Chapter 5

Chapter 5 Problem 1P
Step 1 of 18
Step 2 of 18
Figure 2: Signal flow graph.
Step 3 of 18
Step2:
Assign a variable to each sampler input.
Let the system
and
be the input to the sampler,
be the sampler output,
be the sampler output.
Step3:
Consider each sample output to be a source node.
(1)
... (2)
... (3)
Where,
Step4:
Take the starred transform for Equations (1), (2), and (3).
(4)
(5)
(6)
Substitute Equation (5) in Equation (4) and find
Substitute the
in Equation (6):
Thus, the transfer function of this system is
b)
Find the expression
shown in Figure 1.
as a function of the input and output of the transfer function of the system as
Figure 3: Block diagram of the given system.
Step 4 of 18
Step1:
Construct the original signal flow graph as shown in Figure (4).
Step 5 of 18
Step 6 of 18
Step2:
Let the system
and
Step 7 of 18
Step3:
Consider each sample output to be a source node.
(1)
(2)
(3)
Where,
Step4:
Take the starred transform for Equations (1), (2), and (3).
(4)
(5)
(6)
Substitute the
in Equation (5):
(7)
Step 8 of 18
Substitute
and
Thus, the transfer function of the system is:
Step 9 of 18
in Equation (6):
c)
To find the express
(5)
as a function of the input and output of the transfer function as shown in Figure
Figure (5): Block diagram of the given system
Step 10 of 18
Step1:
Construct the original signal flow graph as shown in Figure (6)
Figure (6): Signal flow graph
Step 11 of 18
Step2:
Let the system
be the input to the sampler and
Step3:
Consider each sample output to be a source node:
... (1)
(2)
Where,
.
Step4:
Take the starred transform of Equation (1)
(3)
Take the starred transform of Equation (2):
(4)
Step 12 of 18
Substitute
in Equation (4).
d)
To find the express
(7)
as a function of the input and output of the transfer function as shown in Figure
Step 13 of 18
Step1:
Step 14 of 18
Step 15 of 18
Step2:
Let the system
Step3:
(1)
(2)
Where,
Step4:
Take the starred transform of Equations (1) and (2):
(3)
(4)
Step 16 of 18
Substitute
in Equation (4).
Thus, the transfer function of the system is
e)
To find the express C(z) as a function of the input and output of the transfer function as shown in Figure (9)

Step1:
Step 17 of 18
Step2:
Let the system
and
Step3:
Consider each sample output and input to be a source node:
(1)
(2)
Where,
Step4:
Take starred transform for Equations (1) and (2):
(3)
(4)
Step 18 of 18
Substitute
in Equation (4).
Thus, the transfer function of the system is
Step 1 of 19
Step 2 of 19
Step 3 of 19
Step2:
Let the system
and
Step3:
(1)
(2)
(3)
Where,
.
Step4:
Take the starred transform of Equations (1), (2), and (3):
(4)
(5)
(6)
Solve Equation (4) and substitute the
Substitute the
in the equation.
in Equation (6):
Step 4 of 19
b)
To find the express
as input and output of the transfer function
Step1:
Construct the original signal flow graph.
Step 5 of 19
Step 6 of 19
Step 7 of 19
Step2:
Let the system
and
Step3:
(1)
... (2)
... (3)
Where,
Step4:
(4)
(5)
(6)
value:
Substitute the
value in Equation (6):
Thus, the transfer function of this system is:
Step 8 of 19
c)
To find the express
as input and output of the transfer function as shown.

Step1:
Step 9 of 19
Step 10 of 19
Step 11 of 19
Step2:
Let the system
and
be the gain
be the input to the gain
Step3:
(1)
(2)
(3)
Where,
Step4:
Take the starred transform of Equations (1), (2), and (3).
(4)
(5)
(6)
Substitute the
value and
value:
Step 12 of 19
d)
To find the express

Step1:
Step 13 of 19
Step 14 of 19
Step 15 of 19
Step2:
Let the system
be the sampler output, and
.
Step3:
(1)
... (2)
Where,
Step4:
Take the starred transform of Equations (1) and (2):
(3)
(4)
in the equation.
Step 16 of 19
e)
To find the express
Step 17 of 19
Step1:
Step 18 of 19
Step 19 of 19
Step2:
Let the system
be the sampler output, and
.
Step3:
(1)
(2)
... (3)
Where,
Step4:
(4)
(5)
(6)
Substitute the
value:
Step 1 of 9
Step 2 of 9
Step 3 of 9
Step 4 of 9
Step 5 of 9
Step 6 of 9
Step 7 of 9
Step 8 of 9
Step 9 of 9
Step 1 of 10
Draw the original signal flow graph by using Figure 1. The original signal flow graph is shown in Figure 2.
Figure 2
Step 2 of 10
From Figure 2:
(1)
Where,
is the s domain function for

is the input function for the given system
T is the data hold.
Take Z-transform for Equation (1):
(2)
Rearrange Equation (2):
(3)
Step 3 of 10
From Figure 2, the
as a function of input:
(4)
Where,
T is the data hold.
(5)
Substitute Equation (3) in Equation (5).
Thus, the
as a function of input for the given system is
(b)
When the given system
is disconnected from last summing point is shown in Figure 3.
Figure 3
Step 4 of 10
Figure 4
Step 5 of 10
From Figure 4:
(6)
Where,
T is the data hold.
(7)
(8)
Step 6 of 10
From Figure 4, the
(9)
Where,
T is the data hold.
Step 7 of 10
(10)
Thus, the
.
(c)
Draw the closed loop system is shown in Figure 5.
Figure 5
Step 8 of 10
Figure 6
Step 9 of 10
From Figure 6:
(11)
(12)
(13)
Step 10 of 10
From Figure 6:
(14)
(15)
Thus, the
Step 1 of 10
From Figure 1, the system Equation is,
(1)
Where,
T is the data hold.
(2)
Step 2 of 10
From Figure 1, the system Equation is given by,
(3)
(4)
Step 3 of 10
Rearrange above Equation,
(5)
Step 4 of 10
The output of the system equation is,
(6)
(7)
Step 5 of 10
Substitute Equation (2) in Equation (4):
Thus, the transfer function is
(b)
Draw the original signal flow graph by using given diagram.
The original signal flow graph is shown in Figure 2.
Figure 2
Step 6 of 10
(8)
(9)
Step 7 of 10
(10)
(11)
Step 8 of 10
Substitute Equation (9) in Equation (11)
Rearrange above Equation,
(12)
Step 9 of 10
The term
(12).
is reduce to
and Substitute the term
(13)
Note:
Step 10 of 10
The variable t varies from
and the corresponding system Equation is given by,
(14)
(15)
in Equation
Therefore, the function
is
Step 1 of 4
Draw the original signal flow graph by using Figure 1.
Figure 2
Step 2 of 4
From Figure 2, write the system equation.
(1)
Where,
T is the data hold.

(2)
Rearrange Equation (2),
(3)
Step 3 of 4
From Figure 2, the
as a function of input is given by,

(4)
Where,
Step 4 of 4
(5)
Thus, the
as a function of input for the given system is:
Step 1 of 4
Draw the original signal flow graph by using Figure 1.
Figure 2
Step 2 of 4
From Figure 2, write the system equation.
(1)
Where,
is the input of the given system.

T is the data hold.
Consider the following:
(2)
(3)
Take Z-transform for Equation (3).
(4)
Rearrange Equation (4).
(5)
Consider the following:
(6)
From Figure 2, write
as a function of input.
(7)
Step 3 of 4
(8)
(9)
Rearrange the above equation.
Step 4 of 4
Thus, the
as a function of input for the given system is:
Step 1 of 3
Draw the original signal flow graph by using Figure 1
Figure 3
Step 2 of 3
From Figure 3, the system Equation is given by,
(1)
Where,
T is the zero order hold.
Here,
Rearrange Equation (1),
(2)
(3)
From Figure 3, the
(4)
(5)
Thus, the
(6)
Thus, the
Step 3 of 3
(b)
Compare the Figure 1 and Figure 2, In Figure 1 the digital to analog converter is connected to the feedback
path. In Figure 2 the digital to analog converter is directly connected to the input signal.
The
(7)
Output of Equation (7) is identical and the output signal from the digital to analog converter is same on both
the case. Hence, we get the same output.
Step 1 of 7
From Figure 1, the
same time t.
and
Hence, it is concluded that

hold.
as both are the sampled at time t and output is also available at
and
is the function that contains transfer function of zero order
(b)
The given closed loop system is shown in Figure 2.
Figure 2
Step 2 of 7
From Figure 2, the both inputs of the comparator have zero order hold. So, the output of the comparator
must be has the zero order hold.
is the function that contains transfer function of zero order hold.
Step 3 of 7
(c)
Figure 3
Step 4 of 7
From Figure 3, only
is sampled at time t and output is also available at same time t.
not contain any sample function. Therefore,
is does not hold for transfer function of zero order.
Step 5 of 7
(d)
is does
Figure 4
From Figure 4, only
is sampled at t and output is also available at same time t.
contain any sample function. Therefore,
is does not
Step 6 of 7
(e)
Figure 5
Step 7 of 7
From Figure 5, the
t.
and

hold.
as both are sampled at time t and output also available at same time
and
is the function that contains transfer function of zero order

Step 1 of 8
From Figure 1, the
and
as both are sampled at time t and output is also available at same
time t.
is does not contain any sample function. Therefore,
function of zero order.

order hold.
and
is does not hold for transfer
is the function that contains transfer function of zero
(b)
Figure 2
Step 2 of 8
From Figure 2, the
and
as both are sampled at time t and output is also available at same
time t.
is does not contain any sample function. Therefore,
function of zero order.

order hold.
and
is does not hold for transfer
is the function that contains transfer function of zero
Step 3 of 8
(c)
Figure 3
Step 4 of 8
From Figure 3, only
and
are does not contain any sample function. Therefore,
are does not hold for transfer function of zero order.
and
Step 5 of 8
(d)
Figure 4
From Figure 4, only
is sampled at t and output is also available at same time t.
and
are does not contain any sample function. Therefore,
not hold for transfer function of zero order.
and
,
are does
Step 6 of 8
(e)
Figure 5
Step 7 of 8
Redraw the Figure 5,
The modified closed loop system is shown in Figure 6.
Figure 6
Step 8 of 8
From Figure 6, only
does not contain any sample function. Therefore,

Where,
is

Step 1 of 2
From Figure 1, write the equation for
as a function of the input.

(1)
Where,
T is the data hold
(2)
The modified Z transform of a function is equal to the delayed Z transform with
1m.
(3)
Substitute value 0.1 for
in Equation (3).
(4)
(5)
Rearrange Equation (5).
Thus, the
as a function of the input for the given system is:
Step 2 of 2
(b)
The given closed-loop system is shown in Figure 2:
which is replaced by
Figure 2
From Figure 2, write the equation for
as a function of the input.

(6)
Then, Equation (6) is similar to Equation (1).

Thus, the
as a function of the input for the given system is:

Step 1 of 13
a)
Find the transfer function of the block diagram for temperature control system.
The given transfer functions are:
Consider the following block diagram for temperature control system:
Step 2 of 13
The block diagram of the system without disturbance input is shown in Figure 2.
Figure 2: Block diagram of the system without disturbance input.
Step 3 of 13
Step1:
Draw the original flow graph for the block diagram without disturbance input.
Figure 3: Signal flow graph for system without disturbance input.
Step 4 of 13
Step2:
Let the system
Write the expression for the given system:

(1)
(2)
Where,
Step 5 of 13
Step3:
Take the starred transform for Equation (1):
(3)
be the output of the sampler.
Take the starred transform for Equation (1):

(4)
Step4:
Find the z transform from the above equation
The * symbol shows the starred transform of z.
(5)
Thus, the transfer function of the given block without disturbance input is:
Step 6 of 13
b)
To find the transfer function for
, and to solve the output function C(s) in terms of disturbance input.
Figure (4): Block diagram of system with disturbance input
Step 7 of 13
Step1:
Draw the original flow graph for the block diagram without disturbance input.
Figure (5): Signal flow graph for system with disturbance input
Step 8 of 13
Step2:
Let the system
The disturbance

is input and gain
be the output of the sampler.
as shown in the figure.
Step 9 of 13
Step3:
Write the expression for the given system:
(6)
(7)
Where,
Step 10 of 13
Step4:
Take the starred transform of Equation (6):
(8)
Take the starred transform of Equation (7) and rearrange the equation:
(9)
The * symbol shows the starred transform of z.
(10)
Thus, the transfer function of the given block with disturbance input is:
Step 11 of 13
c)
To write the complete expression using superposition
According to superposition theorem, add Equation (5) and Equation (10).
The resultant force on any one charge equals the vector sum of the forces exerted by the other individual
charges that are present.
Step 12 of 13
Write Equations (5) and (10) to get superposition expression:
(11)
(12)
Step 13 of 13
Add the two transfer functions of Equation (11) and Equation (12):
Thus, the transfer function of superposition is:

Step 1 of 9
(b)
The robot arm joint control system is shown in Figure 1.
Figure 1
Step 2 of 9
From Figure 1, the system transfer function:
Where,
Controller transfer function is represented as
Servomotor and gear transfer function is represented as
Power amplifier gain is represented as K.

Sensor gain is represented as
Step 3 of 9
Therefore, the system transfer function is
Step 4 of 9
(c)
From Figure 1, the transfer function for servomotor and gear:
(1)
(2)
The value of
:
(3)
Substitute Equation (1) and (2) in Equation (3):
(4)
Step 5 of 9
From Figure 1, consider the forward gain transfer function is
The value of
Substitute 1 for
is:
in the above equation.
(5)
Taking Z transform for Equation (5):
Substitute 0.1 for T in the above equation.
Substitute 2.4 for K in the above equation
(6)
Step 6 of 9
From Figure 1, the closed loop System transfer function is:
Substitute 0.07 for
and Equation (6) in the above equation.
Therefore, the system transfer function is:
(7)
Step 7 of 9
(d)
From Equation (4):
The value of
with the power amplifier gain is:
Substitute 2.4 for K in the above equation
(8)
Step 8 of 9
The MATLAB program:
The numerator and denominator values are taken from Equation (8).
num=[0 0 9.6];
den=[1 2 0 ];
[Ac, Bc, C, D]=tf2ss(num,den)
[A,B]=c2d(Ac, Bc, 0.1);
[n,d]= ss2tf(A,B,C,D);
tnum=n
tden=d+0.07*n
The MATLAB output:
tnum =
0 0.0450 0.0421
tden =
1.0000 -1.8156 0.8217
Step 9 of 9
From MATLAB output form an equation using the co-efficient.
The numerator is:
The denominator is:
Therefore the system transfer function:
(8)
Equations (7) and (8) are equal.
Therefore, the system transfer function is verified using MATLAB.

Step 1 of 10
(b)
The satellite attitude angle
The input signal
is
:
(3)
Substitute
for attitude angle and 0.02 for sensor gain in Equation (3).
Therefore, the value of input signal
is
Step 2 of 10
(c)
(a)
Calculate the maximum voltage level for
Therefore, the range of Analog to digital converter is
Step 3 of 10
(b)
The input signal
:
(4)
Substitute
for attitude angle and 0.02 for sensor gain in Equation (4).
Therefore, the value of input signal
is
Step 4 of 10
The block diagram of a satellite control system is shown in Figure 1.
Figure 1
(d)
Where,
Satellite transfer function is represented as
.
.
Amplifier and thrustor gain is represented as K.

The sensor gain is represented as
The mathematical model of digital to analog converter is represented as
Step 5 of 10
(e)
From Figure 1, consider the forward gain transfer function is
The value of
Substitute 1 for
, 1 for T , 2 for K and 0.1 for J in the above equation.
(5)
Step 6 of 10
Taking Z transform for Equation (5).
Substitute 1 for T in the above equation.
(6)
Step 7 of 10
From Figure 1, the closed loop System transfer function:
Substitute 0.02 for
(7)
(f)
From Figure 1, the amplifier and satellite transfer function:
Substitute 2 for K and 0.1 for J in the above equation
(8)
Step 8 of 10
The MATLAB program:
The values for num and den are taken from Equation (8).
num=[0 0 20];
den=[1 0 0 ];
[Ac, Bc, C, D]=tf2ss(num,den);
[A,B]=c2d(Ac, Bc, 1);
tnum=n
tden=d+0.02*n
Step 9 of 10
The MATLAB output:
tnum =
0 10.0000 10.0000
tden =
1.0000 -1.8000 1.2000
Step 10 of 10
From MATLAB output form a equation using the co-efficient.
Numerator is:
The denominator is:
Therefore the system transfer function is:
(9)

Step 1 of 8
The block diagram for an antenna control system is shown in Figure 1.
Figure 1
Step 2 of 8
Where,
The input signal is represented as
Antenna angle is represented as
.
.
Step 3 of 8
(b)
From Figure 1, the closed loop system transfer function:
(2)
Where,
Satellite transfer function is represented as
.
.
Amplifier and thrustor gain is represented as K.

The sensor gain is represented as
Step 4 of 8
(c)
From Figure 1, Consider the forward gain transfer function is
The value of
Substitute 1 for
, 0.05 for T and 20 for K in the above equation.
(3)
Substitute 0.05 for T in the above equation
(4)
Step 5 of 8
Substitute 0.4 for
(5)
Step 6 of 8
(d)
From Figure 1, the amplifier and satellite transfer function:
Substitute 20 for K in the above equation.
(6)
Step 7 of 8
The MATLAB program:
The numerator and denominator values are taken from Equation (6).
num=[0 0 400];
den=[1 6 0 ];
[Ac, Bc, C, D]=tf2ss(num,den);
[A,B]=c2d(Ac, Bc,.05);
tnum=n
tden=d+0.4*n
Step 8 of 8
The MATLAB output:
tnum =
0 0.4535 0.4104
tden =
1.0000 -1.5594 0.9050
From MATLAB output form a equation using the co-efficient
Numerator is:
The denominator is:
(7)

Step 1 of 5
Substitute Equations (8), (9), (10), and (11) in Equation (12):
(13)
From Equation (13), find the
(14)
Step 2 of 5
Find the determinant from Equation (14):
(15)
Step 3 of 5
We know the formula for
(16)
Substitute the values
and
in Equation (16):
(17)
Step 4 of 5
Substitute
(18)
(19)
Thus, the transfer function is
d)
To verify the transfer function using MATLAB
The MATLAB code for the transfer function is:
A = [0 1; -0.9 1];
B = [0; 1];
C = [-0.7 1.3];
D = 1;
[num,den] = ss2tf[A,B,C,D]
F = tf(num,den);
F
Step 5 of 5
MATLAB output:
Thus, the transfer function obtained from MATLAB is verified.

Step 1 of 21
(a)
(b)
The discrete state model is shown in Figure 1.
Figure 1
Step 2 of 21
From Figure 1, the discrete state space equation is given by,
(1)
(2)
Substitute Equation (1) in Equation (2)
(3)
here,
Hence, the discrete state space model is
and
Step 3 of 21
(a)
(c)
The characteristic equation is,
(4)
Substitute
and
in Equation (4)
(5)
The system transfer function from the state model is,
(6)
From Equation (5), Find
(7)
Substitute
and Equation (6) in Equation (7).
(8)
Thus, the system transfer function from the state model is,
Step 4 of 21
(a)
(d)
The MATLAB program is,
A=[0.9];
B=[1];
C=[0.09];
D=[0.1];
[num,den]= ss2tf(A,B,C,D)
The MATLAB output is,
num =
0.1000 0.0000
den =
1.000 -0.9000
Step 5 of 21
From MATLAB output, form an equation using the numerator and denominator co-efficients.
Numerator is
The denominator is
Therefore the system transfer function is,
(9)
Step 6 of 21
(b)
(a)
The given transfer function is given by,
Rearrange the terms in the equation.
Taking inverse z-transform on both sides.
Hence, the result of
Step 7 of 21
is
(b)
(b)
Figure 2
Step 8 of 21
(10)
(11)
here,
and
(b)
(c)
Substitute
Find
and
in the equation,
Step 9 of 21
Substitute
(12)
and
value.
Step 10 of 21
(b)
(d)
A=[0.9];
B=[1];
C=[0.1];
D=[0];
[num,den]= ss2tf(A,B,C,D);
num =
0.000 0.1000
den =
1.000 -0.9000
Step 11 of 21
From MATLAB output, form a equation using the numerator and denominator co-efficients
Numerator is
The denominator is
(13)
Step 12 of 21
(c)
(a)
The given transfer function is,
Rearrange the terms.
Taking inverse z-transform on both sides.
is
(c)
(b)
Figure 3
Step 13 of 21
From Figure 3, the discrete state space equation is,
here,
and
Step 14 of 21
(c)
(c)
Substitute
Find
and
in the equation,
Substitute
and
value.
(14)
Step 15 of 21
(c)
(d)
The MATLAB program is:
A=[0.9];
B=[1];
C=[0.13];
D=[0.2];
num =
0.2000 -0.05000
den =
1.000 -0.9000
Numerator is
The denominator is
(15)
Step 16 of 21
(d)
(a)
The given transfer function is,
Modify the above equation.
Rearrange the terms in the equation.
Take inverse z-transform on both sides.
is
Step 17 of 21
(d)
(b)
Figure 4
Step 18 of 21
From Figure 4, the discrete state space equation is,
Form the state space model for the system.
(16)
(17)
The state vector
is,
and
(18)
Substitute Equation (18) in Equation (17) and Equation (16)
here,
and
Step 19 of 21
(d)
(c)
Substitute
and
in the equation,
Step 20 of 21
Find
Substitute
Substitute,
and
value.
(19)
Thus, the system transfer function from the state model is
Step 21 of 21
(d)
(d)
A=[0 1;-0.8 1.6];
B=[0;1];
C=[0.7 0.8];
D=[0];
num =
0 0.8000 0.7000
den =
1.0000 -1.6000 0.8000
Numerator is
The denominator is
(20)

Step 1 of 6
Thus, the transfer function of the given system
is
Write the feedback of the given system.
(3)
Substitute
for T in Equation (3):
(4)
Thus, the feedback of the given system
is
Step 2 of 6
(b)
Draw simulation diagram for
and
Write the transfer function of the given system.
(5)
Write the feedback of the given system.
(6)
Step 3 of 6
Use Equations (5) and (6) to draw the simulation diagram for
Figure 1
and
as shown in Figure 1.
Therefore, the simulation diagram is drawn for
and
(c)
Write the discrete state space equation from Figure 1.
(7)
(8)
From Equations (7) and (8), form the state space model for the given system:
(9)
Step 4 of 6
The state vector
is,
and
(10)
Where,
Step 5 of 6
(d)
Determine the system characteristic equation from the transfer function:
The formula for system characteristic equation is:
(11)
Substitute Equations (5) and (6) in Equation (11):
Rearrange the above equation:
Thus, the system characteristic equation is
Step 6 of 6
(e)
Determine the characteristic equation from the state model:
The characteristic equation is given by,
(12)
Substitute the matrix
and identity matrix
in Equation (12).
Thus, the system characteristic equation from the state model is,
.
Hence, the characteristic equation from the state model and the system characteristic equation from the
transfer function are same.

Step 1 of 11
The plant transfer function is,
(3)
(4)
Step 2 of 11
Consider the forward gain transfer function is
The value of
is:
(5)
(6)
Step 3 of 11
Taking Z transform for Equation (6)
The transfer function
is,
Where,
indicates z-transform.
Re-arrange the above equation:
(7)
The z-transfer
formula is,
(8)
Step 4 of 11
(9)
Substitute 0.1 for T in Equation (9)
(10)
Use Equation (10), to draw the discrete state model is shown in Figure 1.
Figure 1
Step 5 of 11
(11)
(12)
Hence, the state space equation are
and
Step 6 of 11
(b)
The plant differential equation is given by,
Take Laplace transform for above equation
Step 7 of 11
A continuous-time simulation diagram is sketched using the above equation.
Figure 2
Step 8 of 11
From Figure 2, state equations representing the system are written below. Those are
Write the above equations in matrix form,
(13)
and
(14)
Step 9 of 11
The state vector
is,
and
(15)
Substitute Equation (15) in Equation (14) and in Equation (13).

These equations are written as
(16)
and
(17)
The state equations for the continuous portion of the system are written as below.
(18)
(19)
Where,
The input of the system is
, and the output of the system is
The discrete state equations corresponding to Equation (18) and (19) are
(20)
(21)
Where,
The state-transition matrix,
and
Step 10 of 11
Compare the Equation (16) and (17) with Equation (16) and (17) to yield the value of
and
The state-transition matrix,
Then,
Step 11 of 11
Calculate the matrix
Calculate the matrix
Substitute the value of A, B, and C in Equation (20) and (21):
(22)
(23)
The input of the given system is,
(24)
(25)
Hence, the discrete state equations are
and

Step 1 of 5
Consider the discrete state model.
(1)
(2)
Where,
is the input vector
is the state vector
is the output vector
A, B, C, and D are the matrices.
Step 2 of 5
From Figure 1, write the following:
Write the input of the given system.
(3)
Step 3 of 5
Rearranging the above equation.
(4)
Step 4 of 5
(5)
Step 5 of 5
(6)
Hence, the state space model for the closed-loop system is
and
.

Step 1 of 10
(a)
(1)
(2)
Step 2 of 10
From Figure 1, write the following:
Write the input of the given system.
(3)
Rearranging the above equation.
(4)
Step 3 of 10
(5)
Step 4 of 10
(6)

.
Step 5 of 10
(b)
Write the discrete state model.
(7)
(8)
Step 6 of 10
(9)
and
Step 7 of 10
(10)
and
Step 8 of 10
(c)
(11)
(12)
Step 9 of 10
(13)
Step 10 of 10
(14)
and

Step 1 of 9
The digital controller equation
is,
(2)
Step 2 of 9
The closed loop System transfer function is:
Substitute 0.04 for
, Equation (1) and Equation (2) in the above equation.
(3)
Step 3 of 9
Use Equation (3), the discrete state space equation is,
(4)
(5)
(6)
From Equation (4), Equation (5) , and Equation (6) , to form the state space model for the given system :
(7)
(8)
The state vector
is,
and
(9)
Where,
and
Step 4 of 9
(b)
Using Equation (1) and Equation (2), the discrete state model is shown in Figure 1:
Figure 1
Step 5 of 9
Write the discrete state space equation from Figure 1is:
(10)
(11)
(12)
Write the state space model for the given system from Equation (10), Equation (11), and Equation (12):
(13)
(14)
Step 6 of 9
Where,
and
Step 7 of 9
(c)
(15)
Substitute
and
in Equation (15)
(16)
(17)
(18)
Substitute
Substitute,
and Equation (18) in Equation (17):
and in above Equation,
(19)
Step 8 of 9
(d)
The discrete state space model for part (a) is,
The discrete state space model for part (b) is,
Step 9 of 9
From the above Equations, it is evident that they are related by a similarity transformation which is given
by,
Hence, the state space model for part (a) and state space model for part (b) are related by a similarity
transformation which is

Step 1 of 11
The value of
Substitute 1 for
is:
, 1 for T , 2 for K and 0.1 for J in the above equation
(1)
Taking Z transform for Equation (1).
Substitute 1 for T in the above equation
(2)
Step 2 of 11
Substitute 0.02 for
(3)
Step 3 of 11
From Equation (3) , the discrete state space equation:
(4)
(5)
(6)
From Equation (4) , Equation (5) , and Equation (6) , to form the state space model for the given system :
(7)
(8)
The state vector
and
(9)
Substitute Equation (9) in Equation (8) and Equation (7).
and
Step 4 of 11
(b)
From Figure 1, the plant transfer function
(10)
Substitute 2 for K and Equation (2) in Equation (10):
Therefore, the system transfer function is,
. (11)
Step 5 of 11
Using Equation (11), the discrete state model is shown in Figure 1.
Figure 1
Step 6 of 11
From Figure 1, the discrete state space equation:
(12)
(13)
(14)
From Equation (12) , Equation (13) , and Equation (14) , to form the state space model for the given
system :
(15)
(16)
Step 7 of 11
The state vector
and
(17)
Where,
and
.
(c)
Determine the system transfer function from the state model:
(18)
Substitute
and
in Equation (18).
(19)
Step 8 of 11
(20)
(21)
Substitute
Substitute,
and in above Equation:
Step 9 of 11
(d)
The MATLAB program:
A=[0 1;-1.2 1.8];
B=[0;2];
C=[5 5];
D=[0];
Step 10 of 11
The MATLAB output:
num =
0 10.0000 10.0000
den =
1.0000 -1.8000 1.2000
Step 11 of 11
From MATLAB output, form a equation using the numerator and denominator co-efficients.
Numerator is:
The denominator is:
(22)

Step 1 of 12
Where,
is the controller transfer function.
is the satellite transfer function
K is the amplifier gain
is the sensor gain
Step 2 of 12
The value of
Substitute 1 for
, 0.05 for T and 20 for K in the above equation.
(1)
Step 3 of 12
Substitute 0.05 for T in the above equation
(2)
Substitute 0.4 for
(3)
Step 4 of 12
Using Equation (3), The discrete state model is shown in Figure 2:
Figure 2
Step 5 of 12
(4)
(5)
(6)
From Equation (4) , Equation (5) , and Equation (6) , to form the state space model for the given system:
(7)
(8)
The state vector
and
(9)
Step 6 of 12
Substitute Equation (9) in Equation (8) and Equation (7):
and
Step 7 of 12
(b)
(10)
Substitute 20 for K and Equation (2) in Equation (10):
. (11)
Using Equation (11), the discrete state model is shown in Figure 3.
Figure 3
Step 8 of 12

(12)
(13)
(14)
From Equation (12) , Equation (13) , and Equation (14) , to form the state space model for the given
system:
(15)
(16)
The state vector
is,
and
(17)
Where,
and
Step 9 of 12
(c)
The characteristic equation:
(18)
Substitute
and
(19)
in Equation (18).
Step 10 of 12
(20)
(21)
Substitute
Substitute,
Step 11 of 12
(d)
The MATLAB program:
A= [0 1; -0.905 1.5594];
B= [0; 20];
C= [0.02052 0.02268];
D= [0];
[num,den]=ss2tf(A,B,C,D);
The MATLAB output:
num =
0
0.4536
0.4104
den =
1.0000 -1.5594
0.9050
Step 12 of 12
Numerator is:
The denominator is:
(22)
Equations (3) and (22) are equal. Therefore, the system transfer function is verified using MATLAB.

Step 1 of 10
From Figure 1, the system transfer function is:
(1)
Where,
(2)
Where,
Servomotor and gear transfer function is represented as
Power amplifier gain is represented as K.

Sensor gain is represented as
T is the data hold.

(3)
From Figure 1, the transfer function for servomotor and gear is:
(4)
(5)
Step 2 of 10
The value of
:
(6)
Substitute Equation (4) and (5) in Equation (6):
(7)
Step 3 of 10
The value of
Substitute 1 for
in the above equation
(8)
Substitute 0.1 for T in the above equation.
Substitute 2.4 for K in the above equation.
(9)
Step 4 of 10
Substitute 0.07 for
(10)
Step 5 of 10
From Equation (10) , the discrete state model:
(11)
(12)
The state vector
and
(13)
Step 6 of 10
Substitute Equation (13) in Equation (12) and Equation (11):
Hence, the discrete state variable representation for the given is
and
.
(b)
(14)
Substitute 2.4 for K and Equation (9) in Equation (14):
(15)
Step 7 of 10
Using Equation (15), the discrete state model is shown in Figure (2):
Figure 2
Step 8 of 10
From Figure 2, the discrete state model:
(16)
(17)
The state vector
and
(18)
Step 9 of 10
Where,
Hence, the discrete state variable representation for the given is
and
.
Step 10 of 10
(c)
The characteristic equation:
(19)
Substitute
and
in Equation (19)
(20)
The system transfer function from the state model:
(21)
(22)
Substitute
Substitute,

Step 1 of 7
The discrete state model is given by,
(1)
(2)
For the plant state Equation is given by,
(3)
Where,
is the input vector

is the state vector
is the output vector
,
and
are the state variables.
Step 2 of 7
From Figure 1,
The input of the given system is,
(4)
(5)
Rearrange the above Equation:
(6)
Step 3 of 7
Substitute Equation (6) and Equation (5) in Equation (1):
Hence, the state space model for the closed loop system is
and
Step 4 of 7
(b)
From the Equation (2), the given system is an algebraic loop.
The signal flow graph for the given condition is shown in Figure 2.
Figure 2
Step 5 of 7
From the Figure 2,
is a direct function of
and
is a direct function of
Hence, the given system is an algebraic loop.
Step 6 of 7
(c)
When algebraic loop gain is 1 and it is evident that the state Equations does not exist.
Hence, the state Equations does not exist.
Step 7 of 7
(d)
Condition for not ignoring time delay
When algebraic loop gain is 1 and it is evident that the state Equations does not exist.
Hence, the time delay should not be ignored, if the delay result is an algebraic loop is equal to 1.

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Chapter 5

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Chapter 5 Problem 1P

be the input to the sampler,

be the sampler output,

be the sampler output.

be the input to the sampler,

Thus, the transfer function of this system is

Figure 3: Block diagram of the given system.

be the input to the sampler,

be the sampler output.

be the sampler output,

be the input to the sampler,

Thus, the transfer function of the system is:

Figure (5): Block diagram of the given system

Figure (6): Signal flow graph

be the input to the sampler and

be the sampler output.

Thus, the transfer function of this system is

Figure (7): Block diagram of the given system

be the input to the sampler and

be the sampler output.

Thus, the transfer function of the system is

Figure (9): Block diagram of the given system

Figure (10): Signal flow graph

be the input to the sampler,

be the sampler output,

be the sampler output.

be the input to the sampler,

Thus, the transfer function of the system is

be the input to the sampler,

be the sampler output.

be the sampler output,

be the input to the sampler,

Thus, the transfer function of this system is

as input and output of the transfer function

Figure 3: Block diagram of the given system.

be the input to the sampler,

be the sampler output,

be the sampler output.

be the input to the sampler,

value in Equation (6):

Thus, the transfer function of this system is:

as input and output of the transfer function as shown.

Figure 5: Block diagram of the given system.

be the input to the sampler,

be the sampler output,

be the input to the gain

value in Equation (6):

Thus, the transfer function of this system is:

as input and output of the transfer function

Figure 7: Block diagram of the given system.

be the input to the sampler,

be the sampler output, and

Thus, the transfer function of this system is

as input and output of the transfer function

Figure 9: Block diagram of the given system.

be the input to the gain

be the input to the sampler,

be the sampler output, and

value in Equation (6):

be the input to the gain

Thus, the transfer function of this system is:

is the s domain function for

as a function of input for the given system is

is disconnected from last summing point is shown in Figure 3.