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Chapter 2: Modeling in the Frequency Domain

ME 370 Chapter 4
Homework and other Problems

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

Chapter 2: Modeling in the Frequency Domain

Homework
1. Solve Problem 4.2 (b). 2. Solve problem 4.8, also 4.17 &18 (d), (e), and (f) 3. Solve problem 4.19 4. Solve problem 4.24 5. Solve problem 4.25
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Chapter 2: Modeling in the Frequency Domain

Problem 4.2 (a) and (b)

Find the output response, c(t), for each of the system shown here. Also find the time constant, rise time, and settling time for each case
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Chapter 2: Modeling in the Frequency Domain

Solution Problem 4.2

a. C(s) = 5/{s(s+5)} = 1/s 1/(s+5) . Therefore, c(t) = 1 - e-5t. Also, T = 1/5 , Tr = 2.2/a = 2.2/5 = 0.44, Ts = 4/a = 4/5 = 0.8.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.3
Plot the step responses for Problem 4.2 using MATLAB

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Chapter 2: Modeling in the Frequency Domain

Program: '(a)' num=5; den=[1 5]; Ga=tf(num,den) subplot(1,2,1) step(Ga) title('(a)')

Computer response: ans = (a) Transfer function: 5 s+5 ans =

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Solution Problem 4.2 (b)

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.4
Find the capacitor voltage in the network shown here 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
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Chapter 2: Modeling in the Frequency Domain

Solution 4.4
VC ( s ) 2 ! ! Vi ( s ) R  1 s2 Cs 5 Vi ( s ) ! s 10 5 5 VC ( s) ! !  s ( s  2) s s  2 VC (t ) ! 5  5e  2t 1 2.2 2.2 4 4 T ! , Tr ! ! ! 1.1, Ts ! ! ! 2 a a 2 2 2
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1 Cs

By voltage division

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Chapter 2: Modeling in the Frequency Domain

Problem 4.5
Plot the step responses for Problem 4.4 using MATLAB From the plots, find the time constant, rise time, and settling time

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Chapter 2: Modeling in the Frequency Domain

Solution 4.5
Program:
clf num=2; den=[1 2]; G=tf(num,den) step(5*G)

Computer response:
Transfer function: 2 s+2
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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.6

M 8

(a) Find an equation that relates settling time of the velocity of the mass to M (b) Find an equation that relates rise time of the velocity of the mass to M
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Chapter 2: Modeling in the Frequency Domain

Solution 4.6
1 X (s) ! F ( s ) Ms 2  8s velocity V; V ( s ) ! sX ( s ) 1 sX ( s ) ! ! F ( s) Ms  8 s  8 M 4 1 2.2 Ts ! ! M , Tr ! ! 0.275M 8 8 2 M M
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1 M

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Chapter 2: Modeling in the Frequency Domain

Problem 4.7
Program: Clf M=1 num=1/M; den=[1 8/M]; G=tf(num,den) step(G) pause M=2 num=1/M; den=[1 8/M]; G=tf(num,den) step(G)
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Chapter 2: Modeling in the Frequency Domain

Computer response: Transfer function: M= 1 Transfer function: 1 ----s+8 M= 2 Transfer function: 0.5 ----s+4

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.8
Find the locations of the poles and zeros, plot them on the s-plane, and then write an expression for the general form of the step response without solving for the inverse Laplace transform. State the nature of each response (overdamped, underdamped, and so on)
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Chapter 2: Modeling in the Frequency Domain

2 (a) T (s ) ! s2 (b ) T ( s ) ! (c ) 5

s  3 s  6 10s  7 T (s) ! s  10 s  20

20 (d ) T (s) ! 2 s  6 s  144 s2 (e) T ( s ) ! 2 s 9 s  7 ( f ) T (s) ! 2 s  10

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Chapter 2: Modeling in the Frequency Domain

a. Pole: -2; c(t) = A + Be-2t ; first-order response. b. Poles: -3, -6; c(t) = A + Be-3t + Ce-6t; overdamped response. c. Poles: -10, -20; Zero: -7; c(t) = A+Be-10t +Ce-20t ; overdamped response. d. Poles: (-3+j11.6 ), (-3-j11.6 ) ; c(t) = A + Be-3t cos (11.6 t + ); underdamped. e. Poles: j3, -j3; Zero: -2; c(t) = A + B cos (3t + ); undamped. f. Poles: -10, -10; Zero: -5; c(t)=A+Be-10t +Cte-10t; critically damped.
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Chapter 2: Modeling in the Frequency Domain

Problem 4.9
Find the poles using MATLAB

s  2s  2 T ( s) ! 4 3 2 s  6s  4s  7 s  2
2

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Chapter 2: Modeling in the Frequency Domain

Solution 4.9
Program: p=roots([1 6 4 7 2]) Computer response: p= -5.4917 -0.0955 + 1.0671i -0.0955 - 1.0671i -0.3173
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Chapter 2: Modeling in the Frequency Domain

Problem 4.10
Find the transfer function and poles of the system
 x1 8  4 1 x1 1 x !  3 2  0 x2  3u (t ) 2 x2 5 7  9 x3 7  0 y ! ?2 8  3Ax; x(0) ! 0 0

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Chapter 2: Modeling in the Frequency Domain

Solution 4.10
G ( s) ! C ( sI  A) 1 B s 2  7 s  18  4s  29 s2 1 2 1 ( sI  A) ! 3 2 3  3s  27 s  s  77 s  s  91s  67 2 5s  31 7 s  76 s  10 s  4 5s 2  136s  1777 G ( s) ! 3 2 s  s  91s  67

Factoring the denominator, or using det(sI-A), we find the poles to be 9.683, 0.7347, -9.4179.
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Chapter 2: Modeling in the Frequency Domain

Solution 4.11
Program: A=[8 -4 1;-3 2 0;5 7 -9] B=[1;3;7] C=[2 8 -3] D=0 [numg,deng]=ss2tf(A,B,C,D,1); G=tf(numg,deng) poles=roots(deng) Computer response: A= 8 -4 1 -3 2 0 5 7 -9 B= 1
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Chapter 2: Modeling in the Frequency Domain

3 7 C= 2 8 -3 D= 0 Transfer function: 5 s^2 + 136 s - 1777 --------------------s^3 - s^2 - 91 s + 67 poles = -9.4179 9.6832 0.7347

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Chapter 2: Modeling in the Frequency Domain

Problem 4.12
Write the general form of the capacitor voltage for the electrical network shown below

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Chapter 2: Modeling in the Frequency Domain

Solution 4.12
1 VC ( s )  V ( s ) 1 VC ( s )  !0 R Ls  Cs  R1 2 1 10s VC ( s ) R1 ! ! 2 1 1 1 V ( s)    Cs s  20s  500 R1 R2 Ls 1 V ( s) ! s 10 VC ( s ) ! 2 s  20 s  500 VC (t ) ! Ae 10 t cos(20t  J )
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Node equation at capacitor

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Chapter 2: Modeling in the Frequency Domain

Solution 4.13
Program: num=[10 0]; den=[1 20 500]; G=tf(num,den) step(G) Computer response: Transfer function: 10 s ---------------s^2 + 20 s + 500
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Chapter 2: Modeling in the Frequency Domain

Problem 4.14
Solve for x(t) in the system for a unit step f(t)

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Chapter 2: Modeling in the Frequency Domain

Solution 4.14
1 1 X ( s) ! ! 2 2 F ( s ) Ms  f v s  k s s  s  5 1 1 1 s 1 5 5 !5 X ( s) ! 2 s s2  s  5 s 1 19 s   2 4

19 1 1 0.5t 1 19 cos x (t ) !  e 2 t  19 sin 2 t 5 5 19 1  0.5t 0 cos x(t ) ! 1  e t  12.92 2 5

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Chapter 2: Modeling in the Frequency Domain

Problem 4.15
Find the output response as a function of time. Assume the system is underdamped. The system has a unit step input

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Chapter 2: Modeling in the Frequency Domain

Solution 4.15
2 [n 1 s  2\[n C ( s) ! !  2 2 2 2 s   2\[n s  [n s s  2\[n s  [ n s

s  2\[n s  \[n  \[n 1 1 C ( s) !  !  2 2 2 2 s s  \[n  [ n  \ [n s s  \[ 2  [ 1  \ 2 n n

1 !  s

s  \[n 

\[n [n 1  \ 2
2

[n 1  \ 2
2

s  \[n
\[n t

 [n 1  \

c (t ) ! 1  e

\ 2 2 cos [ n 1  \ t  sin [ n 1  \ t 2 1 \
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Chapter 2: Modeling in the Frequency Domain

Problem 4.16
Derive the relationship for damping ratio as a function of percent overshoot

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Chapter 2: Modeling in the Frequency Domain

Solution 4.16
 \T

%OS ! e

1\ 2

*100

 \T %OS ln ! 2 100 1 \ %OS ln 100 2 \ ! 2 2 %OS T  ln 100

2

%OS ln 100 \ ! 2 2 %OS T  ln 100

Negative solution gives a positive damping ratio

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Chapter 2: Modeling in the Frequency Domain

Problem 4.17
Calculate the exact response of each system using Laplace transform techniques, and compare the results to those obtained from Problem 4.8

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Chapter 2: Modeling in the Frequency Domain

2 (a) T (s ) ! s2 (b ) T ( s ) ! (c ) 5

s  3 s  6 10s  7 T (s) ! s  10 s  20

20 (d ) T (s) ! 2 s  6 s  144 s2 (e) T ( s ) ! 2 s 9 s  7 ( f ) T (s) ! 2 s  10

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Chapter 2: Modeling in the Frequency Domain

(a)

1 1 1 !  C (s) ! s s  2 s s  2 c(t ) ! 1  e 2t

(b)

5 5 1 5 1 5 1 !   C (s) ! s s  3 s  6 18 s 9 s  3 18 s  6 5 5  3t 5  6 t c(t ) !  e  e 18 9 18

10s  7 7 1 3 1 13 1 (c) C ( s ) ! !   s s  10 s  20 20 s 10 s  10 20 s  20 7 3 10t 13 20t  e  e c(t ) ! 20 10 2000, 20 Wiley & Sons, Inc. John
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Chapter 2: Modeling in the Frequency Domain

(d) H.W.

(e)

H.W.

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Chapter 2: Modeling in the Frequency Domain

(f)

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.18
Find the damping ratio and 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.

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Chapter 2: Modeling in the Frequency Domain

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.19
A system has a damping ratio of 0.5, a natural frequency of 100 rad/s, dc gain of 1. Find the response of the system to a unit step input.

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Chapter 2: Modeling in the Frequency Domain

lim sX ( s ) ! 1
s p0

k 2 lim 2 ! 1, k ! [n s p0 s  2:[ s  [ 2 n n

dc gain=1

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.20
For each of the second-order systems that follow, find ^, [n, Ts,, Tp, Tr, and %OS

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.21
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

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.22
Use MATLAB's LTI Viewer and obtain settling time, peak time, rise time, and percent overshoot for each of the systems in Problem 20.

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.23
For each pair of second-order system specifications that follow, find the location of the second-order pair of poles. a. %OS = 12%; Ts = 0.6 second b. %OS = 10%; Tp = 5 seconds c. Ts = 7 seconds; Tp = 3 seconds
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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.24
Find the transfer function of a second-order system that yields a 12.3% overshoot and a settling time of 1 second.

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Chapter 2: Modeling in the Frequency Domain

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.25

a. Find the transfer function G(s) = X(s)/F(s). b. Find ^, %OS, Ts, Tp, and Tr.
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Chapter 2: Modeling in the Frequency Domain

H.W.

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Chapter 2: Modeling in the Frequency Domain

Problem 4.26

For the system shown in Figure P4.8, a step torque is applied at U(t), a. The transfer function, G(s) = U2(s)/T(s). b. The percent overshoot, settling time, and peak time for U2(s).
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Chapter 2: Modeling in the Frequency Domain

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Chapter 2: Modeling in the Frequency Domain

Problem 4.29

Find the transfer function of the system

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Chapter 2: Modeling in the Frequency Domain

Figure P4.9 (continued)

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Chapter 2: Modeling in the Frequency Domain

Figure P4.10
Steps in determining the transfer function relating output physical response to the input visual command

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Chapter 2: Modeling in the Frequency Domain

Figure P4.11 Vacuum robot lifts two bags of salt

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Chapter 2: Modeling in the Frequency Domain

Figure P4.12

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Chapter 2: Modeling in the Frequency Domain

Figure P4.13

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Chapter 2: Modeling in the Frequency Domain

Figure P4.14

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Chapter 2: Modeling in the Frequency Domain

Figure P4.15

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Chapter 2: Modeling in the Frequency Domain

Figure P4.16

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Chapter 2: Modeling in the Frequency Domain

Figure P4.17

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Chapter 2: Modeling in the Frequency Domain

Figure P4.18

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Chapter 2: Modeling in the Frequency Domain

Figure P4.19

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Chapter 2: Modeling in the Frequency Domain

Figure P4.20 Pump diagram

1996 ASME. 2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e