2 t , where H2 is the deviation in h2 .
(b) Determine H a1f, H a 4f , and H a∞f .
2 2 2

af af
(c) Determine the initial levels (actual levels) h1 0 and h2 0 in the tanks.
af
(d) Obtain an expression for H1 s for the unit-step change described above.
7.13 Solution
7.13 Solution Cont’d
MATLAB Solution for 7.13 part b:
syms s t h
h=0.8/s/(s^2+2.8*s+1)
h =
4/5/s/(s^2+14/5*s+1)
H=ilaplace(h)
H =
4/5-1/15*exp(-
7/5*t)*(12*cosh(2/5*t*6^(1/2))+7*6^(1/2)*sinh(2/5*t*6^(1/2)))
ezplot(H,[0,10])
grid

H(1)=0.1761ft
H(4)=0.622ft
7.14. From figures in your text, determine Y(4) for the system response expressed by

af
ys =
2
2
2s + 4
s 4 s + 0.8s +1
7.15. A step change of magnitude 3 is introduced into the transfer function
af af
Y s / X s = 10 / 2 s 2 + 0.3s + 0.5
Determine the overshoot and the frequency of oscillation.