线性控制系统工程（华中科技大学）M5-Homework.pdfVIP

Linear Control Systems Engineering Homework Solutions—Module5 5.2 Solution: C 10 9 nd (Note that = ⋅ 2 , therefore the TF is not a standard 2 -order one, but R 9 s + 2s + 9 with a non-unity DC gain of 10/9.) a.) 2 1 = 9 = 3 ⇒ = = ωn ζ ⋅ 2 ω 3 n b.) ω = 3 rad/s, ω = ω 1− ζ 2 = 2 2 = 2.828 rad/s n d n c.) 10 M = 2 2 2 (9 − ω ) + 4ω 5 2 ⇒M = M = = 1.768 p max 4 d.) ω = ω 1− 2ζ 2 = 7 = 2.646 rad/s n e.) 10 Note that the low frequency (DC) gain is . “3dB below the low frequency (DC) 9 gain” means 0.707 times the DC gain, so: 10 10 M = = (9 − ω2 )2 + 4ω2 9 2 ⇒ω = 4.29 rad/s The bandwidth therefore is 4.29 rad/s, because up to this frequency the gain does not 10 fall under . 9 2 f.) 10 9 g.) s1,2 = −ζωn ± j ωd = − 1± 2.828j h.) The rise time is not affected by the non-unity DC gain. 1 −1 − 1− ζ 2 1 −1 1 −1 T = tan ( ) = tan (−2 2 ) = [π − tan (2 2 )] = 0.6755 s r ωd ζ 2 2 2 2 The range ( 值域) of the function tan − 1 x (x 0 ) is considered here as being (π / 2,π ) . i.) The settling time is not affected by the non-unity DC gain either. 4.0 4.0 T = = = 4 s s ζωn 1 5.4 Sol