Solution Manual + Answer Key

Solution Manual for Automatic Control Systems 9th Edition by

Farid Golnaraghi

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Book Title: Automatic Control Systems

Edition: 9th Edition

Author: Farid Golnaraghi

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 Ninth Edition

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Farid Golnaraghi • Benjamin C. Kuo

Automatic Control Systems, 9th Edition
A Chapter 2 Solution
ns Golnarraghi, Kuo

C
Chapter 2

2 (a) Poless: s = 0, 0, −1, −10;

2‐1 − (b) Poles: s = −2,, −2;

Zeross: s = −2, ∞, ∞, ∞. Zeros: s = 0.

The pole and zero at s = −1 cancel

c each otther.

( Poles: s = 0, −1 + j, −1 − j;
(c) (d) Poles: s = 0, −1, −2, ∞.

Zeross: s = −2.

2
2-2) a)

b)

c)

2
2-3)

M
MATLAB code
e:

2‐1
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

clear all;

s = tf('s')

'Generated transfer function:'

Ga=10*(s+2)/(s^2*(s+1)*(s+10))

'Poles:'

pole(Ga)

'Zeros:'

zero(Ga)

'Generated transfer function:'

Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))

'Poles:';

pole(Gb)

'Zeros:'

zero(Gb)

'Generated transfer function:'

Gc=10*(s+2)/(s*(s^2+2*s+2))

'Poles:';

pole(Gc)

'Zeros:'

zero(Gc)

'Generated transfer function:'

Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))

'Poles:';

pole(Gd)

'Zeros:'

zero(Gd)

2‐2
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Poles and zeros of the above functions:

(a)

Poles: 0 0 ‐10 ‐1

Zeros: ‐2

(b)

Poles: ‐2.0000 ‐2.0000 ‐1.0000

Zeros: 0 ‐1

(c)

Poles:

‐1.0000 + 1.0000i

‐1.0000 ‐ 1.0000i

Zeros: ‐2

Generated transfer function:

(d) using first order Pade approximation for exponential term

Poles:

‐2.0000

‐1.0000 + 0.0000i

‐1.0000 ‐ 0.0000i

Zeros:

2‐3
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2-4) Mathematical representation:

In all cases substitute and simplify. The use MATLAB to verify.

10 22 + ω 2 1 + ω 2 102 + ω 2
R= ;
−ω 2 (ω 2 + 1)(ω 2 + 100)
ω
10( jω + 2)
φ1 = tan −1 2 + ω
2 2
−ω ( jω + 1)( jω + 10)
2
2
10( jω + 2) ( − jω + 1)(− jω + 10) 22 + ω 2
= ×
−ω ( jω + 1)( jω + 10) (− jω + 1)(− jω + 10)
2
−ω
10( jω + 2)( − jω + 1)(− jω + 10)
φ2 = tan −1 1 + ω
2
a) =
−ω (ω + 1)(ω + 100)
2 2 2 1
jω + 2 − jω + 1 − jω + 10 1+ ω2
=R
22 + ω 2 1 + ω 2 102 + ω 2 −ω
φ3 = tan −1 10 + ω
2 2
= R(e jφ1 e jφ2 e jφ3 )
10
102 + ω 2
φ = φ1 + φ2 + φ3

10 1 + ω 2 9 + ω 2
R= ;
(ω 2 + 1) 2 (ω 2 + 9)
−ω
10
−1 1 + ω
2
( jω + 1) ( jω + 3)
2 φ1 = tan
1
10 (− jω + 1)(− jω + 1)(− jω + 3) 1+ ω2
= ×
( jω + 1)( jω + 1)( jω + 3) ( − jω + 1)(− jω + 1)(− jω + 3) −ω
10(− jω + 1)(− jω + 1)(− jω + 3) −1 1 + ω
2
b) = φ = tan
1
(ω 2 + 1) 2 (ω 2 + 9)
2

− jω + 1 − jω + 1 − jω + 3 1+ ω2
= R
1+ ω2 1+ ω2 9 + ω2 −ω
φ3 = tan −1 9 + ω
2
= R (e jφ1 e jφ2 e jφ3 )
3
9 + ω2
φ = φ1 + φ2 + φ3

2‐4
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

10
jω ( j 2ω + 2 − ω 2 )
−10 j (2 − ω 2 − j 2ω )
= ×
ω ( j 2ω + 2 − ω 2 ) (2 − ω 2 − j 2ω )
10(−2ω − (2 − ω 2 ) j )
c) =
ω (4ω 2 + (2 − ω 2 ) 2 )
−2ω − (2 − ω 2 ) j
=R
4ω 2 + (2 − ω 2 ) 2
= R (e jφ )

10 4ω 2 + (2 − ω 2 ) 2 10
R= = ;
ω (4ω + (2 − ω ) ) ω 4ω + (2 − ω 2 ) 2
2 2 2 2

−2 − ω 2
4ω 2 + (2 − ω 2 ) 2
φ = tan −1 −2ω
4ω + (2 − ω 2 ) 2
2

1
R= ;
10ω 2 + ω 2 1 + ω 2
2

e −2 jω
−ω
10 jω ( jω + 1)( jω + 2)
φ = tan −1 22 + ω 2
− j (− jω + 1)(− jω + 2) −2 jω 1 2
= e
d) 10ω (ω 2 + 1)(ω 2 + 2) 2 + ω2
2

− jω + 2 − jω + 1 −2 jω − jπ / 2 −ω
=R e
2 + ω 1+ ω
2 2 2
φ2 = tan −1 1 + ω
2

1
= R (e jφ1 e jφ2 e jφ3 )
1+ ω2
φ = φ1 + φ2 + φ3

MATLAB code:

clear all;

s = tf('s')

'Generated transfer function:'

Ga=10*(s+2)/(s^2*(s+1)*(s+10))

figure(1)

2‐5
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Nyquist(Ga)

'Generated transfer function:'

Gb=10*s*(s+1)/((s+2)*(s^2+3*s+2))

figure(2)

Nyquist(Gb)

'Generated transfer function:'

Gc=10*(s+2)/(s*(s^2+2*s+2))

figure(3)

Nyquist(Gc)

'Generated transfer function:'

Gd=pade(exp(-2*s),1)/(10*s*(s+1)*(s+2))

figure(4)

Nyquist(Gd)

Nyquist plots (polar plots):

Part(a)

2‐6
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Nyquist Diagram
15

10

5
Imaginary Axis

-5

-10

-15
-300 -250 -200 -150 -100 -50 0
Real Axis

Part(b)
Nyquist Diagram
1.5

0.5
Imaginary Axis

-0.5

-1

-1.5
-1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis

Part(c)

2‐7
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Nyquist Diagram
80

60

40

20
Imaginary Axis

-20

-40

-60

-80
-7 -6 -5 -4 -3 -2 -1 0
Real Axis

Part(d)

Nyquist Diagram
2.5

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5

-2

-2.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis

2‐8
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2-5) In all cases find the real and imaginary axis intersections.

10 10(− jω + 2) 10 2 − jω
G ( jω ) = = = ;
( jω − 2) (ω + 4)
2
(ω 2 + 4) (ω 2 + 4)
2
Re {G ( jω )} = cos φ = ,
(ω 2 + 4)
−ω
a) Im {G ( jω )} = sin φ = ,
(ω 2 + 4)
2
(ω 2 + 4)
φ = tan −1 −ω
(ω 2 + 4)
10
R=
(ω 2 + 4)

lim ω →0 G ( jω ) = 5; φ = tan −1 1 = −90o

−0
lim ω →∞ G ( jω ) = 0; φ = tan −1 0 = −180o
−1
Real axis intersection @ jω = 0
Imaginary axis int er sec tion does not exist.

b&c) =1 0o

∞ =0 -180o

Therefore:

Re{ G(jω) } =

Im {G(jω)} =

2‐9
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

If Re{G(jω )} = 0 Ö

0
If Im{ G(jω )} = 0 Ö 0
∞

If ω = ωn Ö
90

If ω = ωn and ξ = 1 Ö

If ω = ωn and ξ 0 Ö

If ω = ωn and ξ ∞ Ö 0

d) G(jω) =

limω G jω = - 90o

limω ∞G jω = -180o

e) | |
√

G(jω) = + = tan-1 (ω T) – ω L

2‐10
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2‐6

MATLAB code:

clear all;

s = tf('s')

%Part(a)

Ga=10/(s-2)

figure(1)

nyquist(Ga)

%Part(b)

zeta=0.5; %asuuming a value for zeta <1

wn=2*pi*10 %asuuming a value for wn

Gb=1/(1+2*zeta*s/wn+s^2/wn^2)

figure(2)

nyquist(Gb)

%Part(c)

zeta=1.5; %asuuming a value for zeta >1

wn=2*pi*10

Gc=1/(1+2*zeta*s/wn+s^2/wn^2)

figure(3)

nyquist(Gc)

%Part(d)

T=3.5 %assuming value for parameter T

Gd=1/(s*(s*T+1))

figure(4)

nyquist(Gd)

2‐11
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

%Part(e)

T=3.5

L=0.5

Ge=pade(exp(-1*s*L),2)/(s*T+1)

figure(5)

hold on;

nyquist(Ge)

notes: In order to use Matlab Nyquist command, parameters needs to be assigned with values, and Pade
approximation needs to be used for exponential term in part (e).

Nyquist diagrams are as follows:

2‐12
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Part(a)

Nyquist Diagram
2.5

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5

-2

-2.5
-5 -4 -3 -2 -1 0 1
Real Axis

Part(b)

Nyquist Diagram
1.5

0.5
Imaginary Axis

-0.5

-1

-1.5
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

2‐13
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Part(c)

Nyquist Diagram
0.8

0.6

0.4

0.2
Imaginary Axis

-0.2

-0.4

-0.6

-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

Part(d)

2‐14
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Nyquist Diagram
60

40

20
Imaginary Axis

-20

-40

-60
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

Part(e)

Nyquist Diagram
0.8

0.6

0.4

0.2
Imaginary Axis

-0.2

-0.4

-0.6

-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

2‐15
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2-7) a) G(jω) =
. .

Steps for plotting |G|:

(1) For ω < 0.1, asymptote is

Break point: ω = 0.5

Slope = -1 or -20 dB/decade
(2) For 0.5 < ω < 10
Break point: ω = 10
Slope = -1+1 = 0 dB/decade
(3) For 10 < ω < 50:
Break point: ω = 50
Slope = -1 or -20 dB/decade
(4) For ω > 50
Slope = -2 or -40 dB/decade

Steps for plotting G

(1) = -90o

0: 90
(2) =
∞ 0

0: 0
.
(3) =
.
∞: 90
.

0: 90
.
(4) =
.
∞ 0
.

b) Let’s convert the transfer function to the following form:

G(jω) = . Ö G(s) =
.

Steps for plotting |G|:

(1) Asymptote: ω < 1 |G(jω)| 2.5 / ω

Slope: -1 or -20 dB/decade
| | 2.5

2‐16
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

(2) ωn =2 and ξ = 0.1 for second-order pole

break point: ω = 2
slope: -3 or -60 dB/decade
| | 5

Steps for plotting G(jω):

(1) for term 1/s the phase starts at -90o and at ω = 2 the phase will be -180o
(2) for higher frequencies the phase approaches -270o

c) Convert the transfer function to the following form:

0.01 1
0.01 1
9
for term , slope is -2 (-40 dB/decade) and passes through | | 1

(1) the breakpoint: ω = 1 and slope is zero

(2) the breakpoint: ω = 2 and slope is -2 or -40 dB/decade
|G(jω)|ω = 1 = 2ξ = 0.01 below the asymptote
|G(jω)|ω = 1 = = = 50 above the asymptote
ξ .

Steps for plotting G:

(1) phase starts from -180o due to

(2) G(jω)|ω =1 = 0
(3) G(jω)|ω = 2 = -180o

d) G(jω) = ω ω
ξ ω ω

Steps for plotting the |G|:

(1) Asymptote for <1 is zero

(2) Breakpoint: = 1, slope = -1 or -10 dB/decade

(3) As ξ is a damping ratio, then the magnitude must be obtained for various ξ when
0≤ξ≤1

2‐17
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

The high frequency slope is twice that of the asymptote for the single-pole case

Steps for plotting G:

(1) The phase starts at 0o and falls -1 or -20 dB/decade at = 0.2 and approaches -180o

at = 5. For > 5, the phase remains at -180o.

(2) As ξ is a damping ratio, the phase angles must be obtained for various ξ when
0≤ξ≤1

2‐8) Use this part to confirm the results from the previous part.

MATLAB code:

s = tf('s')

'Generated transfer function:'

Ga=2000*(s+0.5)/(s*(s+10)*(s+50))

figure(1)

bode(Ga)

grid on;

'Generated transfer function:'

Gb=25/(s*(s+2.5*s^2+10))

figure(2)

bode(Gb)

grid on;

'Generated transfer function:'

Gc=(s+100*s^2+100)/(s^2*(s+25*s^2+100))

figure(3)

bode(Gc)

grid on;

2‐18
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

'Generated transfer function:'

zeta = 0.2

wn=8

Gd=1/(1+2*zeta*s/wn+(s/wn)^2)

figure(4)

bode(Gd)

grid on;

'Generated transfer function:'

t=0.3

'from pade approzimation:'

exp_term=pade(exp(-s*t),1)

Ge=0.03*(exp_term+1)^2/((exp_term-1)*(3*exp_term+1)*(exp_term+0.5))

figure(5)

bode(Ge)

grid on;

Part(a)

2‐19
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Bode Diagram
60

40

Magnitude (dB)
20

-20

-40

-60
0

-45
Phase (deg)

-90

-135

-180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Part(b)

Bode Diagram
50
Magnitude (dB)

-50

-100
-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

2‐20
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Part(c)

Bode Diagram
60

40
Magnitude (dB)

20

-20

-40
0

-45
Phase (deg)

-90

-135

-180
-1 0 1
10 10 10
Frequency (rad/sec)

Part(d)

2‐21
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Bode Diagram
10

Magnitude (dB)
-10

-20

-30

-40

-50
0

-45
Phase (deg)

-90

-135

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Part(e)

Bode Diagram
0

-20
Magnitude (dB)

-40

-60

-80

-100

-120
0

-90
Phase (deg)

-180

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

2‐22
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2-9)
a)

⎡ −1 2 0 ⎤ ⎡0 0 ⎤
⎡ u1 (t ) ⎤
A = 0 −2 3 ⎥
⎢ B = 1 0⎥
⎢ u (t ) = ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎣ u 2 (t ) ⎦
⎢⎣ −1 −3 −1⎥⎦ ⎢⎣ 0 1 ⎥⎦

b)

1 2 0 2 0
2 0 1 0 1
3 4 1 0 0

2-10) We know that:

∞

∞
1
2
2
∞

Partial integration of equation (1) gives:

∞ ∞
1 ′

Ö sG s g 0 g′ t

Ö sG s – g 0

Differentiation of both sides of equation (1) with respect to s gives:

∞ ∞

∞ ∞

Comparing with equation (1), we conclude that:

2‐23
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2-11) Let g(t) = ∞

then

Using Laplace transform and differentiation property, we have X(s) = sG(s)

Therefore G(s) = , which means:

∞
1

2-12) By Laplace transform definition:

∞

Now, consider τ = t - T, then:

∞ ∞

Which means: ↔

2-13) Consider:

f(t) = g1(t) g2(t) =

By Laplace transform definition:

By using time shifting theorem, we have:

2‐24
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Let’s consider g(t) = g1(t) g2(t)

By inverse Laplace Transform definition, we have

1
2

Then

Where

therefore:

1
G s G s
2

2-14) a) We know that

= = sG(s) + g(0)

When s Æ ∞ , it can be written as:

2‐25
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

As

Therefore: 0

b) By Laplace transform differentiation property:

As

∞ 0

Therefore

0 ∞ 0

which means:

2‐15)

MATLAB code:

clear all;

syms t

s=tf('s')

f1 = (sin(2*t))^2

L1=laplace(f1)

2‐26
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

% f2 = (cos(2*t))^2 = 1-(sin(2*t))^2 ===> L(f2)=1/s-L(f1) ===>

L2= 1/s - 8/s/(s^2+16)

f3 = (cos(2*t))^2

L3=laplace(f3)

'verified as L2 equals L3'

2
MATLAB solution for L sin 2t is: { }
8/s/(s^2+16)

{
2
} 2
Calculating L cos 2t based on L sin 2t { }
{ }
L cos 2 2t = (s^^3 + 8 s)/( s^4 + 16 s^2)

{ 2
verifying L cos 2t : }
(8+s^2)/s/(s^2+16)

2‐16) (a) (b) (c)

5 4s 1 4
G( s) = G(s) = + G( s) =
( s + 5) 2
(s 2
+4 ) s+2 2
s + 4s + 8

(d) (e)
∞
1 1
G( s) = 2
s +4
G ( s) = ∑e kT ( s + 5 )
=
1− e
− T ( s +5 )
k =0

2‐27
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2‐17) Note: %section (e) requires assignment of T and a numerical loop calculation

MATLAB code:

clear all;

syms t u

f1 = 5*t*exp(-5*t)

L1=laplace(f1)

f2 = t*sin(2*t)+exp(-2*t)

L2=laplace(f2)

f3 = 2*exp(-2*t)*sin(2*t)

L3=laplace(f3)

f4 = sin(2*t)*cos(2*t)

L4=laplace(f4)

%section (e) requires assignment of T and a numerical loop calculation

(a) g (t ) = 5te −5t u s (t )

Answer: 5/(s+5)^2

(b) g ( t ) = ( t sin 2t + e −2t )u s ( t )

Answer: 4*s/(s^2+4)^2+1/(s+2)

(c) g ( t ) = 2e −2t sin 2t u s (t )

Answer: 4/(s^2+4*s+8)

2‐28
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

(d) g ( t ) = sin 2t cos 2t u s (t )

Answer: 2/(s^2+16)

∞
(e) g (t ) = ∑e −5 kT
δ ( t − kT ) where δ(t) = unit‐impulse function
k =0

%section (e) requires assignment of T and a numerical loop calculation

2‐18 (a)

g (t ) = u s (t ) − 2u s (t − 1) + 2u s ( t − 2) − 2u s (t − 3) + L
−s
1 1− e
G(s) = (1 − 2e − s + 2e −2 s − 2e −3s + L) =
s (
s 1+ e
−s
)
gT (t ) = u s (t ) − 2u s (t − 1) + u s (t − 2) 0≤t≤2

1 1
(1 − 2e − s + e −2 s ) = (1 − e − s )
2
GT ( s ) =
s s

∞ ∞ −s
1 1− e
g (t ) = ∑g T
( t − 2 k )u s ( t − 2 k ) G( s) = ∑ s (1 − e − s 2 −2 ks
) e =
s(1 + e
−s
)
k =0 k =0

(b)

g (t ) = 2tu s (t ) − 4(t − 0.5)u s (t − 0.5) + 4(t − 1)u s (t − 1) − 4(t − 1.5)u s (t − 1.5) + L

2 ( −0.5s )
2 1− e
G(s) = ( 1 − 2e
−0.5 s
+ 2e
−s
− 2e
−1.5 s
) s 2 1 + e−0.5s
+L =
s
2
( )
gT ( t ) = 2tu s ( t ) − 4( t − 0.5)u s ( t − 0.5) + 2( t − 1)u s ( t − 1) 0≤ t ≤1

2 2
(1 − 2e−0.5 s + e− s ) = s 2 (1 − e−0.5 s )
2
GT ( s ) = 2
s

∞ ∞
2 ( −0.5 s
2 1− e )
g ( t ) = ∑ g T (t − k )u s (t − k ) G ( s) = ∑ (1 − e )
−0.5 s 2
e
− ks
= 2
s (1 + e
k =0 k =0 s
2 −0.5 s
)

2‐19)

g ( t ) = ( t + 1)u s ( t ) − ( t − 1)u s ( t − 1) − 2u s ( t − 1) − ( t − 2 )u s ( t − 2) + ( t − 3)u s ( t − 3) + u s ( t − 3)

2‐29
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

1 1
G (s) =
s
2 (1 − e − s − e −2 s + e −3s ) + s (1 − 2e − s + e −3s )
2-20)

1 1
1

2-21)

1
1

2-22) 0 0 0

0 0

Ö 2 2 2 2

2‐30
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Ö 2 2 2 2

2‐23

MATLAB code:

clear all;

syms t u s x1 x2 Fs

f1 = exp(-2*t)

L1=laplace(f1)/(s^2+5*s+4);

Eq2=solve('s*x1=1+x2','s*x2=-2*x1-3*x2+1','x1','x2')

f2_x1=Eq2.x1

f2_x2=Eq2.x2

f3=solve('(s^3-s+2*s^2+s+2)*Fs=-1+2-(1/(1+s))','Fs')

Here is the solution provided by MATLAB:

Part (a): F(s)=1/(s+2)/(s^2+5*s+4)

Part (b): X1(s)= (4+s)/(2+3*s+s^2)

X2(s)= (s‐2)/(2+3*s+s^2)

Part (c): F(s) = s/(1+s)/(s^3+2*s^2+2)

2‐31
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2‐24)

MATLAB code:

clear all;

syms s Fs

f3=solve('s^2*Fs-Fs=1/(s-1)','Fs')

Answer from MATLAB: Y(s)= 1/(s-1)/(s^2-1)

2‐25)

MATLAB code:

clear all;

syms s CA1 CA2 CA3

v1=1000;

v2=1500;

v3=100;

k1=0.1

k2=0.2

k3=0.4

f1='s*CA1=1/v1*(1000+100*CA2-1100*CA1-k1*v1*CA1)'

f2='s*CA2=1/v2*(1100*CA1-1100*CA2-k2*v2*CA2)'

f3='s*CA3=1/v3*(1000*CA2-1000*CA3-k3*v3*CA3)'

Sol=solve(f1,f2,f3,'CA1','CA2','CA3')

CA1=Sol.CA1

CA3=Sol.CA2

CA4=Sol.CA3

2‐32
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

Solution from MATLAB:

CA1(s) =
1000*(s*v2+1100+k2*v2)/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+
1100*k1*v1+k1*v1*k2*v2)

CA3(s) =

1100000/(1100000+s^2*v1*v2+1100*s*v1+s*v1*k2*v2+1100*s*v2+1100*k2*v2+k1*v1*s*v2+1100*k1*v1+k1*
v1*k2*v2)

CA4 (s)=

1100000000/(1100000000+1100000*s*v3+1000*s*v1*k2*v2+1100000*s*v1+1000*k1*v1*s*v2+1000*k1*v1*k
2*v2+1100*s*v1*k3*v3+1100*s*v2*k3*v3+1100*k2*v2*s*v3+1100*k2*v2*k3*v3+1100*k1*v1*s*v3+1100*k1
*v1*k3*v3+1100000*k1*v1+1000*s^2*v1*v2+1100000*s*v2+1100000*k2*v2+1100000*k3*v3+s^3*v1*v2*v3+
1100*s^2*v1*v3+1100*s^2*v2*v3+s^2*v1*v2*k3*v3+s^2*v1*k2*v2*v3+s*v1*k2*v2*k3*v3+k1*v1*s^2*v2*v3
+k1*v1*s*v2*k3*v3+k1*v1*k2*v2*s*v3+k1*v1*k2*v2*k3*v3)

2-26) (a)
1 1 1 1 1 −2t 1 −3t
G( s) = − + g (t ) = − e + e t≥0
3s 2( s + 2) 3( s + 3) 3 2 3

(b)
−2.5 5 2.5 −t −t −3t
G( s) = + 2
+ g ( t ) = −2.5e + 5te + 2.5e t≥0
s + 1 ( s + 1) s+3

(c)

G(s) = ( 50
s
−
s +1
20
−
30 s + 20
s +4
2 ) e
−s
[
g ( t ) = 50 − 20 e
− ( t −1)
− 30 cos 2(t − 1) − 5 sin 2(t − 1) ] us (t − 1)

(d)
1 s −1 1 1 s
G( s) = − 2
= + 2
− 2
Taking the inverse Laplace transform,
s s + s+2 s s + s+2 s + s+2

g (t ) = 1 + 1.069e
−0.5t
[sin 1.323t + sin (1.323t − 69.3o )] = 1 + e−0.5t (1.447 sin 1.323t − cos1.323t ) t≥0

2 −t
(e) g ( t ) = 0.5t e t≥0

(f)Try using MATLAB

>> b=num*2

2‐33
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

b=

2 2 2

>>num =

1 1 1

>> denom1=[1 1]

denom1 =

1 1

>> denom2=[1 5 5]

denom2 =

1 5 5

>> num*2

ans =

2 2 2

>> denom=conv([1 0],conv(denom1,denom2))

denom =

1 6 10 5 0

>> b=num*2

b=

2 2 2

>> a=denom

a=

1 6 10 5 0

>> [r, p, k] = residue(b,a)

r=

-0.9889

2‐34
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

2.5889

-2.0000

0.4000

p=

-3.6180

-1.3820

-1.0000

k=[]

If there are no multiple roots, then

The number of poles n is

b r r r
= 1 + 2 + ... + n + k
a s + p1 s + p2 s + pn

In this case, p1 and k are zero. Hence,

0.4 0.9889 2.5889 2

G ( s) = − + −
s s + 3.6180 s + 1.3820 s + 1

g (t ) = 0.4 − 0.9889e −3.618t + 1.3820e −2.5889t − 2e − t

(g)

Ö G s 2e 2e 2e 1

(h)

Ö 3

2‐35
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

(i)

2‐27

MATLAB code:

clear all;

syms s

f1=1/(s*(s+2)*(s+3))

F1=ilaplace(f1)

f2=10/((s+1)^2*(s+3))

F2=ilaplace(f2)

f3=10*(s+2)/(s*(s^2+4)*(s+1))*exp(-s)

F3=ilaplace(f3)

f4=2*(s+1)/(s*(s^2+s+2))

F4=ilaplace(f4)

f5=1/(s+1)^3

F5=ilaplace(f5)

f6=2*(s^2+s+1)/(s*(s+1.5)*(s^2+5*s+5))

F6=ilaplace(f6)

s=tf('s')

f7=(2+2*s*pade(exp(-1*s),1)+4*pade(exp(-2*s),1))/(s^2+3*s+2) %using Pade command

for exponential term

2‐36
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

[num,den]=tfdata(f7,'v') %extracting the polynomial values

syms s

f7n=(-2*s^3+6*s+12)/(s^4+6*s^3+13*s^2+12*s+4) %generating sumbolic function for

ilaplace

F7=ilaplace(f7n)

f8=(2*s+1)/(s^3+6*s^2+11*s+6)

F8=ilaplace(f8)

f9=(3*s^3+10^s^2+8*s+5)/(s^4+5*s^3+7*s^2+5*s+6)

F9=ilaplace(f9)

Solution from MATLAB for the Inverse Laplace transforms:

1
Part (a): G ( s) =
s( s + 2)( s + 3)

G(t)=‐1/2*exp(‐2*t)+1/3*exp(‐3*t)+1/6

To simplify:

syms t

digits(3)

vpa(‐1/2*exp(‐2*t)+1/3*exp(‐3*t)+1/6)

ans =‐.500*exp(‐2.*t)+.333*exp(‐3.*t)+.167

10
Part (b): G ( s) =
( s + 1) 2 ( s + 3)

G(t)= 5/2*exp(‐3*t)+5/2*exp(‐t)*(‐1+2*t)

2‐37
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

100( s + 2)
Part (c): G( s) = 2
e− s
s( s + 4 )( s + 1)

G(t)=Step(t‐1)*(‐4*cos(t‐1)^2+2*sin(t‐1)*cos(t‐1)+4*exp(‐1/2*t+1/2)*cosh(1/2*t‐1/2)‐4*exp(‐t+1)‐cos(2*t‐2)‐

2*sin(2*t‐2)+5)

2( s + 1)
Part (d): G ( s) =
s( s 2 + s + 2 )

G(t)= 1+1/7*exp(‐1/2*t)*(‐7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t))

To simplify:

syms t

digits(3)

vpa(1+1/7*exp(‐1/2*t)*(‐7*cos(1/2*7^(1/2)*t)+3*7^(1/2)*sin(1/2*7^(1/2)*t)))

ans = 1.+.143*exp(‐.500*t)*(‐7.*cos(1.32*t)+7.95*sin(1.32*t))

1
Part (e): G ( s) =
( s + 1) 3

G(t)= 1/2*t^2*exp(‐t)

2( s 2 + s + 1)
Part (f): G( s) =
. )( s 2 + 5s + 5)
s( s + 15

G(t)= 4/15+28/3*exp(‐3/2*t)‐16/5*exp(‐5/2*t)*(3*cosh(1/2*t*5^(1/2))+5^(1/2)*sinh(1/2*t*5^(1/2)))

2 + 2 se − s + 4e −2 s
Part (g): G ( s ) =
s 2 + 3s + 2

2‐38
Automatic Control Systems, 9th Edition Chapter 2 Solutions Golnaraghi, Kuo

G(t)= 2*exp(‐2*t)*(7+8*t)+8*exp(‐t)*(‐2+t)

2s + 1
Part (h): G ( s) =
s + 6 s 2 + 11s + 6
3

G(t)= ‐1/2*exp(‐t)+3*exp(‐2*t)‐5/2*exp(‐3*t)

3s 3 + 10 s 2 + 8s + 5
Part (i): G ( s) = 4
s + 5 s 3 + 7 s 2 + 5s + 6

G(t)= ‐7*exp(‐2*t)+10*exp(‐3*t)‐

1/10*ilaplace(10^(2*s)/(s^2+1)*s,s,t)+1/10*ilaplace(10^(2*s)/(s^2+1),s,t)+1/10*sin(t)*(10+dirac(t)*(‐exp(‐

3*t)+2*exp(‐2*t)))

2‐39