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MODERNCONTROLSYSTEMSSOLUTIONMANUALRichardC.DorfRobertH.BishopUniversityofCalifornia,DavisMarquetteUniversityAcompaniontoMODERNCONTROLSYSTEMSTWELFTHEDITIONRichardC.DorfRobertH.BishopPrenticeHallUpperSaddleRiverBostonColumbusSanFranciscoNewYorkIndianapolisLondonTorontoSydneySingaporeTokyoMontrealDubaiMadridHongKongMexicoCityMunichParisAmsterdamCapeTown2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.InstructorsSolutionsManualRichardC.Dorf,UniversityofCalifornia,DavisRobertH.Bishop,UniversityofTexasatAustinISBN-10:
013602498XISBN-13:
9780136024989Publisher:
PrenticeHallCopyright:
2011Format:
On-lineSupplementPublished:
08/16/2010EducatorHome|eLearning&Assessment|Support/ContactUs|Findyourrep|Examcopybookbag2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.forModernControlSystems,12/EPREFACEIneachchapter,therearefiveproblemtypes:
ExercisesProblemsAdvancedProblemsDesignProblems/ContinuousDesignProblemComputerProblemsIntotal,thereareover1000problems.Theabundanceofproblemsofin-creasingcomplexitygivesstudentsconfidenceintheirproblem-solvingabilityastheyworktheirwayfromtheexercisestothedesignandcomputer-basedproblems.Itisassumedthatinstructors(andstudents)haveaccesstoMATLABandtheControlSystemToolboxortoLabVIEWandtheMathScriptRTModule.AllofthecomputersolutionsinthisSolutionManualweredevel-opedandtestedonanAppleMacBookProplatformusingMATLAB7.6Release2008aandtheControlSystemToolboxVersion8.1andLabVIEW2009.ItisnotpossibletoverifyeachsolutiononalltheavailablecomputerplatformsthatarecompatiblewithMATLABandLabVIEWMathScriptRTModule.PleaseforwardanyincompatibilitiesyouencounterwiththescriptstoProf.Bishopattheemailaddressgivenbelow.TheauthorsandthestaffatPrenticeHallwouldliketoestablishanopenlineofcommunicationwiththeinstructorsusingModernControlSystems.WeencourageyoutocontactPrenticeHallwithcommentsandsuggestionsforthisandfutureeditions.RobertH.Bishoprhbishopmarquette.eduiii2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.TABLE-OF-CONTENTS1.IntroductiontoControlSystems.12.MathematicalModelsofSystems.223.StateVariableModels.854.FeedbackControlSystemCharacteristics.1335.ThePerformanceofFeedbackControlSystems.1776.TheStabilityofLinearFeedbackSystems.2347.TheRootLocusMethod.2778.FrequencyResponseMethods.3829.StabilityintheFrequencyDomain.44510.TheDesignofFeedbackControlSystems.51911.TheDesignofStateVariableFeedbackSystems.60012.RobustControlSystems.65913.DigitalControlSystems.714iv2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.CHAPTER1IntroductiontoControlSystemsThereare,ingeneral,nouniquesolutionstothefollowingexercisesandproblems.Otherequallyvalidblockdiagramsmaybesubmittedbythestudent.ExercisesE1.1Amicroprocessorcontrolledlasersystem:
ControllerErrorCurrenti(t)PoweroutDesiredpoweroutputMeasuredpower-LaserProcessprocessorMicro-PowerSensorMeasurementE1.2Adrivercontrolledcruisecontrolsystem:
DesiredspeedFootpedalActualautospeedVisualindicationofspeedController-ProcessMeasurementDriverCarandEngineSpeedometerE1.3Althoughtheprincipleofconservationofmomentumexplainsmuchoftheprocessoffly-casting,theredoesnotexistacomprehensivescientificexplanationofhowafly-fisherusesthesmallbackwardandforwardmo-tionoftheflyrodtocastanalmostweightlessflylurelongdistances(the12011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.2CHAPTER1IntroductiontoControlSystemscurrentworld-recordis236ft).Theflylureisattachedtoashortinvisibleleaderabout15-ftlong,whichisinturnattachedtoalongerandthickerDacronline.Theobjectiveiscasttheflyluretoadistantspotwithdead-eyeaccuracysothatthethickerpartofthelinetouchesthewaterfirstandthentheflygentlysettlesonthewaterjustasaninsectmight.DesiredpositionofthefyActualpositionofthefyVisualindicationofthepositionofthefyFly-fsherWinddisturbanceController-ProcessMeasurementMindandbodyofthefy-fsherRod,line,andcastVisionofthefy-fsherE1.4Anautofocuscameracontrolsystem:
One-waytriptimeforthebeamDistancetosubjectLensfocusingmotorK1LensConversionfactor(speedoflightorsound)Emitter/ReceiverBeamBeamreturnSubject2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.Exercises3E1.5Tackingasailboatasthewindshifts:
DesiredsailboatdirectionActualsailboatdirectionMeasuredsailboatdirectionWindError-ProcessMeasurementActuatorsControllerSailboatGyrocompassRudderandsailadjustmentSailorE1.6Anautomatedhighwaycontrolsystemmergingtwolanesoftraffic:
DesiredgapActualgapMeasuredgapError-ProcessMeasurementActuatorsControllerActivevehicleBrakes,gasorsteeringEmbeddedcomputerRadarE1.7Usingthespeedometer,thedrivercalculatesthedifferencebetweenthemeasuredspeedandthedesiredspeed.Thedriverthrootleknoborthebrakesasnecessarytoadjustthespeed.Ifthecurrentspeedisnottoomuchoverthedesiredspeed,thedrivermayletfrictionandgravityslowthemotorcycledown.DesiredspeedVisualindicationofspeedActualmotorcyclespeedError-ProcessMeasurementActuatorsControllerThrottleorbrakesDriverMotorcycleSpeedometer2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.4CHAPTER1IntroductiontoControlSystemsE1.8Humanbiofeedbackcontrolsystem:
MeasurementDesiredbodytempActualbodytempVisualindicationofbodytemperatureMessagetobloodvessels-ProcessControllerBodysensorHypothalumusHumanbodyTVdisplayE1.9E-enabledaircraftwithground-basedflightpathcontrol:
CorrectionstothefightpathControllerGc(s)AircraftG(s)-DesiredFlightPathFlightPathCorrectionstothefightpathControllerGc(s)AircraftG(s)-DesiredFlightPathFlightPathGround-BasedComputerNetworkHealthParametersHealthParametersMeteorologicaldataMeteorologicaldataOptimalfightpathOptimalfightpathLocationandspeedLocationandspeedE1.10Unmannedaerialvehicleusedforcropmonitoringinanautonomousmode:
Gc(s)G(s)-CameraGroundphotoControllerUAVSpecifiedFlightTrajectoryLocationwithrespecttothegroundFlightTrajectoryMapCorrelationAlgorithmTrajectoryerrorSensor2011PearsonEducation,Inc.,UpperSaddleRiver,NJ.Allrightsreserved.ThispublicationisprotectedbyCopyrightandwrittenpermissionshouldbeobtainedfromthepublisherpriortoanyprohibitedreproduction,storageinaretrievalsystem,ortransmissioninanyformorbyanymeans,electronic,mechanical,photocopying,recording,orlikewise.Forinformationregardingpermission(s),writeto:
RightsandPermissionsDepartment,PearsonEducation,Inc.,UpperSaddleRiver,NJ07458.Exercises5E1.11Aninvertedpendulumcontrolsystemusinganopticalencodertomeasuretheangleofthependulumandamotorproducingacontroltorque:
ErrorAngleDesiredangleMeasuredangle-PendulumProcessOpticalencoderMeasurementMotorActuatorTorqueVoltageControllerE1.12Inthevideoga
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