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    MODERN CONTROL SYSTEMS SOLUTION MANUAL Richard C. Dorf University of California, Davis Robert H. Bishop The University of Texas at Austin A companion to MODERN CONTROL SYSTEMS ELEVENTH EDITION Richard C. Dorf Robert H. Bishop Prentice Hall Upper Saddle River, NJ 07458 Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    c2008 by Prentice-Hall, Inc. Upper Saddle River, New Jersey 07458 All rights reserved. No part of this book may be reproduced, in any form or by any means, without permission in writing from the publisher. The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of the theories and programs to determine their effectiveness. The author and publisher shall not be liable in any event for incidental or consequential damages in connection with, or arising out of the furnishing, performance, or use of these programs. Camera-ready copy for this manual was prepared by the author using LATEX 2ε. MATLAB is a registered trademark of The MathWorks, Inc. 24 Prime Park Way, Natick, MA 01760-1520. Phone. (508) 653-1415, Fax: (508) 653-2997 Email: info@mathwork.com LabVIEW MathScript is a registered trademark of the National Instruments Corporation 11500 N Mopac Expwy, Austin, TX 78759-3504 Phone. (800) 531-5066, Fax: (512) 683-8411 E-mail: info@ni.com Printed in the United States of America 10 9 8 7 6 5 4 3 2 1 ISBN 0-13-227029-3 Pearson Education Limited (UK) Pearson Education Australia Pty Ltd Prentice Hall Canada Ltd Pearson Educacion de Mexico, S.A. de C.V. Pearson Education Japan KK Pearson Education China Ltd Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    P R E F A C E In each chapter, there are five problem types: Exercises Problems Advanced Problems Design Problems/Continuous Design Problem Computer Problems In total, there are over 850 problems. The abundance of problems of in- creasing complexity gives students confidence in their problem-solving ability as they work their way from the exercises to the design and computer-based problems. It is assumed that instructors (and students) have access to MATLAB, the Control System Toolbox or the LabVIEW and MathScript. All of the comptuer solutions in this Solution Manual were developed and tested on a Window XP platform using MATLAB 7.3 Release 2006b and the Control System Toolbox Version 7.1 and LabVIEW 8.2. It is not possible to verify each solution on all the available computer platforms that are compatible with MATLAB and LabVIEW MathScript. Please forward any incompati- bilities you encounter with the scripts to Prof. Bishop at the email address given below. The authors and the staff at Prentice Hall would like to establish an open line of communication with the instructors using Modern Control Systems. We encourage you to contact Prentice Hall with comments and suggestions for this and future editions. Robert H. Bishop rhbishop@mail.utexas.edu iii Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    T A B L E - O F - C O N T E N T S 1. Introduction to Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2. Mathematical Models of Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3. State Variable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 4. Feedback Control System Characteristics . . . . . . . . . . . . . . . . . . . . . . . 126 5. The Performance of Feedback Control Systems . . . . . . . . . . . . . . . . . 166 6. The Stability of Linear Feedback Systems . . . . . . . . . . . . . . . . . . . . . . 216 7. The Root Locus Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 8. Frequency Response Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359 9. Stability in the Frequency Domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 10. The Design of Feedback Control Systems . . . . . . . . . . . . . . . . . . . . . . . 492 11. The Design of State Variable Feedback Systems . . . . . . . . . . . . . . . . 574 12. Robust Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633 13. Digital Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691 iv Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    C H A P T E R 1 Introduction to Control Systems There are, in general, no unique solutions to the following exercises and problems. Other equally valid block diagrams may be submitted by the student. Exercises E1.1 A microprocessor controlled laser system: Error Desired power output - Controller Micro- processor Measured power Current i(t) Measurement Power Sensor Process Laser Power out E1.2 A driver controlled cruise control system: Desired speed - Controller Driver Process Car and Engine Foot pedal Measurement Actual auto speed Visual indication of speed Speedometer E1.3 Although the principle of conservation of momentum explains much of the process of fly-casting, there does not exist a comprehensive scientific explanation of how a fly-fisher uses the small backward and forward mo- tion of the fly rod to cast an almost weightless fly lure long distances (the 1 Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    2 CHAPTER 1 Introduction to Control Systems current world-record is 236 ft). The fly 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 fly lure to a distant spot with dead- eye accuracy so that the thicker part of the line touches the water first and then the fly gently settles on the water just as an insect might. Wind disturbance Process Rod, line, and cast Actual position of the !y Fly-"sher Desired position of the !y - Visual indication of the position of the !y Controller Mind and body of the !y-"sher Measurement Vision of the !y-"sher E1.4 An autofocus camera control system: Emitter/ Receiver Beam Beam return Subject One-way trip time for the beam K 1 Conversion factor (speed of light or sound) Distance to subject Lens focusing motor Lens Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    Exercises 3 E1.5 Tacking a sailboat as the wind shifts: Desired sailboat direction Error - Controller Sailor Actuators Wind Process Rudder and sail adjustment Sailboat Actual sailboat direction Measured sailboat direction Measurement Gyro compass E1.6 An automated highway control system merging two lanes of traffic: Controller Actuators Desired gap Error - Embedded computer Brakes, gas or steering Process Active vehicle Actual gap Measured gap Measurement Radar E1.7 Using the speedometer, the driver calculates the difference between the measured speed and the desired speed. The driver throotle knob or the brakes as necessary to adjust the speed. If the current speed is not too much over the desired speed, the driver may let friction and gravity slow the motorcycle down. Desired speed Error - Controller Driver Actuators Process Throttle or brakes Motorcycle Actual motorcycle speed Visual indication of speed Measurement Speedometer Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
    4 CHAPTER 1 Introduction to Control Systems E1.8 Human biofeedback control system: Desired body temp - Controller Hypothalumus Message to blood vessels Process Human body Actual body temp Measurement Visual indication of body temperature TV display Body sensor E1.9 E-enabled aircraft with ground-based flight path control: - - Desired Flight Path Desired Flight Path Corrections to the Controller !ight path Gc(s) Aircraft G(s) Optimal !ight path Optimal !ight path Meteorological data Health Parameters Location and speed Ground-Based Computer Network Meteorological data Health Parameters Location and speed Corrections to the !ight path Gc(s) Controller G(s) Aircraft Flight Path Flight Path E1.10 Unmanned aerial vehicle used for crop monitoring in an autonomous mode: Trajectory Controller error Gc(s) - Specified Flight Trajectory Location with respect to the ground Map Correlation Algorithm UAV G(s) Ground photo Sensor Camera Flight Trajectory Solutions Manual to Accompany Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.ISBN-13: 9780132270298. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in aretrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.课后答案网 www.khdaw.com
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