Solutions for Modern Control Systems 14th Edition by Dorf

Solutions for Modern Control Systems 14th Edition by Dorf
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Solutions
CLICK HERE TO ACCESS THE COMPLETE Solutions
INSTRUCTOR’S
SOLUTIONS MANUAL
Modern Control SySteMS

Fourteenth EDITION
Richard C. Dorf
University of California, Davis
Robert H. Bishop
University of South Florida
The author and publisher of this book have used their best efforts in preparing this book. These efforts include the
development, research, and testing of the theories and programs to determine their effectiveness. The author and publisher
make no warranty of any kind, expressed or implied, with regard to these programs or the documentation contained in this
book. The author and publisher shall not be liable in any event for incidental or consequential damages in connection with,
or arising out of, the furnishing, performance, or use of these programs.
Reproduced by Pearson from electronic files supplied by the author.
Copyright © 2022, 2017, 2011 by Pearson Education, Inc. 221 River Street, Hoboken, NJ 07030. All rights reserved.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form
or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the
publisher. Printed in the United States of America.
ISBN-13: 978-0-13-730729-6
ISBN-10: 0-13-730729-2
P R E F A C E
In each chapter, there are five problem types:

Exercises
Problems
Advanced Problems
Design Problems/Continuous Design Problem
Computer Problems
In total, there are over 980 problems. The abundance of problems of in-
creasing complexity gives students confidence in their problem-solving
ability as they work their way from the exercises to the design and
computer-based problems.
It is assumed that instructors (and students) have access to MATLAB and

the Control System Toolbox or to LabVIEW and the MathScript RT Mod-
ule. All of the computer solutions in this Solution Manual were developed
and tested on an Apple MacBook Pro platform using MATLAB R2020a
and the Control System Toolbox Version 9.6 and LabVIEW 2020. It is not
possible to verify each solution on all the available computer platforms
that are compatible with MATLAB and LabVIEW MathScript RT Mod-
ule. Please forward any incompatibilities you encounter with the scripts
to Prof. Bishop at the email address given below.
The authors and the staff at Pearson Education would like to establish
an open line of communication with the instructors using Modern Con-
trol Systems. We encourage you to contact Pearson with comments and
suggestions for this and future editions.
Robert H. Bishop robertbishop@usf.edu
iii
Copyright ©2022 Pearson Education, Inc.

T A B L E - O F - C O N T E N T S
1. Introduction to Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2. Mathematical Models of Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3. State Variable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4. Feedback Control System Characteristics . . . . . . . . . . . . . . . . . . . . . . . 136
5. The Performance of Feedback Control Systems . . . . . . . . . . . . . . . . . 181
6. The Stability of Linear Feedback Systems . . . . . . . . . . . . . . . . . . . . . . 237
7. The Root Locus Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
8. Frequency Response Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
9. Stability in the Frequency Domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
10. The Design of Feedback Control Systems . . . . . . . . . . . . . . . . . . . . . . . 524
11. The Design of State Variable Feedback Systems . . . . . . . . . . . . . . . . 604
12. Robust Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665
13. Digital Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719
iv

C H A P T E R 1
Introduction to Control Systems
There are, in general, no unique solutions to the following exercises and

problems. Other equally valid block diagrams may be submitted by the
student.
Exercises
E1.1 Describe typical sensors that can measure each of the following:
a. Linear position → ultrasonic transducer
b. Velocity (or speed) → Doppler radar
c. Non-gravitational acceleration → inertial measurement unit
d. Rotational position (or angle) → rotary encoder
e. Rotational velocity → gyroscope
f. Temperature → thermocouple
g. Pressure → barometer
h. Liquid (or gas) flow rate → velocimeter
i. Torque → torquemeter
j. Force → load cell
k. Earth’s magnetic field → magnetometer
l. Heart rate → electrocardiograph
E1.2 Describe typical actuators that can convert the following:
a. Fluidic energy to mechanical energy → hydraulic cylinder
b. Electrical energy to mechanical energy → electric motor
c. Mechanical deformation to electrical energy → piezoelectric actuator
d. Chemical energy to kinetic energy → automobile engine
e. Heat to electrical energy → thermoelectric generator

2 CHAPTER 1 Introduction to Control Systems
E1.3 A microprocessor controlled laser system:
Controller Process
Error Current i(t)

Desired Micro- Power
Laser
power - processor out
output
Measurement
Measured
Power
power
Sensor
E1.4 A driver controlled cruise control system:
Controller Process
Foot pedal Car and

Desired Actual
Driver
speed - Engine auto
speed
Measurement
Visual indication of speed

Speedometer
E1.5 Although the principle of conservation of momentum explains much of

the process of fly-casting, there does not exist a comprehensive scientific
explanation of how a fly-fisher uses the small backward and forward mo-
tion of the fly rod to cast an almost weightless fly lure long distances (the
current world-record is 236 ft). The fly lure is attached to a short invisible
leader about 15-ft long, which is in turn attached to a longer and thicker
Dacron line. The objective is cast the fly lure to a distant spot with dead-
eye accuracy so that the thicker part of the line touches the water first
and then the fly gently settles on the water just as an insect might.
Wind
Fly-fisher Controller disturbance
Process
Desired
Mind and Rod, line, Actual
position of - body of the and cast position
of the fly
the fly fly-fisher
Measurement
Vision of
Visual indication the fly-fisher
of the position of
the fly

Exercises 3
E1.6 An autofocus camera control system:
One-way trip time for the beam
Conversion factor
K1 (speed of light or
sound)
Beam
Emitter/ Distance to subject
Receiver
Beam return Subject
Lens focusing
motor
Lens
E1.7 Tacking a sailboat as the wind shifts:
Wind
Controller Actuators Process
Error
Desired Sailor Rudder and Sailboat Actual
sailboat - sail adjustment sailboat
direction direction
Measurement
Measured sailboat direction
Gyro compass
E1.8 An automated highway control system merging two lanes of traffic:
Error
Desired Embedded Active Actual
Brakes, gas or
gap - computer
steering vehicle gap
Measurement
Measured gap
Radar

E1.9 A skateboard rider maintaining vertical orientation and desired speed:
Errors
Desired Rider Rider Rider
Rider &
vertical
orientation
- repositioning
& propelling Skateboard
orientation
& speed
& speed
Measurement
Rider
E1.10 Human biofeedback control system: E1.11
Controller Process
Message to
blood vessels
Desired Hypothalumus Human body
Actual
body - body
temp
temp
Measurement
Visual indication of
body temperature TV display Body sensor
E1.11 E-enabled aircraft with ground-based flight path control:
Corrections to the Controller Aircraft

flight path
Desired Flight
Flight - Gc(s) G(s)
Path
Path Health
Meteorological Location
data Parameters and speed
Optimal
flight path
Ground-Based Computer Network

Optimal
flight path Location
and speed
Meteorological Health
- data Parameters
Desired Gc(s) G(s) Flight

Corrections to the
Flight flight path Path
Path Controller Aircraft

Exercises 5
E1.12 Unmanned aerial vehicle used for crop monitoring in an autonomous

mode:
Trajectory Controller UAV

error
Specified
Gc(s) G(s) Flight
Flight - Trajectory
Trajectory
Sensor
Location with Map Ground
respect to the ground photo
Correlation Camera
Algorithm
E1.13 An inverted pendulum control system using an optical encoder to measure

the angle of the pendulum and a motor producing a control torque:
Actuator Process
Error Voltage Torque

Desired Controller Pendulum Angle
Motor
angle -
Measurement
Measured
Optical
angle encoder
E1.14 In the video game, the player can serve as both the controller and the sen-
sor. The objective of the game might be to drive a car along a prescribed
path. The player controls the car trajectory using the joystick using the
visual queues from the game displayed on the computer monitor.
Controller Actuator Process
Error
Desired Player Joystick Video game Game
game
objective
- objective
Measurement
Player
(eyesight, tactile, etc.)
E1.15 A closed-loop blood glucose system with a continuous glucose measure-

ment informing the decision to inject insulin or not:

e If e > edes , Insulin

Desired Human Actual blood
blood
glucose
- take action
and close the
Insulin injection glucose
loop
Measurement
Continuous
Glucose
Monitor

Problems 7
Problems
P1.1 An automobile interior cabin temperature control system block diagram:
Controller Process
Error Automobile
Desired Thermostat and Automobile
temperature
set by the
- air conditioning cabin cabin temperature
driver
unit
Measurement
Measured temperature
Temperature
sensor
P1.2 A human operator controlled valve system:
Controller Process
Error *
Desired Fluid
Tank
fluid
output *
- Valve output
Measurement
Visual indication
of fluid output *
Meter
* = operator functions
P1.3 A chemical composition control block diagram:
Controller Process
Error
Desired Chemical
Mixer tube
chemical
composition
- Valve composition
Measurement
Measured chemical
composition Infrared analyzer

P1.4 A nuclear reactor control block diagram:
Controller Process
Error
Desired Reactor Output
Motor and
power level - amplifier and rods power level
Measurement
Measured chemical
composition Ionization chamber
P1.5 A light seeking control system to track the sun:
Measurement Controller
Desired Controller Process
Ligh carriage Motor
Dual intensity Trajectory position Error inputs
Light Motor, Photocell
source Photocells Planner - K carriage, carriage
and gears position
P1.6 If you assume that increasing worker’s wages results in increased prices,
then by delaying or falsifying cost-of-living data you could reduce or elim-
inate the pressure to increase worker’s wages, thus stabilizing prices. This
would work only if there were no other factors forcing the cost-of-living
up. Government price and wage economic guidelines would take the place
of additional “controllers” in the block diagram, as shown in the block
diagram.
Process Controller
Market-based prices
Initial Government Prices
wages - Industry price
guidelines
Controller
Government K1
Wage increases Cost-of-living
wage
guidelines

Problems 9
P1.7 Assume that the cannon fires initially at exactly 5:00 p.m.. We have a
positive feedback system. Denote by ∆t the time lost per day, and the
net time error by ET . Then the follwoing relationships hold:
∆t = 4/3 min. + 3 min. = 13/3 min.
and
ET = 12 days × 13/3 min./day .
Therefore, the net time error after 15 days is
ET = 52 min.
P1.8 The student-teacher learning process:
Controller Process
Error Lectures
Desired Knowledge
knowledge - Teacher Student
Measurement
Measured knowledge
Exams
P1.9 A human arm control system:
Controller Process
u e s
Desired Arm
arm - Brain Nerve signals Arm &
muscles d location
location
y
z
Measurement
Pressure
Visual indication of
arm location Eyes and
pressure
receptors

P1.10 An aircraft flight path control system using GPS:
Desired
Error Computer Ailerons, elevators, Flight
Aircraft
flight path - Auto-pilot rudder, and path
from air traffic engine power
controllers
Measurement
Measured flight path

Global Positioning
System
P1.11 The accuracy of the clock is dependent upon a constant flow from the
orifice; the flow is dependent upon the height of the water in the float
tank. The height of the water is controlled by the float. The control system
controls only the height of the water. Any errors due to enlargement of
the orifice or evaporation of the water in the lower tank is not accounted
for. The control system can be seen as:
Controller Process
Desired
Float level Flow from Actual
height of
the water - upper tank height
in float tank to float tank
P1.12 Assume that the turret and fantail are at 90◦ , if θw 6= θF -90◦ . The fantail
operates on the error signal θw - θT , and as the fantail turns, it drives the
turret to turn.
qW = Wind angle
Wind qF = Fantail angle
qT = Turret angle Controller Process
Fantail Error Torque
* qW Fantail qT
qW - Gears & turret
qF * Turret
qT
x

Problems 11
P1.13 This scheme assumes the person adjusts the hot water for temperature
control, and then adjusts the cold water for flow rate control.
Controller Process
Error
Desired water Valve adjust Hot water
temperature - system Hot
water
Actual
water temperature
and flow rate
Desired water Valve adjust Cold water

flow rate - system Cold
water
Measurement
Measured water flow
Human: visual
Measured water temperature and touch
P1.14 If the rewards in a specific trade is greater than the average reward, there
is a positive influx of workers, since
q(t) = f1 (c(t) − r(t)).
If an influx of workers occurs, then reward in specific trade decreases,

since
c(t) = −f2 (q(t)).
Controller Process
Error q(t)
Average f1(c(t)-r(t)) - f2(q(t)) Total of
rewards - rewards
r(t) c(t)
P1.15 A computer controlled fuel injection system:
Controller Process
Desired Electronic High Pressure Fuel Fuel

Fuel
Pressure
- Control Unit Supply Pump and
Electronic Fuel
Pressure
Measurement Injectors
Measured fuel pressure
Fuel Pressure
Sensor

P1.16 With the onset of a fever, the body thermostat is turned up. The body
adjusts by shivering and less blood flows to the skin surface. Aspirin acts
to lowers the thermal set-point in the brain.
Controller Process
Desired temperature Adjustments Body

or set-point from body
thermostat in the brain
- within the Body temperature
body
Measurement
Measured body temperature

Internal sensor
P1.17 Hitting a baseball is arguably one of the most difficult feats in all of sports.
Given that pitchers may throw the ball at speeds of 90 mph (or higher!),
batters have only about 0.1 second to make the decision to swing—with
bat speeds aproaching 90 mph. The key to hitting a baseball a long dis-
tance is to make contact with the ball with a high bat velocity. This is
more important than the bat’s weight, which is usually around 33 ounces.
Since the pitcher can throw a variety of pitches (fast ball, curve ball, slider,
etc.), a batter must decide if the ball is going to enter the strike zone and
if possible, decide the type of pitch. The batter uses his/her vision as the
sensor in the feedback loop. A high degree of eye-hand coordination is key
to success—that is, an accurate feedback control system.
P1.18 Define the following variables: p = output pressure, fs = spring force
= Kx, fd = diaphragm force = Ap, and fv = valve force = fs - fd .
The motion of the valve is described by ÿ = fv /m where m is the valve
mass. The output pressure is proportional to the valve displacement, thus
p = cy , where c is the constant of proportionality.
Spring Constant of
proportionality
fs Valve position
fv
Screw K Valve Output
displacement - y c pressure
x(t) p(t)
Diaphragm area
fd
A

Problems 13
P1.19 A control system to keep a car at a given relative position offset from a
lead car:
Position of
Throttle follower
Follower
car
Fuel Lead car

Position -
of lead
throttle
(fuel)
- Relative Video camera

Actuator u
Controller position & processing
algorithms Reference
photo
Desired relative position
P1.20 A control system for a high-performance car with an adjustable wing:
Process
Controller Actuator
Road
Adjustable conditions
Desired Computer Race Car Road
road
adhesion
- wing adhesion
Measurement
K Tire internal
Measured road adhesion
strain gauges
P1.21 A control system for a twin-lift helicopter system:
Measurement
Measured separation
distance Radar
Controller Process
-
Desired separation Separation distance
distance
Helicopter
Pilot
Desired altitude Altitude
-
Measurement
Measured altitude
Altimeter

P1.22 The desired building deflection would not necessarily be zero. Rather it
would be prescribed so that the building is allowed moderate movement
up to a point, and then active control is applied if the movement is larger
than some predetermined amount.
Process
Controller
Desired Hydraulic Building Deflection

deflection - stiffeners
Measurement
K Strain gauges
Measured deflection
on truss structure
P1.23 The human-like face of the robot might have micro-actuators placed at
strategic points on the interior of the malleable facial structure. Coopera-
tive control of the micro-actuators would then enable the robot to achieve
various facial expressions.
Controller Process
Error Voltage
Desired Electro- Actuator
actuator
position
- Amplifier mechanical position
actuator
Measurement
Position
Measured position sensor
P1.24 We might envision a sensor embedded in a “gutter” at the base of the

windshield which measures water levels—higher water levels corresponds
to higher intensity rain. This information would be used to modulate the
wiper blade speed.
Process
Controller
Desired Electronic Wiper blade Wiper

wiper speed - Control Unit and motor blade
speed
Measurement
K Water depth
Measured water level sensor

Problems 15
P1.25 A feedback control system for the space traffic control:
Error Jet Applied

Desired Control Reaction Actual
orbit position - law commands
control jets
forces Satellite orbit position
Measurement
Measured orbit position

Radar or GPS
P1.26 Earth-based control of a microrover to point the camera:
Microrover
Camera position Controller
Receiver/ com mand
Camera
Gc(s) G(s) Rover Camera
Transmitter position Position
Ca
m
Measured camera
er
ap
position
M
Sensor
os
ea
iti
su
on
re
d
co
ca
m
m
m
er
an
ap
d
os
iti
on
(Dundanim/Shutterstock.)
P1.27 Control of a methanol fuel cell:
Recharging
Controller System Methanol water Fuel Cell
solution
Desired Charge
Charge
Level
- Gc(s) GR(s) G(s) Level
Sensor
Measured charge level
H(s)

Advanced Problems
AP1.1 Control of a robotic microsurgical device:
Microsurgical
Controller robotic manipulator
End-effector
Gc(s) G(s)
Desired
End-effector - Position
Position
Sensor
H(s)
AP1.2 An advanced wind energy system viewed as a mechatronic system:
AERODYNAMIC DESIGN
STRUCTURAL DESIGN OF THE TOWER
ELECTRICAL AND POWER SYSTEMS
SENSORS
Rotor rotational sensor
Wind speed and direction sensor CONTROL SYSTEM DESIGN AND ANALYSIS
ACTUATORS ELECTRICAL SYSTEM DESIGN AND ANALYSIS
Motors for manipulatiing the propeller pitch Physical System Modeling POWER GENERATION AND STORAGE
Sensors and Actuators

WIND ENERGY Signals and Systems
SYSTEM
Software and Computers and

Data Acquisition Logic Systems
CONTROLLER ALGORITHMS COMPUTER EQUIPMENT FOR CONTROLLING THE SYSTEM

DATA ACQUISTION: WIND SPEED AND DIRECTION SAFETY MONITORING SYSTEMS
ROTOR ANGULAR SPEED
PROPELLOR PITCH ANGLE
AP1.3 The automatic parallel parking system might use multiple ultrasound
sensors to measure distances to the parked automobiles and the curb.
The sensor measurements would be processed by an on-board computer
to determine the steering wheel, accelerator, and brake inputs to avoid
collision and to properly align the vehicle in the desired space.

Advanced Problems 17
Even though the sensors may accurately measure the distance between
the two parked vehicles, there will be a problem if the available space is
not big enough to accommodate the parking car.
Error On-board Steering wheel,

Desired Automobile Actual
automobile
position
- computer accelerator, and automobile
position
brake
Measurement
Position of automobile
relative to parked cars Ultrasound
and curb
AP1.4 There are various control methods that can be considered, including plac-
ing the controller in the feedforward loop (as in Figure 1.3). The adaptive
optics block diagram below shows the controller in the feedback loop, as
an alternative control system architecture.
Astronomical Process
object
Uncompensated Astronomical Compensated
image
telescope image
mirror
Measurement
Wavefront Wavefront Wavefront

corrector reconstructor sensor
Actuator & controller
AP1.5 The control system might have an inner loop for controlling the acceler-
ation and an outer loop to reach the desired floor level precisely.
Elevator
Error Desired Error
Desired Controller #2 Controller #1 motor, Elevator Floor
floor - acceleration
- cables, etc.
Inner
Outer Loop
Loop Acceleration
Measured acceleration Measurement

AP1.6 An obstacle avoidance control system would keep the robotic vacuum
cleaner from colliding with furniture but it would not necessarily put the
vacuum cleaner on an optimal path to reach the entire floor. This would
require another sensor to measure position in the room, a digital map of
the room layout, and a control system in the outer loop.
Process
Motors, Robotic
Error Distance
Desired Controller wheels, etc. vacuum
distance
from
- cleaner
from
obstacles
obstacles
Infrared
Measured distance from obstacle
sensors
AP1.7 The attitude control of the drone ship requires measuring the yaw and
roll using a gyro. Often the gyro measures attitude rate, therefore, it may
be necessary to integrate the gyro output to compute the measured roll
and yaw.
Drone ship
Errors
Desired roll Ship and sea
Computer Roll/yaw Actual roll
and yaw
- thrusters dynamics
and yaw
Measurement
Gyro
Measured roll and yaw

Design Problems 19
Design Problems
CDP1.1 The machine tool with the movable table in a feedback control configu-
ration:
Error Positioning Machine

Desired Amplifier Actual
position
x
- motor tool with position
x
table
Measurement
Measured position Position sensor
DP1.1 Use the stereo system and amplifiers to cancel out the noise by emitting
signals 180◦ out of phase with the noise.
Controller Process
Noise
signal
Desired
Shift phase Positioning Machine Noise in
noise = 0 - by 180 deg motor tool with cabin
table
Measurement
Microphone
DP1.2 An automobile cruise control system:
Controller Process
Desired
shaft
Desired 1/K speed Electric Automobile K Actual
speed - motor Valve
of auto and engine speed
of auto
set by
driver
Measurement
Shaft speed
Measured shaft speed Drive shaf t speed
sensor

DP1.3 Utilizing a smart phone to remotely monitor and control a washing ma-
chine:
Controller Process
Error Human operator Internet

Desired Washing machine Washing Actual
state of
washing - & smart phone state input module machine state of
washing
machine machine
Measurement
Washing machine
Internet
state output module
DP1.4 An automated cow milking system:
Measurement
Cow location
Vision system

Location
of cup
Motor and Robot arm and Cow and Milk
Desired cup - gears cup gripper milker
location
Measurement
Measured cup location

Vision system
DP1.5 A feedback control system for a robot welder:
Controller Process
Error Voltage
Desired Computer and Motor and Weld
position - amplifier arm top
position
Measurement
Measured position Vision camera

Design Problems 21
DP1.6 A control system for one wheel of a traction control system:
Engine torque Antislip

controller
Wheel
+ + Wheel speed
dynamics Sensor
- -
+ +
Measured
Actual slip
- - slip
1/Rw Rw = Radius of wheel
Vehicle
dynamics Vehicle speed Sensor
Antiskid
Brake torque controller
DP1.7 A vibration damping system for the Hubble Space Telescope:

Signal to
Error cancel the jitter
Desired Computer Gyro and Spacecraft Jitter of
jitter = 0 - reaction wheels dynamics vibration
Measurement
Rate gyro
Measurement of 0.05 Hz jitter sensor
DP1.8 A control system for a nanorobot:
Error Bio-
Desired Plane surfaces Nanorobot Actual
nanorobot
position
- computer
and propellers
nanorobot
position
Measurement
External beacons
Many concepts from underwater robotics can be applied to nanorobotics

within the bloodstream. For example, plane surfaces and propellers can

provide the required actuation with screw drives providing the propul-
sion. The nanorobots can use signals from beacons located outside the
skin as sensors to determine their position. The nanorobots use energy
from the chemical reaction of oxygen and glucose available in the human
body. The control system requires a bio-computer–an innovation that is
not yet available.
DP1.9 The feedback control system might use gyros and/or accelerometers to
measure angle change and assuming the HTV was originally in the vertical
position, the feedback would retain the vertical position using commands
to motors and other actuators that produced torques and could move the
HTV forward and backward.
Process
Error Motors, Angle from

Desired angle Controller wheels, etc. HTV
from vertical (0o) - vertical
Gyros &
Measured angle from vertical
accelerometers
DP1.10 There are two loops in this control system, one to control the automo-
bile velocity and one to control the relative position of the two vehicles.
Since we have no way to measure the velocity of the forward vehicle, we
rely on the radar to provide relative positioning. The controller will need
to account for both the velocity error and the relative position error in
computing the desired acceleration.
Measured relative position

Radar
Desired
relative
-
position Relative position
Error
Automobile
Desired
Velocity Error
Controller
Desired Engine Automobile
∫ Position
velocity - acceleration control dynamics
Velocity
Speedometer
Measured velocity

C H A P T E R 2
Mathematical Models of Systems
Exercises
E2.1 We have for the open-loop
y = r2
and for the closed-loop
e = r − y and y = e2 .
So, e = r − e2 and e2 + e − r = 0 .
40
35
30
25
20
y
15
10
open−loop
5
closed−loop
0
0 1 2 3 4 5 6
r
FIGURE E2.1
Plot of open-loop versus closed-loop.
For example, if r = 1, then e2 + e − 1 = 0 implies that e = 0.618. Thus,

y = 0.382. A plot y versus r is shown in Figure E2.1.
23

24 CHAPTER 2 Mathematical Models of Systems
E2.2 Define
f (T ) = R = R0 e−0.1T
and
∆R = f (T ) − f (T0 ) , ∆T = T − T0 .
Then,
∂f
∆R = f (T ) − f (T0 ) = ∆T + · · ·
∂T T =T0 =20◦
where
∂f
= −0.1R0 e−0.1T0 = −135,
∂T T =T0 =20◦
when R0 = 10, 000Ω. Thus, the linear approximation is computed by

considering only the first-order terms in the Taylor series expansion, and
is given by
∆R = −135∆T .
E2.3 The spring constant for the equilibrium point is found graphically by
estimating the slope of a line tangent to the force versus displacement
curve at the point y = 0.5cm, see Figure E2.3. The slope of the line is
K ≈ 1.
2
1.5
1 Spring breaks
0.5
0
Force (n)
-0.5
-1
-1.5
-2
-2.5 Spring compresses

-3
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2 2.5 3
y=Displacement (cm)
FIGURE E2.3
Spring force as a function of displacement.

Exercises 25
E2.4 Since
1
R(s) =
s
we have
4(s + 50)
Y (s) = .
s(s + 20)(s + 10)
The partial fraction expansion of Y (s) is given by
A1 A2 A3
Y (s) = + +
s s + 20 s + 10
where
A1 = 1 , A2 = 0.6 and A3 = −1.26 .
Using the Laplace transform table, we find that
y(t) = 1 + 0.6e−20t − 1.6e−10t .
The final value is computed using the final value theorem:
4(s + 50)

lim y(t) = lim s 2
=1.
t→∞ s→0 s(s + 30s + 200)
E2.5 The circuit diagram is shown in Figure E2.5.
R2
v-
-
A R1
+ +
+
vin v0
- -
FIGURE E2.5
Noninverting op-amp circuit.
With an ideal op-amp, we have
vo = A(vin − v − ),

where A is very large. We have the relationship
R1
v− = vo .
R1 + R2
Therefore,
R1
vo = A(vin − vo ),
R1 + R2
and solving for vo yields
A
vo = AR1
vin .
1+ R1 +R2
AR1 AR1
Since A ≫ 1, it follows that 1 + R1 +R2 ≈ R1 +R2 . Then the expression for
vo simplifies to
R1 + R2
vo = vin .
R1
E2.6 Given
y = f (x) = ex
and the operating point xo = 1, we have the linear approximation
∂f
y = f (x) = f (xo ) + (x − xo ) + · · ·
∂x x=xo
where
df
f (xo ) = e, = e, and x − xo = x − 1.
dx x=xo =1
Therefore, we obtain the linear approximation y = ex.

E2.7 The block diagram is shown in Figure E2.7.
+ Ea(s)
R(s) G1(s) G2(s) I(s)
-
H(s)
FIGURE E2.7
Block diagram model.

Exercises 27
Starting at the output we obtain
I(s) = G1 (s)G2 (s)E(s).
But E(s) = R(s) − H(s)I(s), so
I(s) = G1 (s)G2 (s) [R(s) − H(s)I(s)] .
Solving for I(s) yields the closed-loop transfer function

I(s) G1 (s)G2 (s)
= .
R(s) 1 + G1 (s)G2 (s)H(s)
E2.8 The block diagram is shown in Figure E2.8.
H2(s)
- A(s) Z(s) 1
R(s) K G1(s) G2(s) Y(s)
- W(s) - s
- E(s)
H3(s)
H1(s)
FIGURE E2.8
Starting at the output we obtain

1 1
Y (s) = Z(s) = G2 (s)A(s).
s s
But A(s) = G1 (s) [−H2 (s)Z(s) − H3 (s)A(s) + W (s)] and Z(s) = sY (s),
so
1
Y (s) = −G1 (s)G2 (s)H2 (s)Y (s) − G1 (s)H3 (s)Y (s) + G1 (s)G2 (s)W (s).
s
Substituting W (s) = KE(s) − H1 (s)Z(s) into the above equation yields
Y (s) = −G1 (s)G2 (s)H2 (s)Y (s) − G1 (s)H3 (s)Y (s)

1
+ G1 (s)G2 (s) [KE(s) − H1 (s)Z(s)]
s

and with E(s) = R(s) − Y (s) and Z(s) = sY (s) this reduces to
Y (s) = [−G1 (s)G2 (s) (H2 (s) + H1 (s)) − G1 (s)H3 (s)

1 1
− G1 (s)G2 (s)K]Y (s) + G1 (s)G2 (s)KR(s).
s s
Solving for Y (s) yields the transfer function
Y (s) = T (s)R(s),
where
KG1 (s)G2 (s)/s
T (s) = .
1 + G1 (s)G2 (s) [(H2 (s) + H1 (s)] + G1 (s)H3 (s) + KG1 (s)G2 (s)/s
E2.9 From Figure E2.9, we observe that
Ff (s) = G2 (s)U (s)
and
FR (s) = G3 (s)U (s) .
Then, solving for U (s) yields

1
U (s) = Ff (s)
G2 (s)
and it follows that
G3 (s)
FR (s) = U (s) .
G2 (s)
Again, considering the block diagram in Figure E2.9 we determine
Ff (s) = G1 (s)G2 (s)[R(s) − H2 (s)Ff (s) − H2 (s)FR (s)] .
But, from the previous result, we substitute for FR (s) resulting in
Ff (s) = G1 (s)G2 (s)R(s)−G1 (s)G2 (s)H2 (s)Ff (s)−G1 (s)H2 (s)G3 (s)Ff (s) .
Solving for Ff (s) yields

G1 (s)G2 (s)

Ff (s) = R(s) .
1 + G1 (s)G2 (s)H2 (s) + G1 (s)G3 (s)H2 (s)

Exercises 29
H2(s)
U(s) G2(s) Ff (s)

+ -
R(s) G1(s)
-
U(s) G3(s) FR(s)
H2(s)
FIGURE E2.9
E2.10 The shock absorber block diagram is shown in Figure E2.10. The closed-
loop transfer function model is
Gc (s)Gp (s)G(s)
T (s) = .
1 + H(s)Gc (s)Gp (s)G(s)
Plunger and
Controller Gear Motor
Piston System
+
R(s) Gc(s) Gp(s) G(s) Y(s)
Desired piston - Piston
travel travel
Sensor
H(s)
Piston travel
measurement
FIGURE E2.10
Shock absorber block diagram.
E2.11 Let f denote the spring force (n) and x denote the deflection (m). Then
∆f
K= .
∆x
Computing the slope from the graph yields:
(a) xo = −0.14m → K = ∆f /∆x = 10 n / 0.04 m = 250 n/m
(b) xo = 0m → K = ∆f /∆x = 10 n / 0.05 m = 200 n/m
(c) xo = 0.35m → K = ∆f /∆x = 3n / 0.05 m = 60 n/m

E2.12 The signal flow graph is shown in Fig. E2.12. Find Y (s) when R(s) = 0.
Td(s)
-K
1
1
K2 G(s)
Y (s)
-1
FIGURE E2.12
Signal flow graph.
The transfer function from Td (s) to Y (s) is
G(s)Td (s) − K1 K2 G(s)Td (s) G(s)(1 − K1 K2 )Td (s)

Y (s) = = .
1 − (−K2 G(s)) 1 + K2 G(s)
If we set
K1 K2 = 1 ,
then Y (s) = 0 for any Td (s).

E2.13 The transfer function from R(s), Td (s), and N (s) to Y (s) is
K 1 K

Y (s) = 2 R(s)+ 2 Td (s)− 2 N (s)
s + 25s + K s + 25s + K s + 25s + K
Therefore, we find that
1 K
Y (s)/Td (s) = and Y (s)/N (s) = −
s2 + 25s + K s2 + 25s + K
E2.14 Since we want to compute the transfer function from R2 (s) to Y1 (s), we
can assume that R1 = 0 (application of the principle of superposition).
Then, starting at the output Y1 (s) we obtain
Y1 (s) = G3 (s) [−H1 (s)Y1 (s) + G2 (s)G8 (s)W (s) + G9 (s)W (s)] ,
or
[1 + G3 (s)H1 (s)] Y1 (s) = [G3 (s)G2 (s)G8 (s)W (s) + G3 (s)G9 (s)] W (s).
Considering the signal W (s) (see Figure E2.14), we determine that
W (s) = G5 (s) [G4 (s)R2 (s) − H2 (s)W (s)] ,

Exercises 31
H1(s)
-
+ + G3(s)
R1(s) G1(s) G2(s) Y1(s)
+ +
G7(s) G8(s) G9(s)
+
+ G6(s)
R2(s) G4(s) G5(s) Y2(s)
- W(s)
H2(s)
FIGURE E2.14
or
[1 + G5 (s)H2 (s)] W (s) = G5 (s)G4 (s)R2 (s).
Substituting the expression for W (s) into the above equation for Y1 (s)
yields
Y1 (s) G2 (s)G3 (s)G4 (s)G5 (s)G8 (s) + G3 (s)G4 (s)G5 (s)G9 (s)
= .
R2 (s) 1 + G3 (s)H1 (s) + G5 (s)H2 (s) + G3 (s)G5 (s)H1 (s)H2 (s)
E2.15 For loop 1, we have
di1 1
Z
R1 i1 + L1 + (i1 − i2 )dt + R2 (i1 − i2 ) = v(t) .
dt C1
And for loop 2, we have
1 di2 1
Z Z
i2 dt + L2 + R2 (i2 − i1 ) + (i2 − i1 )dt = 0 .
C2 dt C1
E2.16 The transfer function from R(s) to P (s) is
P (s) 4.2
= 3 2
.
R(s) s + 2s + 4s + 4.2
The block diagram is shown in Figure E2.16a. The corresponding signal
flow graph is shown in Figure E2.16b for
4.2
P (s)/R(s) = .
s3 + 2s2 + 4s + 4.2

v1(s) v2(s) q(s) 1

R(s) 0.6 P(s)
7
- s s2+2s+4
(a)
1
V1 V2 0.6
s s2 + 2 s + 4
1 7
R(s ) P (s)
-1
(b)
FIGURE E2.16
(a) Block diagram, (b) Signal flow graph.
E2.17 A linear approximation for f is given by

∂f
∆f = ∆x = 2kxo ∆x = k∆x
∂x x=xo
where xo = 1/2, ∆f = f (x) − f (xo ), and ∆x = x − xo .

E2.18 The linear approximation is given by
∆y = m∆x
where
∂y
m= .
∂x x=xo
(a) When xo = 1, we find that yo = 2.4, and yo = 13.2 when xo = 2.
(b) The slope m is computed as follows:

∂y
m= = 1 + 4.2x2o .
∂x x=xo
Therefore, m = 5.2 at xo = 1, and m = 18.8 at xo = 2.

Exercises 33
E2.19 The output (with a step input) is

30(s + 1)
Y (s) = .
s(s + 5)(s + 6)
The partial fraction expansion is
5 20 15
Y (s) = − + .
s s+3 s+2
Taking the inverse Laplace transform yields
y(t) = 5 − 20e−3t + 15e−2t .
E2.20 The input-output relationship is

Vo A(K − 1)
=
V 1 + AK
where
Z1
K= .
Z1 + Z2
Assume A ≫ 1. Then,
Vo K −1 Z2
= =−
V K Z1
where
R1 R2
Z1 = and Z2 = .
R1 C 1 s + 1 R2 C 2 s + 1
Therefore,
Vo (s) R2 (R1 C1 s + 1) 2(s + 1)
=− =− .
V (s) R1 (R2 C2 s + 1) s+2
E2.21 The equation of motion of the mass mc is
mc ẍp + (bd + bs )ẋp + kd xp = bd ẋin + kd xin .
Taking the Laplace transform with zero initial conditions yields
[mc s2 + (bd + bs )s + kd ]Xp (s) = [bd s + kd ]Xin (s) .
So, the transfer function is

Xp (s) bd s + kd 0.65s + 1.8
= = 2 .
Xin (s) mc s2 + (bd + bs )s + kd s + 1.55s + 1.8

E2.22 The rotational velocity is

2(s + 4) 1
ω(s) = 2
.
(s + 5)(s + 1) s
Expanding in a partial fraction expansion yields
81 1 1 3 1 13 1
ω(s) = + − 2
− .
5 s 40 s + 5 2 (s + 1) 8 s+1
Taking the inverse Laplace transform yields
8 1 3 13
ω(t) = + e−5t − te−t − e−t .
5 40 2 8
E2.23 The closed-loop transfer function is
Y (s) K1 K2
= T (s) = 2 .
R(s) s + (K1 + K2 K3 + K1 K2 )s + K1 K2 K3
E2.24 Let x = 0.6 and y = 0.8. Then, with y = ax3 , we have
0.8 = a(0.6)3 .
Solving for a yields a = 3.704. A linear approximation is
y − yo = 3ax2o (x − xo )
or y = 4x − 1.6, where yo = 0.8 and xo = 0.6.

E2.25 The closed-loop transfer function is
Y (s) 10
= T (s) = 2 .
R(s) s + 21s + 10
E2.26 The equations of motion are
m1 ẍ1 + k(x1 − x2 ) = F
m2 ẍ2 + k(x2 − x1 ) = 0 .
Taking the Laplace transform (with zero initial conditions) and solving
for X2 (s) yields
k
X2 (s) = F (s) .
(m2 s2 + k)(m1 s2 + k) − k2
Then, with m1 = m2 = k = 1, we have
1
X2 (s)/F (s) = .
s2 (s2 + 2)

Exercises 35
E2.27 The transfer function from Td (s) to Y (s) is
G2 (s)
Y (s)/Td (s) = .
1 + G1 G2 H(s)
E2.28 The transfer function is
Vo (s) R2 R4 C R2 R4
= s+ = 46.08s + 344.91 .
V (s) R3 R1 R3
E2.29 (a) If
1
G(s) = and H(s) = 2s + 15 ,
s2 + 15s + 50
then the closed-loop transfer function of Figure E2.28(a) and (b) (in
Dorf & Bishop) are equivalent.
(b) The closed-loop transfer function is
1
T (s) = .
s2 + 17s + 65
E2.30 (a) The closed-loop transfer function is
G(s) 1 15 15
T (s) = = where G(s) = .
1 + G(s) s s(s2 + 5s + 30) s2 + 5s + 15
0.7
0.6
0.5
Amplitude
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5
Time (seconds)
FIGURE E2.30
Step response.

(b) The output Y (s) (when R(s) = 1/s) is

0.5 −0.25 + 0.1282j −0.25 − 0.1282j
Y (s) = + +
s s + 2.5 − 4.8734 s + 2.5 + 4.8734j
or
1 1 s+5

Y (s) = − 2
2 s s + 5s + 30
(c) The plot of y(t) is shown in Figure E2.30. The output is given by
y(t) = 0.5(1 − 1.1239e−2.5t sin(4.8734t + 1.0968));
E2.31 The partial fraction expansion is

a b
V (s) = +
s + p1 s + p2
where p1 = 5 − 8.66j and p2 = 5 + 8.66j. Then, the residues are
a = −5.77j b = 5.77j .
The inverse Laplace transform is
v(t) = −5.77je(−5+8.66j)t + 5.77je(−5−8.66j)t = 11.55e−5t sin 8.66t .

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Modern Control SySteMS

Reproduced by Pearson from electronic files supplied by the author.

In each chapter, there are five problem types:

It is assumed that instructors (and students) have access to MATLAB and

Robert H. Bishop robertbishop@usf.edu

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1. Introduction to Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

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Introduction to Control Systems

There are, in general, no unique solutions to the following exercises and

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2 CHAPTER 1 Introduction to Control Systems

E1.3 A microprocessor controlled laser system:

Error Current i(t)

E1.4 A driver controlled cruise control system:

Foot pedal Car and

Visual indication of speed

E1.5 Although the principle of conservation of momentum explains much of

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E1.6 An autofocus camera control system:

One-way trip time for the beam

E1.7 Tacking a sailboat as the wind shifts:

Measured sailboat direction

E1.8 An automated highway control system merging two lanes of traffic:

Controller Actuators Process

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4 CHAPTER 1 Introduction to Control Systems

E1.9 A skateboard rider maintaining vertical orientation and desired speed:

Controller Actuators Process

E1.10 Human biofeedback control system: E1.11

E1.11 E-enabled aircraft with ground-based flight path control:

Corrections to the Controller Aircraft

Ground-Based Computer Network

Desired Gc(s) G(s) Flight

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E1.12 Unmanned aerial vehicle used for crop monitoring in an autonomous

Trajectory Controller UAV

E1.13 An inverted pendulum control system using an optical encoder to measure

Error Voltage Torque

Controller Actuator Process

E1.15 A closed-loop blood glucose system with a continuous glucose measure-

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6 CHAPTER 1 Introduction to Control Systems

Controller Actuators Process

e If e > edes , Insulin

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P1.2 A human operator controlled valve system:

P1.3 A chemical composition control block diagram:

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8 CHAPTER 1 Introduction to Control Systems

P1.4 A nuclear reactor control block diagram:

P1.5 A light seeking control system to track the sun:

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∆t = 4/3 min. + 3 min. = 13/3 min.

ET = 12 days × 13/3 min./day .

Therefore, the net time error after 15 days is

P1.8 The student-teacher learning process: