c04_BCS 11/13/2018 11:29:48 Page 1

Instructor’s Supplement Problems

Chapter 4
1. Plot the step responses for 8. Find the transfer function of a second-order system that
Problem 2 in the text yields a 15% overshoot and a settling time of 0.7 second.
problems using MATLAB. [Section: 4.6]
2. Plot the step response for 9. An autonomous robot to pick asparagus (Dong, 2011)
Problem 5 in the text problems capable of following planting rows has an orientation
using MATLAB. From your plots, find the system with transfer function
time constant, rise time, and settling
time. Use M = 1 and M = 2. θ 53:176
¼
3. Write the general form of the capacitor voltage for θref 4:6s2 þ 31:281s þ 53:176
the electrical network shown in Figure I-4.1.
[Section: 4.4]
Make a sketch of θðtÞ in response to θref ðtÞ ¼ 3uðtÞ. Indicate
R1 = 10 kΩ
in your plot Cfinal ; C max ; Tp , and Ts . (Hint: You may use the
result of Problem 19c in the text problems).

10. Figure I-4.3 shows five step responses of an auto-

v(t) = u(t) +
– R2 = 10 kΩ L = 200 H C = 10 μF matic voltage regulation system as one of the sys-
tem parameters varies (Gozde, 2011). Assume for
all five responses that they are those of a second-
order system with an overshoot of 20%. Make a
FIGURE I-4.1 sketch of the positions of the poles in the complex
plane for each one of the responses. Label the
4. Use MATLAB to plot the capacitor curves A through E from left to right.
voltage in Problem I-3.
[Section: 4.4]
5. The system shown in Figure I-4.2 has a unit step input. 1.4
Voltage change Vt(s) (V)

Find the output response as a function of time. Assume 1.2

the system is underdamped. Notice that the result will be 1.0
Eq. (13.28). [Section: 4.6] 0.8
0.6
R(s) ω 2n C(s)
0.4
s2 + 2ζωns + ω 2n
0.2
FIGURE I-4.2 0
0 0.5 1.0 1.5
Time (seconds)
6. Derive the relationship for damping ratio as a function
of percent overshoot, Eq. (4.39). [Section: 4.6] FIGURE I-4.3 Time responses for an automatic voltage regulation
system
7. Calculate the exact response of each system of Problem
6 in the text problems using Laplace transform tech-
niques, and compare the results to those obtained in that 11. Derive the unit step response for each transfer function
problem. [Sections: 4.3, 4.4] in Example 4.8. [Section: 4.7]

1
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2 Instructor’s Supplement Problems

2 3 2 3
12. For each of the following transfer functions with zeros, 0 1 0 0
find the component parts of the unit step response: 6 7 6 7
x_ ¼ 4 12 8 1 5x þ 4 0 5uðtÞ
(1) the derivative of the response without a zero and
(2) the response without a zero, scaled to the negative 0 0 2 1
2 3
of the zero value. Also, find and plot the total response. 0
Describe any nonminimum-phase behavior. [Section: 4.8] 6 7
yðtÞ ¼ ½ 1 1 0 x; xð0Þ ¼ 4 0 5
sþ2 0
a. GðsÞ ¼
s2 þ 3s þ 36
s2 16. A MOEMS (optical MEMS) is a MEMS (Micro
b. GðsÞ ¼ 2 Electromechanical Systems) with an optical fiber
s þ 3s þ 36
channel that takes light generated from a laser diode.
It also has a photodetector that measures light intensity
13. Use MATLAB’s Simulink to obtain variations and outputs voltage variations proportional
the step response of a system, to small mechanical device deflections. Additionally, a
1 voltage input is capable of deflecting the device. The
GðsÞ ¼ 2
s þ 3s þ 10 apparatus can be used as an optical switch or as a
variable optical attenuator, and it does not exceed 2000
under the following conditions: [Sec-
μm in any dimension. Figure I-4.4 shows input–output
tion: 4.9]
signal pairs used to identify the parameters of the
a. The system is linear and driven by an system. Assume a second-order transfer function and
amplifier whose gain is 10. find the system’s transfer function (Borovic, 2005).
b. An amplifier whose gain is 10 drives the
system. The amplifier saturates at Open-Loop Responses
10
 0:25 volts. Describe the effect of
the saturation on the system’s output. 8 Open-Loop Response
Volt. (simulated, d = 0.8)
c. An amplifier whose gain is 10 drives the
6
x[nm]: V[V]

system. The amplifier saturates at

 0:25 volts. The system drives a 1:1 4 Open-Loop Response
(experimental)
gear train that has backlash. The dead-
2
band width of the backlash is 0.02 rad.
Describe the effect of saturation and 0
backlash on the system’s output.
–2
0 500 t[us] 1000 1500
14. Using classical (not Laplace) methods only, FIGURE I-4.41
solve for the state-transition matrix, the state
vector, and the output of the system represented here, 17. Using wind tunnel tests, insect flight dynamics can be
where u(t) is the unit step: [Section: 4.11] studied in a very similar fashion to that of man-made
aircraft. Linearized longitudinal flight equations for a
" # " # bumblebee have been found in the unforced case to be
0 1 0
2 3 2 32 3
x_ ¼ xþ uðtÞ u_ 8:792  103 0:56  103 1:0  103 13:79  103 u
6 7 6 76 7
1 0 1 6 w_ 7 6 0:347  103
6 7¼6
11:7  10 3
0:347  10 3
0 76 w 7
76 7
6 q_ 7 6 76 q 7
" # 4 5 4 0:261 20:8  103 96:6  103 0 54 5
0 θ_ 0 0 1 0 θ
y ¼ ½3 4 x; xð0Þ ¼
0 where u = forward velocity; w = vertical velocity, q =
angular pitch rate at center of mass, and θ ¼ pitch angle
between the flight direction and the horizontal (Sun,
15. Use MATLAB to simulate the 2005).
following system and plot the a. Use MATLAB to obtain the
output, y(t), for a step input. Mark on system’s eigenvalues.
the plot the steady-state value, percent 1
Borovic B., Liu A.Q., Popa D., Lewis F.L. Open-loop versus closed-loop
overshoot, and the rise time, peak time,
control of MEMS devices: choices and issues J. Micromech. Microeng.
and settling time. Vol. 15, 2005. Figure 4, p. 1919.
c04_BCS 11/13/2018 11:29:51 Page 3

Instructor’s Supplement Problems 3

b. Write the general form of the a. Find the transfer function of the system.
state-transition matrix. How many b. Use the values of the parameters for the transfer
constants would have to be found? function obtained in Part a to find an expression for
18. A dc–dc converter is a device that takes as an the brake pressure as a function of time.
input an unregulated dc voltage and provides c. Find the output in bars of the system 0.2 sec after the
a regulated dc voltage as its output. The output voltage input is applied. Check your result against Figure I-4.5.
may be lower (buck converter), higher (boost converter),
or the same as the input voltage. Switching dc–dc
20. Find an equation that relates 2% settling time to the
converters have a semiconductor active switch (BJT or
FET) that is closed periodically with a duty cycle d in a value of fv for the translational mechanical system
shown in Figure I-4.6. Neglect the mass of all compo-
pulse width modulated (PWM) manner. For a boost
nents. [Section: 4.6]
converter, averaging techniques can be used to arrive fv
at the following state equations (Van Dijk, 1995):
diL f (t)
L ¼ ð1  dÞuc þ E s
dt
duC uC 2 N/m
C ¼ ð1  dÞiL 
dt R FIGURE I-4.6
where L and C are, respectively, the values of internal
21. Find J and K in the rotational system shown in
inductance and capacitance; iL is the current through the
Figure I-4.7 to yield a 30% overshoot and a settling
internal inductor; R is the resistive load connected to the
time of 3 seconds for a step input in torque. [Section: 4.6]
converter; E s is the dc input voltage; and the capacitor 1
T(t)
voltage, uC , is the converter’s output.
a. Write the converter’s equations in the form J

x_ ¼ Ax þ Bu K

y ¼ Cx FIGURE I-4.7

assuming d is a constant. 22. For the system shown in Figure I-4.8, find N 1 =N 2 so
that the settling time for a step torque input is 16 seconds.
b. Using the A, B, and C matrices of Part a, obtain the
[Section: 4.6]
U C ðsÞ
converter’s transfer function : T(t)
E s ðsÞ
1 kg-m2 N1
19. Figure I-4.5 shows the step response of an electric 1 N-m/rad
vehicle’s mechanical brakes when the input is the drive
torque (N-m) and the output is the hydraulic brake N2 1 kg-m2
pressure (bar) (Ringdorfer, 2011).
1 N-m-s/rad

FIGURE I-4.8
Traction motor drive torque TEM [Nm]
Hydraulic brake pressure p (bar)

600
40 23. For the circuit shown in Figure I-4.9, find the values of
R2 and C to yield 8% overshoot with a settling time of
400 1 ms for the voltage across the capacitor, with vi ðtÞ as a
step input. [Section: 4.6]
20
1H R2
200

+
vi(t) + 1 MΩ C vc(t)
0 0 –
0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 –
t [s]

FIGURE I-4.5 Step response of an electric vehicle’s mechanical

FIGURE I-4.9
brake2

2
Ringdorfer M., and Horn M. Development of a Wheel Slip Actuator Controller for Electric Vehicles using Energy Recuperation and Hydraulic Brake Control,
2011 IEEE International Conference on Control Applications (CCA), Denver, CO, USA. September 28–30, 2011, pp. 313–318. Figure 4, p. 315. Modelling
Symposium (AMS), 2012 Sixth Asia by IEEE. Reproduced with permission of IEEE in the format Republish in a book via Copyright Clearance Center.
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4 Instructor’s Supplement Problems

Bibliography
Borovic, B., Liu, A. Q., Popa, D., and Lewis, F. L. Open-loop Versus Closed-loop Control of MEMS Devices: Choices and Issues. Journal
of Micromechanics, Microengineering, vol. 15, 2005, pp. 1917–1924.
Dong, F., Heinemann, W., and Kasper, R. Development of a Row Guidance System for an Autonomous Robot for White Asparagus
Harvesting. Computers and Electronics in Agriculture, vol. 79, pp. 216–225, 2011.
Gozde, H., and Taplamacioglu, M. C. Comparative Performance Analysis of Artificial Bee Colony Algorithm for Automatic Voltage
Regulator (AVR) System. Journal of the Franklin Institute, vol. 348, pp. 1927–1946, 2011.
Ringdorfer M., and Horn M. Development of a Wheel Slip Actuator Controller for Electric Vehicles using Energy Recuperation and
Hydraulic Brake Control. 2011 IEEE International Conference on Control Applications (CCA), Denver, CO, September 28–30, 2011,
pp. 313–318.
Sun, M., and Xiong, Y. Dynamic Flight Stability of a Hovering Bumblebee. Journal of Experimental Biology, vol. 208, 2005,
pp. 447–459.
Van Dijk, E., Spruijt, J. N., O’Sullivan, D. M., and Klaasens, J. B. PWM-Switch Modeling of DC-DC Converters. IEEE Transactions on
Power Electronics, vol. 10, 1995, pp. 659–665.