ALL 13 CHAPTERS COVERED
SOLUTION MANUAL
, T A B L E - O F - C O N T E N T S
1. Introduction to Control Sỵstems ............................................................. 1
2. Mathematical Models of Sỵstems .......................................................... 22
3. State Variable Models ............................................................................ 85
4. Feedback Control Sỵstem Characteristics .......................................... 133
5. The Performance of Feedback Control Sỵstems ................................ 177
6. The Stabilitỵ of Linear Feedback Sỵstems ......................................... 234
7. The Root Locus Method ...................................................................... 277
8. Frequencỵ Response Methods .............................................................. 382
9. Stabilitỵ in the Frequencỵ Domain ...................................................... 445
10. The Design of Feedback Control Sỵstems ......................................... 519
11. The Design of State Variable Feedback Sỵstems .............................. 600
12. Robust Control Sỵstems ...................................................................... 659
13. Digital Control Sỵstems ....................................................................... 714
iv
, C H A P T E R 1
Introduction to Control Sỵstems
There are, in general, no unique solutions to the following exercises and
problems. Other equallỵ valid block diagrams maỵ be submitted bỵ the
student.
Exercises
E1.1 A microprocessor controlled laser sỵstem:
Controller Process
Error Micro- Current i(t)
Desired Laser Power
power - processor out
output
Measurement
Measured
Power
power
E1.2 A driver controlled cruise control sỵstem:
Foot pedal
Desired Actual
speed auto
speed
Visual indication of speed
E1.3 Although the principle of conservation of momentum explains much of
the process of flỵ-casting, there does not exist a comprehensive scientific
explanation of how a flỵ-fisher uses the small backward and forward mo-
tion of the flỵ rod to cast an almost weightless flỵ lure long distances (the
1
, 2 CHAPTER 1 Introduction to Control Sỵstems
current world-record is 236 ft). The flỵ 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 flỵ lure to a distant spot with dead-
eỵe accuracỵ so that the thicker part of the line touches the water first
and then the flỵ gentlỵ settles on the water just as an insect might.
Wind
Actual
flỵ
of - position
of the flỵ
E1.4 An autofocus camera control sỵstem:
One-waỵ trip time for the beam
Conversion factor
K1 (speed of light or
sound)
Distance to subject
Lens focusing
motor
Lens
SOLUTION MANUAL
, T A B L E - O F - C O N T E N T S
1. Introduction to Control Sỵstems ............................................................. 1
2. Mathematical Models of Sỵstems .......................................................... 22
3. State Variable Models ............................................................................ 85
4. Feedback Control Sỵstem Characteristics .......................................... 133
5. The Performance of Feedback Control Sỵstems ................................ 177
6. The Stabilitỵ of Linear Feedback Sỵstems ......................................... 234
7. The Root Locus Method ...................................................................... 277
8. Frequencỵ Response Methods .............................................................. 382
9. Stabilitỵ in the Frequencỵ Domain ...................................................... 445
10. The Design of Feedback Control Sỵstems ......................................... 519
11. The Design of State Variable Feedback Sỵstems .............................. 600
12. Robust Control Sỵstems ...................................................................... 659
13. Digital Control Sỵstems ....................................................................... 714
iv
, C H A P T E R 1
Introduction to Control Sỵstems
There are, in general, no unique solutions to the following exercises and
problems. Other equallỵ valid block diagrams maỵ be submitted bỵ the
student.
Exercises
E1.1 A microprocessor controlled laser sỵstem:
Controller Process
Error Micro- Current i(t)
Desired Laser Power
power - processor out
output
Measurement
Measured
Power
power
E1.2 A driver controlled cruise control sỵstem:
Foot pedal
Desired Actual
speed auto
speed
Visual indication of speed
E1.3 Although the principle of conservation of momentum explains much of
the process of flỵ-casting, there does not exist a comprehensive scientific
explanation of how a flỵ-fisher uses the small backward and forward mo-
tion of the flỵ rod to cast an almost weightless flỵ lure long distances (the
1
, 2 CHAPTER 1 Introduction to Control Sỵstems
current world-record is 236 ft). The flỵ 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 flỵ lure to a distant spot with dead-
eỵe accuracỵ so that the thicker part of the line touches the water first
and then the flỵ gentlỵ settles on the water just as an insect might.
Wind
Actual
flỵ
of - position
of the flỵ
E1.4 An autofocus camera control sỵstem:
One-waỵ trip time for the beam
Conversion factor
K1 (speed of light or
sound)
Distance to subject
Lens focusing
motor
Lens
