Answers to Selected Problems

TO ACCOMPANY
AUTOMATIC CONTROL SYSTEMS
EIGHTH EDITION

BY
BENJAMIN C. KUO
FARID GOLNARAGHI

JOHN WILEY & SONS, INC.

Copyright 2003 John Wiley & Sons, Inc.

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ISBN 0-471-13476-7

Answers to Selected Problems

The answers given in the following section are for certain

selected problems. These answers are given for checking
purposes, and thus are often shown for only certain parts of a
problem.

2-3. (a) G1s2 

(b) G1s2 

1  es
1
GT 1s2  11  es 2 2
s
s 11  es 2
211  e0.5s 2

s 2 11  e0.5s 2
1
1
1
2-6. (a) g1t2   e2t  e3t t  0
3
2
3
(e) g1t2  0.5t 2et t  0

CHAPTER 2 Mathematical Foundation

2-1. (a) Poles: s  0, 0, 1, 10;
zeros: s  2, , , .
(c) Poles: s  0, 1  j, 1 j;
zero: s  2, , .

CHAPTER 3 Block Diagrams and Signal-Flow Graphs

3-1. (d) Steady-state speed  6.66 ft/sec
V1s2
0.002333K1s  8.57142e0.5s
3-2. (c) System transfer function:
 2
Er 1s2
s  6s  0.00035K1s  8.57142e0.5s
E1s2
1  G3 1s2H1 1s2  G1 1s2G3 1s2
3-6.

`
 1  G2 1s2G3 1s2  G3 1s2H1 1s2
R1s2 N0

E1s2
1
`

N1s2 R0

G1G2G3G4G5  G6 11  G3H2  G4H3 2

Y7
3-8. (b)

Y1

 1  G1G2H1  G3H2  G4H3  G2G3G4G5H4  G2G6H1H4  G1G2G4H1H3  G2G4G6H1H3H4

Y6
G1G2G3G4  G3G4G5
`

3-12. (a)
Y1 Y7 0

 1  G2H1  G4H2  G1G2G3G4H3  G3G4G5H3  G2G4H1H2

101s  42
s1s  102
Y1s2
 2
`
3-14. (b)
3-16. Gd 1s2 
E1s2 N0 s  6s  20
10
3-19. (b)  1  2 3G1s2 4 2
3-20. (b) y1t2  120  25et  5e5t 2us 1t2
3-21. (b) Characteristic equation:
s2  7s  25  0
3-22. (c) Characteristic equation:
s3  5s2  6s  10  0
Y1s2
1
(d) Transfer function:
 3
R1s2
s  5s2  6s  10
3-24. (c) Characteristic equation:
s3  21.01s2  30.198s  10  0
CHAPTER 4

Modeling of Physical Systems

1B1  B2 2 dy1
d2y1
dy2
dy1
B2 dy2
1
K
4-1. (b) Force equations:

 f,

 y2

M
dt
M dt
M
dt
dt
B2
dt2
d2u1
du2
K
1
4-3. (b) Torque equations:
  1u1  u2 2  T, K1u1  u2 2  B
2
J
J
dt
dt
4-7. (b) Optimal gear ratio: n*  1Jm JL

4-12. (a)

Hi 1s2

He 1s2

 1Ra  Las2

(b)

m 1s2
r 1s2

4-14. (d) Forward-path transfer function:

4-8. (b) Transfer function:

TL 0

o 1s2
e 1s2

Y1s2

Tm 1s2

1
KbHe 1s2

s3JTLas  1RaJT  BmLa 2s  RaBm  KiKb 4

r
s 3 1Jm  Mr 2 2s  Bm 4

KKsKin

Ans-1

Ans-2  Answers to Selected Problems

608.7
106 K
s1s  423.42s  2.6667
106 s  4.2342
108 2
2
Js  1JKL  B2s  K2B  K3K4etDs  0
4-18. (c) Characteristic equation:
dx1t2
dv1t2
 v1t2,
 Bv1t2  KiKf i2a 1t2
4-21. (b) State equations:
ia(t) as input,
dt
dt
Y1s2
KKinGc 1s2eTD s
4-26. (b) Forward-path transfer function:

E1s2
s51Ra  Las2 3 1Jm  JL 2s  Bm 4  KbKi 6
4-16. (c) Forward-path transfer function: G1s2 

CHAPTER 5 State Variable Analysis

5-3. (a) Eigenvalues: s  0.5  j1.323, 0.5  j1.323
e3t 0
(c) State transition matrix: f1t2  c
d
0 e3t
(g) Characteristic equation: 1s2  s3  15s2  75s  125  0
5-6. (a) Eigenvalues of A: 2.325, 0.3376  j0.5623, 0.3376  j0.5623
Y1s2
s2
(b) (3) Output transfer function:

U1s2
1s  12 2
1 1 0
9 6 1
5-8. (c) S  3B AB AB2 4  1 2 4 , P  SM  6 5 1
1 6 23
3 1 1
0 1
1 0
(e) S  3 B AB 4  c
d , P  SM  c
d
1 3
1 1
2 2  2 12
cos t sin t
5-11. (c) S  c
5-13. (a) f1t2  c
d
d , S is singular.
12 2  12
sin t cos t
Y1s2
51K1  K2s2
5-16. (a) Forward-path transfer function: G1s2 

E1s2
s3s1s  421s  52  104
51K1  K2s2
Closed-loop transfer function: M1s2  4
s  9s3  20s2  110  5 K2 2s  5 K1
et tet
5-19. (b) State transition matrix: f1t2  c
d
0
et
#
x1
2
20
1
0 x1
0 1
#
x2
0 10
1
0 x2
0
0 u
5-28. (b) State equations: D # T  D
TD T  D
Tc d
x3
0.1
0 20
1 x3
0
0 TD
#
x4
0
0
0 5 x4
30
0
5-32. (b) Characteristic equation: s3  22s2  170s  600  0
5-42. The system is controllable.
v 1s2
KIH
5-43. (a) Transfer function:

2
2
R1s2
Jv s 1JG s  KP s  KI  KN 2
11
5-45. (b) For controllability, k2  ; for observability, 0V 0  1  3k1  3k2 0
2

CHAPTER 6 Stability of Linear Control Systems

6-1. (b) Poles are at s  5, j12, j12,. Two poles on imaginary axis. Marginally stable.
(d) Poles are at s  5,  1  j,  1  j. All poles in the left-half s-plane. Stable.
6-2. (b) No roots in RHP. (f) Two roots in RHP.
6-3. (e) Conditions for stability: K 7 2 and K 6 2.9055
6-5. (b) Condition for stability: K 7 4.6667
6-9. Stability requirement: Kt 7 0.081
6-12. (a) There is one root in the region to the right of s  1 in the s-plane.

Answers to Selected Problems  Ans-3

CHAPTER 7 Time-Domain Analysis of Control Systems
7-3. (c) Kp  , Kv  K, Ka  0
b0KH
1
2
a1 
b  ; unit-ramp input: ess  
7-5. (a) Unit-step input: ess 
a0
KH
3
(d) Unit-step input: ess 0; unit-ramp input: ess  0.05; unit-parabolic input: ess  
7-6. (c) Unit-step input: ess  2.4; unit-ramp and unit-parabolic inputs: ess  
7-10. (a) Stability requirement: Kt 7 0.02 and K 7 0
7-13. Rise time tr  0.2 sec; n  10.82 rad/sec; K  4.68; Kt  0.0206
Y1s2
802.59
 2
, ymax  1.2 (20% overshoot)
7-15. System transfer function:
R1s2
s  25.84s  802.59
7-24. (b) k22  59  10k1 (c) k2  13.14
7-27. (a) Stability requirement: 0 6 K 6 3000.56
(c) Stability requirement: 0 6 K 6 1400
Y1s2
100s1s  22
7-28. (f) a  5
`

D1s2 r0 s3  100s2  699s  1000
0.995
4.975
7-32. (a) GL 1s2 
(e) GL 1s2 
s1s  0.8952
s1s  0.22252
0.2222
7-35. (a) GL 1s2 
s1s  0.78882
CHAPTER 8 Root-Locus Technique
8-2. (a) K  0: 1  135 K 0: 1  45 (e) 1  108.435
8-4. (a) Breakaway-point equation: 2s5  20s4  74s3  110s2  48s  0
Breakaway points: 0.7272, 2.3887
8-5. (h) Intersect of asymptotes: s1  4; breakaway points: 0, 4, 8
(l) Breakaway points: 2.07, 2.07, j1.47, j1.47
8-7. (d)   0.707, K  8.4
8-16. (a) s1  1.5; breakaway points: (K 7 0) 0, 3.851
8-21. (a) Breakaway-point equation: 2s2  311  a2s  6a  0
For no breakaway point other than at s  0, 0.333 6 a 6 3.
CHAPTER 9 Frequency-Domain Analysis
9-1. (c) For K  100, n  10 rad/sec,   0.327, Mr  1.618, r  9.45 rad/sec
9-2. (b) Mr  15.34, r  4 rad/sec, BW  6.223 rad/sec
(e) Mr  1.57, r  0.82 rad/sec, BW  1.12 rad/sec
9-5. Maximum Mr  1.496, minimum BW  1.4106 rad/sec
9-9. (a) The Nyquist plot encloses the 1 point. The closed-loop system is unstable. The characteristic equation has two
roots in the right-half s-plane.
(b) Nyquist plot intersects the negative real axis at 0.8333. Thus the closed-loop system is stable.
9-10. (a) The system is stable for 0 6 K 6 240.
9-11. (a) The system is stable for 25 6 K 6 .
9-12. The system is stable for 0 6 K 6 , except at K  1.
9-14. (a) The system is stable for 0K 0 6 1200.
9-15. (a) For stability, N 6 3 (N has to be an integer).
9-18. (a) For stability, Td  1.47 seconds.
9-21. (b) Maximum D  15.7 in.
9-25. (e) GM  6.82 dB, PM  50.27
(h) GM  infinite, PM  13.4
9-26. (c) K can be increased by 28.71 dB.
9-27. (d) K must be decreased by 2.92 dB.
9-33. (b) PM  2.65, GM  10.51 dB, Mr  17.72, r  5.75 rad/sec, BW  9.53 rad/sec
9-35. (a) The gain-crossover frequency is 10 rad/sec.
(d) M  34.5
(g) BW  30 rad/sec
9-36. (b) Td  0.1244 second
9-40. (b) GM  30.72 dB, PM  infinite

Ans-4  Answers to Selected Problems

CHAPTER 10 Design of Control Systems
10-3. (a) KP  10, KD  0.09
10-5. (b) KD  0.00175
10-7. (a) KD  0.09, PM  93.8, GM  , Mr  1, BW  1.41 rad/sec
10-9. (a) KP  1.1, KI  10, Kv  10, PM  31.51
10-13. (a) ts  minimum (0.851 sec) when KP  0.6. KP 4.9718 for stability.
10-16. (b) KD  399.85, KP  348.93
10-20. KP  50, KD  6, KI  100
10-22. (a) Set 1aT  10 so that the pole of G(s) at s  10 is cancelled.
(b) Set the additional phase lead at 67. The new gain-crossover frequency  70 rad/sec.
10-25. (a) R2  2.65
105 gives a relative damping ratio of 0.65.
10-27. (a) a  1000, T  0.0004 (c) a  0.074
10-30. (b) p  1.222, n  45 rad/sec
1  0.0487s
10-34. K  5.93
10-38. (c) Gc 1s2 
1  0.00348s
1  15.63s
10-40. (a) Gc 1s2 
10-43. (a) K1  11
1  117.13s
10-45. (a) k1  64.84, k3  20.34
10-46. (b) KP  2, KI  200