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Analysis and design of control systems using MATLAB
2nd ed Edition Dukkipati Digital Instant Download
Author(s): Dukkipati, Rao V
ISBN(s): 9788122424096, 8122424090
Edition: 2nd ed
File Details: PDF, 2.88 MB
Year: 2010
Language: english
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Copyright © 2006, New Age International (P) Ltd., Publishers
Published by New Age International (P) Ltd., Publishers

All rights reserved.

No part of this ebook may be reproduced in any form, by photostat, microfilm,
xerography, or any other means, or incorporated into any information retrieval
system, electronic or mechanical, without the written permission of the publisher.
All inquiries should be emailed to [email protected]

ISBN (13) : 978-81-224-2484-3

PUBLISHING FOR ONE WORLD

NEW AGE INTERNATIONAL (P) LIMITED, PUBLISHERS
4835/24, Ansari Road, Daryaganj, New Delhi - 110002
Visit us at www.newagepublishers.com
 I
Dedicated this book
to
‘Too Lord Sr
‘T Srii V enkateswara’
Venkateswara’

(vi)
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 PREFACE

Control Systems Engineering is an exciting and challenging field and is a

multidisciplinary subject. This book is designed and organized around the concepts of control
systems engineering using MATLAB, as they have been developed in the frequency and time
domain for an introductory undergraduate or graduate course in control systems for engineer-
ing students of all disciplines.
Chapter 1 presents a brief introduction to control systems. The fundamental strategy of
controlling physical variables in systems is presented. Some of the terms commonly used to
describe the operation, analysis, and design of control systems are described.
An introduction to MATLAB basics is presented in Chapter 2. Chapter 2 also presents
MATLAB commands. MATLAB is considered as the software of choice. MATLAB can be used
interactively and has an inventory of routines, called as functions, which minimize the task of
programming even more. Further information on MATLAB can be obtained from: The
MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760. In the computational aspects, MATLAB
has emerged as a very powerful tool for numerical computations involved in control systems
engineering. The idea of computer-aided design and analysis using MATLAB with the Symbolic
Math Tool box, and the Control System Tool box has been incorporated.
Chapter 3 consists of many solved problems that demonstrate the application of MATLAB
to the analysis and design of control systems. Presentations are limited to linear, time-invari-
ant continuous time systems.
Chapters 2 and 3 include a great number of worked examples and unsolved exercise
problems to guide the student to understand the basic principles and concepts in control sys-
tems engineering.
I sincerely hope that the final outcome of this book helps the students in developing an
appreciation for the topic of analysis and design of control systems.
An extensive bibliography to guide the student to further sources of information on con-
trol systems engineering is provided at the end of the book. All the end-of chapter problems are
fully solved in the Solution Manual available only to Instructors.

Rao V. Dukkipati
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 ACKNOWLEDGEMENTS

I am grateful to all those who have had a direct impact on this work. Many people work-
ing in the general areas of analysis and design of feedback control systems have influenced the
format of this book. I would also like to thank and recognize all the undergraduate students in
mechanical and electrical engineering program at Fairfield University, over the years with
whom I had the good fortune to teach and work, and who contributed in some ways and feed-
back to the development of the material of this book. In addition, I greatly owe my indebtedness
to all the authors of the articles listed in the bibliography of this book. Finally, I would very
much like to acknowledge the encouragement, patience, and support provided by my family
members: my wife, Sudha, my family members, Ravi, Madhavi, Anand, Ashwin, Raghav, and
Vishwa who have also shared in all the pain, frustration, and fun of producing a manuscript.
I would appreciate being informed of errors, or receiving other comments about the
book. Please write to the authors’ Fairfield University address or send e-mail to
[email protected].

Rao V. Dukkipati
 This page
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 CONTENTS

Preface (vii)
Acknowledgement (ix)
1. Introduction to Control Systems ... 1

1.1 Introduction ... 1

1.2 Control Systems ... 1
1.2.1 Examples of Control Systems ... 2
1.3 Control System Configurations ... 3
1.4 Control System Terminology ... 5
1.5 Control System Classes ... 6
1.6 Feedback Systems ... 8
1.7 Analysis of Feedback ... 8
1.8 Control System Analysis and Design Objectives ... 9
1.9 Summary ... 10
References ... 10
Glossary of Terms ... 12

2. MATLAB Basics ... 26

2.1 Introduction ... 26

2.1.1 Starting and Quitting MATLAB ... 27
2.1.2 Display Windows ... 27
2.1.3 Entering Commands ... 27
2.1.4 MATLAB Expo ... 27
2.1.5 Abort ... 27
2.1.6 The Semicolon ... 27
2.1.7 Typing % ... 27
2.1.8 The clc Command ... 27
2.1.9 Help ... 27
2.1.10 Statements and Variables ... 28
2.2 Arithmetic Operations ... 28
2.3 Display Formats ... 28
2.4 Elementary Math Built-in Functions ... 29
2.5 Variable Names ... 31
2.6 Predefined Variables ... 31
2.7 Commands for Managing Variables ... 32
2.8 General Commands ... 32
2.9 Arrays ... 34
 (xii)
2.9.1 Row Vector ... 34
2.9.2 Column Vector ... 34
2.9.3 Matrix ... 34
2.9.4 Addressing Arrays ... 35
2.9.5 Adding Elements to a Vector or a Matrix ... 35
2.9.6 Deleting Elements ... 35
2.9.7 Built-in Functions ... 35
2.10 Operations with Arrays ... 37
2.10.1 Addition and Subtraction of Matrices ... 37
2.10.2 Dot Product ... 37
2.10.3 Array Multiplication ... 37
2.10.4 Array Division ... 37
2.10.5 Identity Matrix ... 37
2.10.6 Inverse of a Matrix ... 38
2.10.7 Transpose ... 38
2.10.8 Determinant ... 38
2.10.9 Array Division ... 38
2.10.10 Left Division ... 38
2.10.11 Right Division ... 38
2.10.12 Eigenvalues and Eigenvectors ... 38
2.11 Element-by-Element Operations ... 39
2.11.1 Built-in Functions for Arrays ... 40
2.12 Random Number Generation ... 41
2.12.1 The Random Command ... 42
2.13 Polynomials ... 42
2.14 System of Linear Equations ... 44
2.14.1 Matrix Division ... 44
2.14.2 Matrix Inverse ... 44
2.15 Script Files ... 49
2.15.1 Creating and Saving a Script File ... 49
2.15.2 Running a Script File ... 50
2.15.3 Input to a Script File ... 50
2.15.4 Output Commands ... 50
2.16 Programming in MATLAB ... 51
2.16.1 Relational and Logical Operators ... 51
2.16.2 Order of Precedence ... 52
2.16.3 Built-in Logical Functions ... 52
2.16.4 Conditional Statements ... 53
2.16.5 Nested if Statements ... 54
 (xiii)
2.16.6 else AND else if Clauses ... 54
2.16.7 MATLAB while Structures ... 54
2.17 Graphics ... 57
2.17.1 Basic 2-D Plots ... 57
2.17.2 Specialized 2-D plots ... 57
2.17.3 3-D Plots ... 58
2.17.4 Saving and Printing Graphs ... 65
2.18 Input/Output in MATLAB ... 65
2.18.1 The fopen Statement ... 65
2.19 Symbolic Mathematics ... 66
2.19.1 Symbolic Expressions ... 66
2.19.2 Solution to Differential Equations ... 68
2.19.3 Calculus ... 69
2.20 The Laplace Transforms ... 71
2.20.1 Finding Zeros and Poles of B(s)/A(s) ... 72
2.21 Control Systems ... 72
2.21.1 Transfer Functions ... 72
2.21.2 Model Conversion ... 72
2.22 The Laplace Transforms ... 75
2.23 Summary ... 111
Problems ... 113

3. MATLAB Tutorial ... 125

3.1 Introduction ... 125

3.2 Transient Response Analysis ... 125
3.3 Response to Initial Condition ... 125
3.4 Second Order Systems ... 127
3.5 Root Locus Plots ... 127
3.6 Bode Diagrams ... 129
3.7 Nyquist Plots ... 136
3.7.1 Polar Plots ... 136
3.7.2 Nyquist Plot ... 137
3.8 Nichols Chart ... 138
3.8.1 db Magnitude-Phase Angle Plots ... 138
3.9 Gain Margin, Phase Margin, Phase Crossover Frequency,
and Gain Crossover Frequency ... 139
3.10 Transformation of System Models ... 139
3.10.1 Transformation of System Model from Transfer Function
to State Space ... 140
 (xiv)
3.10.2 Transformation of System Model from State Space to
Transfer Function ... 140
3.11 Bode Diagrams of Systems Models Defined in State-Space ... 140
3.12 Nyquist Plots of a System Defined in State Space ... 141
3.13 Transient Response Analysis in State-Space ... 141
3.13.1 Unit Step Response ... 141
3.13.2 Unit Ramp Response ... 142
3.13.3 Unit Ramp Response ... 142
3.13.4 Response to Arbitrary Input ... 143
3.14 Response to Initial Condition in State Space ... 143
Example Problems and Solutions ... 143
Summary ... 241
Problems ... 241
Bibliography ... 251
Chapter 1
INTRODUCTION TO CONTROL SYSTEMS

1.1 INTRODUCTION
Control systems in an interdisciplinary field covering many areas of engineering and
sciences. Control systems exist in many systems of engineering, sciences, and in human body.
Some type of control systems affects most aspects of our day-to-day activities. This chapter
presents a brief introduction and overview of control systems. Some of the terms commonly
used to describe the operation, analysis, and design of control systems are presented.

1.2 CONTROL SYSTEMS

Control means to regulate, direct, command, or govern. A system is a collection, set, or

arrangement of elements (subsystems). A control system is an interconnection of components
forming a system configuration that will provide a desired system response. Hence, a control
system is an arrangement of physical components connected or related in such a manner as to
command, regulate, direct, or govern itself or another system.
In order to identify, delineate, or define a control system, we introduce two terms: input
and output here. The input is the stimulus, excitation, or command applied to a control system,
and the output is the actual response resulting from a control system. The output may or may
not be equal to the specified response implied by the input. Inputs could be physical variables or
abstract ones such as reference, set point or desired values for the output of the control system.
Control systems can have more than one input or output. The input and the output represent
the desired response and the actual response respectively. A control system provides an output
or response for a given input or stimulus, as shown in Fig. 1.1.
Input: stimulus Output: response
Control system
Desired response Actual response

Fig. 1.1 Description of a control system

The output may not be equal to the specified response implied by the input. If the output
and input are given, it is possible to identify or define the nature of the system’s components.
Broadly speaking, there are three basic types of control systems:
(a) Man-made control systems
(b) Natural, including biological-control systems
(c) Control systems whose components are both man-made and natural.

1
2 ANALYSIS AND DESIGN OF CONTROL SYSTEMS USING MATLAB

An electric switch is a man-made control system controlling the electricity-flow. The

simple act of pointing at an object with a finger requires a biological control system consisting
chiefly of eyes, the arm, hand and finger and the brain of a person, where the input is precise-
direction of the object with respect to some reference and the output is the actual pointed direc-
tion with respect to the same reference. The control system consisting of a person driving an
automobile has components, which are clearly both man-made and biological. The driver wants
to keep the automobile in the appropriate lane of the roadway. The driver accomplishes this by
constantly watching the direction of the automobile with respect to the direction of road. Fig.
1.2 is an alternate way of showing the basic entities in a general control system.
Objectives Results
Control system

Fig. 1.2 Components of a control system

In the steering control of an automobile for example, the direction of two front wheels
can be regarded as the result or controlled output variable and the direction of the steering
wheel as the actuating signal or objective. The control-system in this case is composed of the
steering mechanism and the dynamics of the entire automobile. As another example, consider
the idle-speed control of an automobile engine, where it is necessary to maintain the engine idle
speed at a relatively low-value (for fuel economy) regardless of the applied engine loads (like
air-conditioning, power steering, etc.). Without the idle-speed control, any sudden engine-load
application would cause a drop in engine speed that might cause the engine to stall. In this
case, throttle angle and load-torque are the inputs (objectives) and the engine-speed is the
output. The engine is the controlled process of the system. A few more applications of control-
systems can be found in the print wheel control of an electronic typewriter, the thermostati-
cally controlled heater or furnace which automatically regulates the temperature of a room or
enclosure, and the sun tracking control of solar collector dish.
Control system applications are found in robotics, space-vehicle systems, aircraft autopilots
and controls, ship and marine control systems, intercontinental missile guidance systems, au-
tomatic control systems for hydrofoils, surface-effect ships, and high-speed rail systems includ-
ing the magnetic levitation systems.

1.2.1 Examples of Control Systems

Control systems find numerous and widespread applications from everyday to extraordi-
nary in science, industry, and home. Here are a few examples:
(a) Residential heating and air-conditioning systems controlled by a thermostat
(b) The cruise (speed) control of an automobile
(c) Manual control:
(i) Opening or closing of a window for regulating air temperature or air quality
(ii) Activation of a light switch to regulate the illumination in a room
(iii) Human controlling the speed of an automobile by regulating the gas supply to
the engine
(d) Automatic traffic control (signal) system at roadway intersections
(e) Control system which automatically turns on a room lamp at dusk, and turns it off in
daylight
(f) Automatic hot water heater
INTRODUCTION TO CONTROL SYSTEM 3

(g) Environmental test-chamber temperature control system

(h) An automatic positioning system for a missile launcher
(i) An automatic speed control for a field-controlled dc motor
(j) The attitude control system of a typical space vehicle
(k) Automatic position-control system of a high speed automated train system
(l) Human heart using a pacemaker
(m) An elevator-position control system used in high-rise multilevel buildings.

1.3 CONTROL SYSTEM CONFIGURATIONS

There are two control system configurations: open-loop control system and closed-loop
control system.
(a) Block. A block is a set of elements that can be grouped together, with overall charac-
teristics described by an input/output relationship as shown in Fig. 1.3. A block diagram is a
simplified pictorial representation of the cause-and-effect relationship between the input(s)
and output(s) of a physical system.

Physical components
Inputs Outputs
within the block

Block

Fig. 1.3 Block diagram

The simplest form of the block diagram is the single block as shown in Fig. 1.3. The input
and output characteristics of entire groups of elements within the block can be described by an
appropriate mathematical expressions as shown in Fig. 1.4.

Mathematical
Inputs Outputs
expression

Fig. 1.4 Block representation

(b) Transfer Function. The transfer function is a property of the system elements only,
and is not dependent on the excitation and initial conditions. The transfer function of a system
(or a block) is defined as the ratio of output to input as shown in Fig.1.5.
Input Output
Transfer function

Fig. 1.5 Transfer function

4 ANALYSIS AND DESIGN OF CONTROL SYSTEMS USING MATLAB

Output
Transfer function =
Input
Transfer functions are generally used to represent a mathematical model of each block in
the block diagram representation. All the signals are transfer functions on the block diagrams.
For instance, the time function reference input is r(t), and its transfer function is R(s) where t is
time and s is the Laplace transform variable or complex frequency. Transfer functions can be
used to represent closed-loop as well as open-loop systems.
(c) Open-loop Control System. Open-loop control systems represent the simplest form
of controlling devices. A general block diagram of open-loop system is shown in Fig. 1.6.

Fig. 1.6 General block diagram of open-loop control system

(d) Closed-loop (Feedback Control) System. Closed-loop control systems derive their
valuable accurate reproduction of the input from feedback comparison. The general architec-
ture of a closed-loop control system is shown in Fig. 1.7. A system with one or more feedback
paths is called a closed-loop system.
Disturbance Disturbance
input 1 input 2
D1(s) D2(s)

+ +
+ Ea(s)
Reference Input + + Output
Gc(s) Gp(s)
Input transducer Controlled
R(s) – Summing variable
Controller Plant or
Summing Forward junction C(s)
process
junction
path
Feedback
path
H(s)
Output
transducer or
sensor
Fig. 1.7 General block diagram of closed-loop control system
INTRODUCTION TO CONTROL SYSTEM 5

1.4 CONTROL SYSTEM TERMINOLOGY

The variables in Figs. 1.6 and 1.7 are defined as follows:

C(s) controlled output, transfer function of c(t)
D(s) disturbance input, transfer function of d(t)
Ea(s) actuating error, transfer function of ea(t)
Ga(s) transfer function of the actuator
Gc(s) transfer function of the controller
Gp(s) transfer function of the plant or process
H(s) transfer function of the sensor or output transducer = Gs(s)
R(s) reference input, transfer function of r(t).

A
+
R R+B R R–B R R–B+A
+ + +

+ – –
B B B

(a) Two inputs (b) Two inputs (c) Three inputs

Fig. 1.8 Summing point

A A
A A
A A

A A
Takeoff point Takeoff point

(a) (b)
Fig. 1.9 Takeoff point
Actuating or Error Signal. The actuating or error signal is the reference input signal
plus or minus the primary feedback signal.
Controlled Output C(s). The controlled output C(s) is the output variable of the plant
under the control of the control system.
Controller. The elements of an open-loop control system can usually be divided into
two parts: controller and the controlled process. The controller drives a process or plant.
Disturbance or Noise Input. A disturbance or noise input is an undesired stimulus or
input signal affecting the value of the controlled output.
Feed Forward (Control) Elements. The feed forward (control) elements are the com-
ponents of the forward path that generate the control signal applied to the plant or process. The
feed forward (control) elements include controller(s), compensator(s), or equalization elements,
and amplifiers.
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iepengean, de frjemde man joech him ôf. Syn swier lûd droane as in
klok yn ’t foarhús, de klompen klosten op ’e houten fiier. Martsen
seach mei in skimer, det hy griis hier hie en in lange grize baerd—en
fen postuer wie hy de lytse kant neist. Fokke stie neist him as in
slappe jonge beam neist in âlde knoestige stamme en syn bleke
wangen wierne read en syn donkere eagen skitteren yn it meagere
antlit.
“Jy hânnelje nei omstânnigheden?” tante Fokke him mei
oandrang.
De frjemde man nikte. “Ik doch, s’as jy sei ha. It is nou allegear
goed forpraet, scoe ’k sizze.” Op ’t stik ôf prate ’r, tige wis. Syn
menear fen dwaen joech fortrouwen.
Do hearde Martsen him foartgean. It geklos fen syn klompen
klonk domp en swier op ’t bisnijde paed en ’e snie wiske daedlik syn
foetleasten wer út mei hjar donzene plûmkes.
Nou koe Martsen hjar net mear stilhâlde, al hiene se hjar ek in
mes op ’e kiel set. “Hea, Fokke, hwa wie det?” sei se. “Is ’t in nij-
ynkomm’ling?”
“It wie gjin Hastinger,” sei Fokke net wakkere oansjitsk.
“Net? . . . ik tochte al, hy kaem my sa frjemd for. Dû jowst dy
dochs net yn ’e hânnel mei frjemd folk, wol? Ik meij der hielendal
net oer, sa’n gestrún by nacht.”
 “Ik ek net,” sei Fokke koel en do trêdde hy mei syn lange rjuchte
skonken ta de keamer út nei ’t bûthús ta. Martsen wie steurd en
bigoan der ek net wer oer, mar it lei hjar al dy dagen foar op ’e
tonge.—
De sauntsjinde Decimber kaem en Fokke wie der klear for. De
moarne ier-en-betiid stiek ’r al ôf en hy sei: moike moast dy joune
mar net om him opbliûwe, it koe wol ris let wirde—den bleau hy by
Hes-moi to nacht.
De snie wie wer weiteid . . . in tinne Decimbermist hinge nou oer
it Hastinger lân en swiere wetterdrippen foelen mei ientônich tik-tak
yn ’e folle sleatten. Min hearde it klopjen fen ’e flaljeklappen op ’e
tellen en it sûzjen fen ’e wine, mar oars wie ’t deastil yn ’e natuer.
De toarre beambledden ritselen selst net iens mear oan ’e
beammen.
Yn ’t Easten spjalte in fealgiele streek ljocht de swiere grize loft en
’e bleke wintersinne riisde stadich omhegens, swier bihinge mei
wolkengazen, mar de loft woe net trochskûrre en in ûre ef hwet
letter, do-t Fokke út ’e trein stapte, wie de loft al wer egael grys.
Allinne de sêftgiele neiskimer fen in pear ûre sinneskyn hinge noch
yn ’t Easten . . .
It wie nou al middei. Hy hie by Hes-moi en notaris oan west to
iten en to rieplachtsjen en nou folge hy de krinkelbôgen fen in wiete
púnwei op ’e klaei. Foar him leine de earste húzen fen Lessebûrren.
Och, hwet hie hy ’t goed kend, it doarpke, det hy oars Sneintojouns
sa faek trochriden wie nei Doutsen ta. Der wie net folle foroare, de
âlde linebeammen stiene noch yn ’e bûrren en de rinteniers, dy-t to
thédrinken sieten, seagen him mei binijen oer de blauwe ramtsjes
efternei. Krekt as ’t noch mar efkes lyn wie—en dochs . . . skraelwirk
fjirtsjin jier wie ’t al. Fjirtsjin jier hie hy ’t oan tiid hawn, om op
wraek to sinnen en nou hjoed . . . né optslach, den naem hy him.
Efkes krolde hy der noch foar om . . . mar do wie hy ek biredt as in
spylder, dy-t de lêste wichtige kaert yn hânnen hat en dy nou op ’e
tafel smyt . . . de amerij fen ’e bislissing.
 Hiel yn ’e fjirte lei de pleats fen Doutsen hjar heit, Jan Jelles
Hermanna. De greate pleats eage nou neat yn ’t donkere waer, mar
’t wie oars in hearespul. In dwershúzing op kelderskeamers en twa
skûrren der efter, in greaten en in lytsen ien, dy-t hjar op ’t greate
hoarnleger legeren yn ’t biskûl fen in eskensingel. Efkes flikkeren
Fokke syn eagen fen haet, hy tochte om Doutsen hjar gesmeul op ’e
âld skûrre to Hastings. Dy mei dizze skilde ek sa folle as nacht en
dei, det wie wier, hy sels hie ek wol eagen om det to sjen en der den
in tachtich pounsmiet bêst klaeilân by . . . hy hie ’t dodestiids net sa
min útfikeleare.
Jan Jelles, in steile meagere man, siet mei syn wiif en syn beide
dochters Doutsen en Annet yn ’t sydkeammerke. It wie stil yn ’e
keamer, binaude stil, krekt as wie der in deade yn ’e hûs.
“To, drink dyn thé ris op,” noade mem de bern. “Jimm’ litte alles
kâld wirde.”
“It smakket my net,” sei Doutsen ynienen moi lûd en smiet it
haken del. “As ’k der om tink, hwer wy oer in healjier miskien sitte
scille, den wird ’k moilik . . . Den smakket my alles as galle. Hwerom
hat heit ús ek net warskôge? Den hiene wy ús bikrimpe kind en nou
. . . ’t gyng alles mar út ’e brede fjirtsjin. It koe net op!” Hja rôp it
súver op ’t lêst út.
d’Ald man foar hjar oer sloech syn eagen del. “As ’k it tsjin jimm’
sei hie, hwet den? Tochtst’, det ús Kike den noch sa goed to plak
kaem wie? Hja hiene jimm’ allegear skoudere.”
“Sa’s se nou ek al dogge.”
“Ja, mar bern, dou bist ek al sa jong net mear,” sei hjar mem
bisêftigjend. “’t Hie ek gâns better west, ast’ der mar hwet oersjoen
hiest to Hastings. Dy swarte feint hie dy gau ûnderhâlde kind, sa
folle scil ’r altyd noch wol hawn ha.”
Der woe Doutsen net oan. “Dy-t sa omheukerje moatte, det’s net
folle,” sei hja. “Ik paste der net.”
“Nou, wy scill’ ris sjen, hwerst Maeije wol paste,” sei Annet. “Licht
wol yn in dyakenijkeammerke.
 “Stil bern,” sei Jan Jelles . . . “bidim jimm’ dochs yn ’e goedichheit.
As ’t folk it heart . . .”
“Tocht heit, det hja nou mear ticht binne for ús? Rabje dogge se,
de hiele streek lâns. Nou binn’ de goede dagen forgetten en ’e
ierdappels hjerstmis en ’t bargegûd!’
“Goed-dwaen hat noch noait in skande west!” sei Jan Jelles sêft.
“Mar de tiden wieme sa min . . . ik koe der net mear tsjin oan, n’t
Minke?” en syn eagen smeken syn wiif om in treastlik wird yn syn
ellinde. Mar dy hâldde hjar stil. Nou-t it jild op wie, joech hja neat
mear om Jan. Hy koe der mei oanpiele.
“Scoene der in bult komme joun by de forkeaping?” sei Doutsen
en seach oer it wintereftige lân.
“Det scil ’t wol,” andere Janne Minke bitter. “Moast ek net hinne,
Jan?”
“Myn eigen skoan lân útfeiljen hearre?” . . . en de triennen kamen
Jan Jelles yn ’e eagen. “It scoe my troch myn hert hinne gean . . . O
Minke, hwer keare wy?”
“Yn ’t earmhûs,” sei dy koel, “en dou oan ’e brake.”
Oer Jan Jelles syn meagere wangen roanen in pear triennen, mar
Minke diich, as seach hja ’t net. Hja koene opkrasse, fen ’t moaije
âlderlike spul ôf en hiere in foech wentsje yn ’e bûrren. It
heareneintsje libben wie dien—skrabjen om ’e kant wie nou hjar
foarlân. Jan hie ek altyd slûch west. In goed libben, det moasten hja
der den dochs noch yn ’e goedigheit fen nimme kinne en hy hie op ’t
kaptael passe moatten.
Nou wie ’t to let. Nou joun wie ’t de lêste sitdei fen ’e pleats. . .
moarn hiene se net in hoekje eigen groun mear. En op acht en
sechstich tûzen goune en hwet stie ’t spul, in great kaptael en det yn
in goed tritich jier wei. Hja seach ris op ’e klok—healwei fiven wie ’t.
It dûrre mar in lyts setsje mear, as in oar neamde it sines. Gjalt
Gjaltema grif, de rykste boer fen Lessebûrren en in âld feint, dy-t
jierliks in kaptael oerwoan. Och, as hja der den noch ris bliûwe
koene to hier? al wie ’t mar twa jier! Yn twa jier koe der sa folle
foroarje, licht krigene Doutsen en Annet noch wol in rike man. Hja
hiene altyd sa meidwaend kind en de feinten seagen tige op stân. Sa
paeide det minske hjarsels noch op ’e dei fen ’e ellinde mei swiete
takomstdreamen, mar it lot hie ’t hiel oars mei hjar for. Binnen de
twa jier scoe hja al op ’t hôf lizze en wie Jan Jelles môlkerider op ’t
febryk en de beide dochters tsjinnen.
Lokkich, hja wiste ’t net. Det allegear op ien stuit to dragen, hie to
swier for minskekreften west.—
De joune dwelme hiele Lessebûrren hast as skynsels troch de mist
en sette ta op ’e harbarge “de Sulveren Bearskes.” It wie noch folle
greater pret as in merke, sa’n greate forkeaping . . . der joech min
allinne út, hjir koe min noch in stûr fortsjinje mei strykjildskriûwen
en det diene hja der den ek wakker. De hollen waerden der hiet by
en de pipen gyngen út, der rekke ek al ris ien twisken, dy hie de
pipe oan mei de dop der op.
Gjalt Gjaltema liet se mar biede en raze. Hy siet der yn in hoeke
fen ’e jachtweide nei to harkjen en bisocht ris, om mei de frjemde
man oan ’e slach to kommen, dy ’t stil neist him by ’t taffeltsje siet
to sjen en to skriûwen.
“Hjoed ek for saken út west, keapman?” fiske Gjalt. “Min waer
oars, om yen op in paed to jaen.”
“Ja,” sei de man en lei ’t skriûwboekje del. As syn ja op ’e saken ef
op ’t waer sloech, det moast dy âld boer sels mar riede, tocht him.
“Det lân wirdt prizich,” sei’r.
“’t Is oars net sa botte bêst, moatt’ jy tinke. “Knippich . . . fierst to
heech man—as ’t simmer is en ’t droeget moi sterk, ik kin jou sizze,
den is ’t gjin sint wirdich. Mar der binne noch wol in pear goede
stikjes by, fen dy aerdige hoekjes.”
“Jy binne in Lessebûrster, tink ’k. Moatt’ jy net ris biede”, tante de
man him ûnforskillich wei. “Hjir ’s joun wol jild to fortsjinjen, leau ’k.
’t Scil wol út inoar fleane.”
“’k Wit net . . .” skodholle de âld boer, . . . jou moatte tinke, de
echte bieders, dy hâlde hjar noch stil.—Ja, tocht de oare—en jy . . .
jy binne der ien fen.
 “To . . .” sei Gjaltema wer, mei hwet skarlúneftigs yn syn eagen,
“moatt’ jy ek net ris biede, feint, op in stikje?” Sa scoe hy dy earme
keapman ris foar de kroade ride. “Mar jy ha fensels mear forstân fen
’e hânnel, tink ’k? Hwer binn’ jy wei?”
“Fen Ljouwert,” andere de keapman koart.
“Den binn’ jy miskien de Lang, dy-t hânnelt yn lynkoeken?” Gjalt
Gjaltema wie sa nijsgjirrich as in âld wiif . . . hy doarst de minsken ’t
jild hast út ’e pong freegje.
“Né,” sei de keapman en seach rare stoef . . . “det mist jou . . .”
Der ynienen waerde it hwet stiller yn ’e jachtweide.
“Nou giet it derom, it giet by samenvoeging,” learde d’ âld boer
syn selskip en hy lei de pipe del en sette de brul op ’e noas. Syn
hânnen trillen in bytsje en der kaem hwet mear read yn syn
triedtsjewangen, mar oars bleau hy himsels sa gelyk, det in oaren as
de keapman hie ’t net iens merkbiten.
De stiltme fen ’e forwachtinge slúte de mûlen. Jan Jelles, dy-t der
dochs noch efkes west hie, slûpte der stil út . . . dit koé hy net mear
oanhearre en hy gyng nei hûs en waerde wei yn ’t bûthús, it
ienichste plakje yn ’e hûs, der-t hy noch net hosk wie.
De opropper bigoan wer mei syn relaes fen: een Sathe en Landen,
welgelegen aan den grindweg te Lesseburen enz. staande bij
zamenvoeging op eenenzeventig duizend driehonderd en acht
gulden. Wie verhoogt dezelve duizend, negenhonderd, acht, zeven,
zes . . . d’ Ald boer fleach oerein. “Myn!!” rôp ’r mei in triljend lûd en
’e hân yn ’e hichte.
“Ei! ei!” sei syn bûrman en lake smaeklik, “it lân wie oars sa
danige knippich, net boer?”
“Dy-t it hynsder ha wol, lekket it,” andere dy binaud en bliid fen
beiden, det hy de pleats al sa goed as hie.
De opropper bigoan wer: staat bij Gjalt Gjaltema, landeigenaar te
Lesseburen op eenenzeventig duizend, negenhonderd en acht
gulden. En do hy wer oan ’e seishûndert ta wie, sei in frjemd jong
lûd ynienen: “Myn, opropper!”
 “De deale!” sei d’âld boer en seach syn bûrman mei rare eagen
oan: “sistû my yn ’e wielen ride, kwajonge? Hwa bistû en hwet
hastû?”
“Strykjild skriûwe,” en ’e keapman seach him oan mei in pear
skerpe eagen. Do wonk hy . . . en in jierrich man mei in grize baerd
gyng neist him sitten.
“Pas mar op, det ’t net in stroppe wirdt, dû mei dyn stêdsk
gebear” . . . en do súniger, “to, to, ik moat dit oars al ha. As ’k dy in
bankje fen húndert jow, hâldst’ dy den stil?”
In frjemd glimke glied der oer ’e keapman syn meager antlit. “Né,”
sei hy koart. “Dit ’s nou myn aerdigheit ris.”
Sa gyng det noch twa, trije kear en fol spanning krongen de
minsken nei foaren, om dy man to sjen, dy-t it tsjin Gjalt Gjaitema
yn ’e kant sette doarst. Yn in minuet ef hwet wie der al wer in
njuggenhûndert goune by kaem en ’e switkobben stiene Gjalt
Gjaltema op ’e foarholle. Dit gyng him nou dochs to stoef . . . it
waerde in kaptael, dizze pleats. “Jonge, jonge!” warskôge hy, “dy
aerdigheden wirde dy to djûr, keapman. It moat ek bitelle wirde, tink
erom.”
Noch ienkear bigoan de opropper wer: Staat bij Gjalt Gjaltema op
drieenzeventig duizend vierhonderd acht gulden. Wie verhoogt hem
nog 9—8—7—6—5—4—3—2—”
“Myn!” rôp de jonge keapman noch ris wer mei syn helder lûd. Do
foel de hammer. Fokke Hoara fen Hastings wie de eigener waen fen
’e pleats to Lessebûrren, mar hy fordraeide syn eagen der net iens
om, hwent it jild lei al jierren klear yn ’e bank. En de nije hiersman
hie hy der ek al for klear . . . it wie de man mei de grize baerd, noch
in âld frjeon fen him hjir to Lessebûrren.
De oare moarne stapte hy der hinne en Jan Jelles Hermanna wie
sa goed net, as hy moast mei him ’t lân út en do yn ’e hûs, hwer hy
ek alles noch sa bêst wiste to finen. En do-t hy der Doutsen sitten
seach, wist hy, det syn wraek folbrocht wie. Hjar libben lang hat se
dizze dei net wer forgetten.
 Fokke sels bleau op ’e âld pleats to Hastings. Hy koe der net ta
komme, om it minne lân en ’e âld skûrre to forruiljen for ’e fette
lânsdouwe to Lessebûrren.
En do-t de tiid der wie, tocht hy ek noch ris om in wiif en hy gyng
nei Bintsje.
En it eart waerde foer, eart de winter kaem is en hy bihânnele hjar
derneffens.
Yn alle folop is ’t minske der forhongere . . .
Hwent de ljeafde fen Fokke Hoara wie stoarn. Hy is nei Wychman
Hoara útskaeid.—
 *** END OF THE PROJECT GUTENBERG EBOOK DE HOARA'S FEN
HASTINGS ***

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