Problems

CHAPTER 2
2.1. Write the (a) loop, (b) node, and (c) state equations for the circuit shown
after the switch is closed. Let u ¼ e, y1 ¼vC, and y2 ¼ vR2: (d ) Determine
the transfer function y1/e and y2/u ¼ G2.

2.2. Write the (a) loop, (b) node, and (c) state equations for the circuit shown
after the switch S is closed.

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 720 Linear Control System Analysis and Design

2.3. The circuits shown are in the steady state with the switch S closed. At
time t ¼ 0, S is opened. (a) Write the necessary differential equations
for determining i1(t). (b) Write the state equations.

2.4. Write all the necessary equations to determine v0. (a) Use nodal equa-
tions. (b) Use loop equations. (c) Write the state and output equations.

2.5. Derive the state equations. Note that there are only two independent
state variables.

2.6. (a) Derive the differential equation relating the position y(t) and the
force f (t). (b) Draw the mechanical network. (c) Determine the transfer
function G(D) ¼ y/f. (d ) Identify a suitable set of independent state
variables.Write the state equation in matrix form.

Copyright © 2003 Marcel Dekker, Inc.

 Problems 721

2.7. (a) Draw the mechanical network for the mechanical system shown.
(b) Write the differential equations of performance. (c) Draw the ana-
logous electric circuit in which force is analogous to current. (d ) Write
the state equations.

2.8. (a) Write the differential equations describing the motion of the
following system, assuming small displacements. (b) Write the state
equations.

2.9. A simplified model for the vertical suspension of an automobile is

shown in the figure. (a) Draw the mechanical network; (b) write the
differential equations of performance; (c) derive the state equations;
(d ) determine the transfer function x1 =u^ 2 , where u^ 2 ¼ ðB2 D þ K2 Þu2
is the force exerted by the road.

2.10. An electromagnetic actuator contains a solenoid, which produces a

magnetic force proportional to the current in the coil, f ¼ Kii. The coil

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 722 Linear Control System Analysis and Design

has resistance and inductance. (a) Write the differential equations of

performance. (b) Write the state equations.

2.11. A warehouse transportation system has a motor drive moving a trolley

on a rail. Write the equation of motion.

2.12. For the system shown, the torque T is transmitted through a noncom-
pliant shaft and a hydraulic clutch to a pulley #1,which has a moment
of inertial J1. The clutch is modeled by the damping coefficient B1 (it is
assumed to be massless). A bearing between the clutch and the pulley
#1 has a damping coefficient B2. Pulley #1 is connected to pulley #2
with a slipless belt drive. Pulley #2,which has a moment of inertial J2,
is firmly connected to a wall with a compliant shaft that has a spring
constant K. The desired outputs are: y1 ¼ yb, the angular position of
the J1, and y2 ¼ y_ a , the angular velocity of the input shaft, before the
clutch. (a) Draw the mechanical network; (b) write the differential
equations of performance; (c) write the state equations; (d ) determine
the transfer function y1/u and y2/u.

Copyright © 2003 Marcel Dekker, Inc.

 Problems 723

2.13. (a) Write the equations of motion for this system. (b) Using the physical
energy variables,write the matrix state equation.

2.14. The figure represents a cylinder of intertia J1 inside a sleeve of intertia

J2. There is viscous damping B1 between the cylinder and the sleeve.
The springs K1 and K2 are fastened to the inner cylinder. (a) Draw
the mechanical network. (b) Write the system equations. (c) Draw
the analogous circuit. (d ) Write the state and output equations. The
outputs are y1 and y2. (e) Determine the transfer function G ¼ y2/T.

2.15. The two gear trains have an identical net reduction, have identical
inertias at each stage, and are driven by the same motor. The number
of teeth on each gear is indicated on the figures. At the instant of start-
ing, the motor develops a torque T. Which system has the higher initial
load acceleration? (a) Let J1 ¼J2 ¼ J3; (b) let J1 ¼40J2 ¼ 4J3.

2.16. In the mechanical system shown, r1 is the radius of the drum. (a) Write
the necessary differential equations of performance of this system.
(b) Obtain a differential equation expressing the relationship of the
output x2 in terms of the input T(t) and the corresponding transfer
function. (c) Write the state equations with T(t) as the input.

Copyright © 2003 Marcel Dekker, Inc.

 724 Linear Control System Analysis and Design

2.17. Write the state and system output equations for the rotational mechan-
ical system of Fig. 2.16. (a) With T as the input, use x1 ¼ y3, x2 ¼ Dy3,
x3 ¼ Dy2 and (b) with y1 as the input, use x1 ¼ y3, x2 ¼ Dy3, x3 ¼ y2,
x4 ¼ Dy2.
2.18. For the hydraulic preamplifier shown, write the differential equations
of performance relating x1 to y1. (a) Neglect the load reaction. (b) Do
not neglect load reaction. There is only one fixed pivot, as shown in
figure.

2.19. The mechanical load on the hydraulic translational actuator is Sec. 2.9,
Fig. 2.22, is changed to that in the accompanying figure. Determine the
new state equations and compare with Eq. (2.114).

2.20. The sewage system leading to a treatment plant is shown.The variables

qA and qB are input flow rates into tanks 1 and 2, respectively. Pipes 1, 2,
and 3 have resistances as shown. Derive the state equations.

2.21. Most control systems require some type of motive power. One of the
most commonly used units is the electric motor.Write the differential
equations for the angular displacement of a moment of inertia, with

Copyright © 2003 Marcel Dekker, Inc.

 Problems 725

damping, connected directly to a dc motor shaft when a voltage is

suddenly applied to the armature terminals with the field separately
energized.

2.22. The damped simple pendulum shown in the figure is suspended in a

uniform gravitational field g. There is a horizontal force f and a rota-
tional viscous friction B. (a) Determine the equation of motion (note:
J ¼ M ‘2 ). (b) Linearize the equation of part (a) by assuming cos y 1
and sin y  y for small values of y. (c) Write the state and output
equations of the system using x1 ¼ y, x2 ¼ y_ , and y ¼ x1.

2.23. Given the mechanical system shown, the load J2 is coupled to the rotor
J1 of a motor through a reduction gear and springs K1 and K2. The
gear-to-teeth ratio is 1: N. The torque T is the mechanical torque
generated by the motor. B1 and B2 are damping coefficients, and y1, y2,
y3,and y4 are angular displacements. (a) Draw a mechanical network for
this system. (b) Write the necessary differential equations in order to
solve for y4.

Copyright © 2003 Marcel Dekker, Inc.

 726 Linear Control System Analysis and Design

2.24. In some applications the motor shaft of Prob. 2.21 is of sufficient

length so that its elastance K must be taken into account. Consider
that v2(t) is constant and that the velocity om(t) ¼ Dym(t) is being
controlled. (a) Write the necessary differential equation for determin-
ing the velocity of the load oJ = Dyj. (b) Determine the transfer
function oJ(t)/v1(t).

CHAPTER 3
3.1. (a) With vc(0) ¼ 0,what are the initial values of current in all elements
when the switch is closed? (b) Write the state equations. (c) Solve for
the voltage across C as a function of time from the state equations.
(d ) Find Mp, tp, and ts.
R1 ¼ R2 ¼ 2 k O C ¼ 50 mF L ¼ 1H E ¼ 100 V

3.2. In Prob. 2.12, the parameters have the following values:

J1 ¼ 1:0 lb ft s2 B1 ¼ 0:5 lb ft=ðrad=sÞ K ¼ 0:5 lb ft=rad
J1 ¼ 1:0 slug ft 2
B2 ¼ 3:35 oz ln=ðdeg=sÞ
Solve for yb(t) if T(t) ¼ tu1(t).
3.3. In Prob. 2.10, the parameters have the following values:
M1 ¼ M2 ¼ 0:05 slug L ¼ 1 H l1 ¼ 10 in: K1 ¼ K2 ¼ 1:2 lb=in:
R ¼ 10 O l2 ¼ 20 in: B1 ¼ B2 ¼ 15 oz=ðin:=sÞ Ki ¼ 24 oz=A
With e(t) ¼ u1(t) and the system initially at rest, solve for xb(t).
3.4. In part (a) of Prob. 2.18, the parameter have the following values:
a ¼ b ¼ 12 in: C1 ¼ 9:0 ðin:=sÞ=in: c ¼ 10 in: d ¼ 2 in:
Solve for y1(t) with x1(t) ¼ 0.1u1(t) in. and zero initial conditions.
3.5. (a) r(t) ¼ (D3 þ 6D2 þ11D þ 6)c(t). With r(t) ¼ sin t and zero initial
conditions, determine c(t). (b) r(t) ¼ [(D þ 1)(D2 þ 4D þ 5)]c(t). With
r(t) ¼ tu1(t) and all initial conditions zero, determine the complete
solution with all constants evaluated. (c) D3c þ10D2c þ 32Dc þ 32c ¼
10r. Find c(t) for r(t) ¼ u1(t), D2c(0) ¼ Dc(0) ¼ 0, and c(0) ¼ 2. One of
the eigenvalues is  ¼ 2. (d ) For each equation determine C( jo)/
R( jo) and c(t)ss for r(t) ¼ 10 sin 5t.

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems

CHAPTER 2
2.1. (a) Loop equations: Let R ¼ R2 þ R3 and R 0 ¼ R1/R



1 1
eðtÞ ¼ R1 þ LD þ i  LD þ i ð1Þ
CD 1 CD 2



1 1
0 ¼  LD þ i1 þ R þ LD þ i ð2Þ
CD CD 2
(b) Node equations:
Node va:




1 1 1 1 1
þ þ va  ðCDÞvb  vc ¼ e ð3Þ
R1 R2 LD R2 R1
Node vb:


1
ðCDÞva þ þ CD vb ¼ 0 ð4Þ
LD
Node vc:



1 1 1
 va þ þ v ¼0 ð5Þ
R2 R2 R3 c

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 796 Linear Control System Analysis and Design

(c) State equations: Let x1 ¼y1 ¼i/CD, x2 ¼ iL, x2 ¼ DiL, ic ¼ CDy1 ¼Cx1,
i1 i2 ¼ ic ¼ iL
2 3
1
6 0 7
C
A¼6 4 1 0
7
5 ð6Þ
R
  0
L ðR þ 1ÞL

2 3
0
b ¼4
T 1 5 cT ¼ ½ 1 0 ð7Þ
0
ðR þ 1ÞL

(d ) Note: Utilizing Eqs. (1), (2), (8), and (9), obtain

x2 ¼ C x_ 1 ð8Þ

x_ 2 ¼ C x€ 2 ð9Þ

y1 ðtÞ 1
GðDÞ ¼ ¼ ð10Þ
uðtÞ ½ðR þ 1ÞLCD þ ½R 0 CD þ ½R 0 þ 1
0 2

2.2. (a) Loop equations:



1 1
E ¼ R1 þ i  i ð1Þ
C1 D 1 C1 D 2



1 1 1
0¼ i þ R2 þ LD þ þ i ð2Þ
C1 D 1 C1 D C2 D 2

(b) Node 1 between R1 and R2, node 2 between R2 and L, and node 3
between L and C2




1 1 1 1
Node 1: þ C1 D þ v1  v2 ¼ E
R1 R2 R2 R1




1 1 1 1
Node 2:  v1 þ þ v2  v ¼0
R2 R2 LD LD 3



1 1
Node 3:  v þ þ C2 D v3 ¼ 0
LD 2 LD

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 Answers to Selected Problems 797

(c) Let x1 ¼v1 ¼vc1, x2 ¼ v3 ¼ vc2, x3 ¼ iL

2 3 2 3
1 1 1

6 R 1 C1 0 
6 C1 77
6 R1 C1 7
6 7
6 1 7 6 7
A¼6 0 6 0 7 6
b¼6 7
7 0 7
6 C2 7 6 7
4 1 1 R2 5 4 5
  0
L L L
2.3. Circuit 2: (b)
2 3 2 3
R1 þ R2 1 1
6 L

L77 6 L 7
x_ ¼ 64
6 7
5x þ 4 5u
1
0
C 0
2.6. (c)
K2
GðDÞ ¼
D4 þ BD3 þ KD2 þ BKa D þ ðKa Kb  K 2 Þ
where Ka ¼ K1 þK2, Kb ¼ K2 þ K3, K ¼ Ka þ Kb
(d ) Let
x1 ¼ xa x2 ¼ x_ 1 x3 ¼ xb
x4 ¼ x_ 3 u ¼ f ðtÞ yðtÞ ¼ xb

2 3 2 3 2 3
0 1 0 0 0 0
6 K 07 617 607
6 K2 0 7 6 7 6 7
A¼6 7 b¼6 7 c¼6 7
4 0 0 0 15 405 415
K2 0 Kb 1 0 0
xa xb
2.10. (a) ðLD þ RÞi ¼ e ki i ¼ f  ¼
l1 l2
ðM2 D2 þ B2 D þ K2 Þxb ¼ f2

l2
ðM1 D2 þ B1 D þ K1 Þxa þ f ¼ f ¼ ki i
l1 2
Let
l2 M1 B1 K1
¼ a þ aM2 ¼ b; þ aB2 ¼ c and þ aK2 ¼ d
l1 a a a

ðbD2 þ cD þ dÞxb ¼ ki i

Copyright © 2003 Marcel Dekker, Inc.

 798 Linear Control System Analysis and Design

(b) There are only three independent states:

x1 ¼ xb  x2 ¼ x_ b  x3 ¼ i and u¼e
x_ 1 ¼ x2
d c K
x_ 2 ¼  x1  x2 þ 1 x3
b b b
R l
x_ 3 ¼ x3 þ u
L L
2.11. Traction force ¼ MD2x þ BDx
2.12. (b) T(t) ¼ (B1D)ya  (B1D)yb
0 ¼ (B1D)ya þ [JD2 þ (B2  B1)D þ K1]yb
(c) Let J ¼J1 þJ2, y1 ¼x1 ¼ ya, y2 ¼ x2 ¼ yb, x3 ¼ x2, and u ¼T
2 3 2 3
0 0 1 1
6 7 6B 7  
60 7 6 17 1 0 0
x_ ¼ 6
6
0 1 7x þ 6 0 7u
7 6 7 y¼ x
4 0 1 0
K B1  B2 5 4 1 5
0
J J J
y1 JD2 þ B2 D þ K
ðdÞ ¼
u B1 D½JD2 þ ðB2  B1 ÞD þ K

y2 1
¼
u JD þ ðB2  B1 ÞD þ K
2

 
C1 ad C b
2.18. ðaÞ þ D y1 ¼ 1 x1
ða þ bÞðc þ dÞ aþb

2.21. KT v1(t) ¼ JLaD3ym þ (JRa þ BLa)D2ym þ (BRa þ KTKb)ym

CHAPTER 3
3.2. yb ðtÞ ¼ 2 þ 2t þ A1 em1 t þ A2 em2 t
where
A1 ¼ 2:01015 A2 ¼ 0:01015

Copyright © 2003 Marcel Dekker, Inc.

 Answers to Selected Problems 799

Therefore
yb ðtÞ ¼ 2 þ 2t þ 2:010105e1:071t  0:01015e15:06t
Check at t ¼ 0: yb(0) ¼  2 þ 2.01015  0.01015 ¼ 0
3.5. (b) cðtÞ ¼ 0:36 þ 0:2t þ A1 em1 t þ A2 em2 t þ A3 em3 t
Utilizing the initial conditions yields
pffiffiffi
A1 ¼ 0:5 ff 
A2 ¼ ð 2=10Þ 171:9 : ¼ A3
3.7. (a) Physical variables: x1 ¼vc and x2 ¼ iL.
   4
104 106 10
A¼ b¼ cT ¼ ½ 1 0
0:1 465 0
(b) vc ðtÞ ¼ 48:95 þ A1 em1 t þ A2 em2 t where Dvc ¼ m1 A1 em1 t þ m2 A2 em2 t
Inserting the initial conditions yields
0 ¼ 48:95 þ A1 þ A2 0:5  106 ¼ 475:5A1  9989:5A2 
A1 ¼ 1:15 A2 ¼ 50:1
3.8. (b) x(t) ¼ 3 þ1.5e3t  4.5et
ðcÞ xðtÞ ¼ 0:18 þ 0:2353t þ e0:5t ½0:18 cos ð2tÞ  0:16 sin ð2tÞ
¼ 0:18 þ 0:2353t þ 0:242e0:5t sin ð2t  132 Þ
3.13.
" #
e2t þ 2e4t 2e2t  2e4t
(ðtÞ ¼
e2t þ e4t 2e2t  e4t
2 3
1 2t 9 4t
6 2  3e þ 2e 7
xðtÞ ¼ 6
43
7
2t 9 4t 5
 3e þ e
4 4
1 9
yðtÞ ¼ x1 ¼  3e2t þ e4t
2 2
 
e2t
3 16 ðaÞ xðtÞh ¼ (ðtÞxð0Þ ¼
2e2t
. .

 
1  2et þ 2e2t
ðbÞ xðtÞ ¼
2et

3.17. (1) (a) 1 ¼ 1, 2,3 ¼ 1 j2

(ðtÞ ¼ Z1 et þ Z2 et e jt þ Z3 et ejt

Copyright © 2003 Marcel Dekker, Inc.

 Feedback Control Systems (EE-374)
Details of Progress Diary, Schedule of Tests, Books, Sessional Distribution
Lectures Weeks Topics Test/Evaluation Information Books/Marks Information
Chaper # 1 Introduction
1 1st Introductin to Feecack Control Systems
2 Introductin to Feecack Control Systems
Chaper # 2 Writing System Equations Assignments will be given at the end of chapter
3 Differential Eq and State Space Representation Chap#2: 2.1-2.6,2.9,2.10,2.12-2.16,2.21,2.23,2.24
4 2nd Mechanical Translational Systems Chap#3: 3.1, 3.6, 3.12
5 Mechanical Translational Systems Chap#4: 4.1(c), 4.7(a & b)
6 Mechanical Rotational Systems Chap#5, 6 and 7 will be shared at the end of chapters.
7 3rd Mechanical/Electrical Systems BOOKS:
8 Electrical Systems 1) Linear Control Systems Analysis and
9 Electrical Systems Design with Matlab (5th Ed or above)
By
10 4th DC Servo Motor
by John J. D'Azzo & Constantine H. Houpis
11 Other/Coupled Systems
12 Test Test#1 by the end of chapter#2
Chapter # 3 Solution of Differential Eq. 2) Automatic Control Systems (8th Ed)
By
13 5th Solution of Differential Equation basic
Benjamin C. Kuo
14 Steady State Response
15 Steady State Response
16 6th Transient Response 3) Feedback Control Systems (SI Metric Ed)
By
17 Transient Response
Joseph J. Distefano
18 Damping Ratio Zeta and Natural freq. Allen R. Stubberud
19 7th Examples of 2nd order Solution of DE Ivan J. Williams
20 Time Domain Specifications
21 Time Domain Specifications
Chapter # 4 Laplace Transforms
22 8th Function of Complex Variables
23 Laplace Transform and frequency Domain
24 Laplace Transform Examples
Chapter # 5 System Representation
25 9th Block Diagram Representation
26 Block Diagram Examples
27 Block Diagram Examples
28 10th Signal Flow Graphs
29 Signal Flow Graphs Examples

30 Test Test#2 by the end of 10th week lectures

Chapter # 6 Stablity of Control Sysems
/ Steady State Error
31 11th Classification of Stability
32 Routh Stability Criteria
33 Routh Stability Criteria Examples
34 12th Routh Stability Remedies & Examples
35 Conditional Stability
36 Steady State Error

Note that
(1) The marks criteria will remain same. However, the no. of
tests/quizes/bonuses may increase or decrease depending
upon the situation.
(2) There will be an Evaluation of Course on the
assignments/class performance etc., in which final sessional
marks will be finalized.
(3) These details are tentative, schedules of lectures/tests
etc. can be changed subject to public holidays etc. and will
37 13th Types of System & Examples therfore be compensated and arranged later.
38 Assesment on Assignment
Chapter # 7 Root Locus
39 Root Locus
40 14th Root Locus Design
41 Root Locus Analyses & Examples
42 Root Locus Analyses & Examples
43 15th Root Locus Compensation Evaluation of Course
Chapter # 8 Frequency Response
44 Bode Plot Analyses and Design Examples
45 Frequency Domain Specifications via Bode
Chapter # 9 PID Controllers
46 16th PID Theory RIAZ UDDIN
47 PD controller design (Associate Professor)
48 PID Controller Analyses and Examples (FCS Course Instructor)