Assignment I

s 2 + 2s + 3
1. A Feedback system characterized by closed loop transfer function T ( s ) =
s3 + 2s 2 + 3s +1
. Draw the suitable signal flow graph and therefore construct state model of the system.

2. Consider the below feedback system with subsystems S1 and S2 described by: S1
�
�x1 � � -2 1 � x1 � �4 1 �� u1 �
� �= �
� �� �+ � �� �
�� � �0 -1� x2 � �
� -1 2 �� u2 �
 x
�1 �
�x1 � �u1 �
y1 =[0 1] � �+ [1 -1] � �
�x2 � �u2 �
�
�x 3 � ��
2
� �=
�� � ����
1
[ u3 ]
S2  �x4 �
�y 2 � �2 0 ��
x3 �
�y � =� �� �
�3 � � 1 -1��x4 �

Write down the state-space representation of the feedback system, with the states (x 1, x2,
x3, x4), the reference input (r1, r2) and the output y1.
3. Check, the following mechanical (rotary) systems are
i. zero state equivalence
ii. Algebraically same

Note: B1= B2=B and K1= K2=K

4. Check, the following electrical circuit systems are
iii. zero state equivalence
iv. Algebraically same
 Assume R1= R2=R
• •
5.Find all fixed points for the dynamical system x = -x+x 3 ; y = -y(2+x) and linearize the
system about two different operating points (1,0) and (-1,0).
6. Consider
� �-1 1� � -1 �
x=� �x+ � � u
�0 1� �0 �
y=[-2 3] x - 2 u

a. Compute the system transfer function

b.
Is the matrix A asymptotically stable, marginally stable or unstable

c. Is it BIBO stable?
7. A Feedback system is characterized by closed loop Transfer function
s 2 + 2s + 3
T ( s) = . Draw the suitable signal flow graph and therefore construct
s3 + 2s 2 + 3s +1
state model of the system. Based on the state space model, express the following:
I. Is the matrix ‘A’ asymptotically stable, marginally stable or un stable?
II. Is the system BIBO stable?
8. The Spinning Body Dynamics (Satellite dynamics) of the system is expressed by the
following dynamics:
� I 2 - I3 1
w1 = w2 w3 + t 1
I1 I1
� I 3 - I1 1
w2 = w3 w1 + t 2
I2 I2
� I1 - I 2 1
w3 = w1w2 + t 3
I3 I3
where,
w1w2 w3 - Angular velocities about Principal axis
 I1 , I 2 , I 3 - Moment of Inertial about Principal axis
t 1 ,t 2 ,t 3 - Torque about Principal axis
Linearise the dynamical system under [ t 01 t 02 t 03 ] = [ 1 0 0] and [ w01 w02 w03 ] = [ 0 1 0]
T T T T

. Also check the controllability of the system.

9. The mechanical system of three masses coupled by springs is shown in figure 1. Analyse
the behaviour of the system such as the natural modes of oscillation by knowing the
frequencies and modes.

Figure:1 Mass-Spring System - Position with respect to equilibrium spring constant

Hints /Assumptions:
 Use state space approach
 Choose the three masses equal (say to m) and the four spring constants to be, in
some units, 2, 1, 1, 2 respectively.
 Use the coordinate system in which xi is the position of mass number i, relative to its
equilibrium position.
 at equilibrium condition x1 = x2 = x3 = 0.
 Let you denote by Ej , j = 1, 2, 3, 4 the lengths of the four springs at equilibrium and
by ℓj , j = 1, 2, 3, 4 the natural lengths of the four springs.
 The force exerted by an ideal spring is, up to a sign, the spring constant of the spring
times (its length minus its natural length).
 There are no frictional forces, the springs are massless and the masses are
constrained to move horizontally
10. Linearise the system • about its fixed points. Use the following plot if
x = x-cos(x)
necessary. Investigate whether or not the solution of the given system converge to the
given equilibrium point.
Note: First find points x and then apply Taylor’s series expansion up to linear term
about that fixed point
 2

1.5

y=cos(x) X: 0.73
1 Y: 0.73

0.5

-0.5
y=x
-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2

11. Consider the rocket - sled system shown in Fig.1.

i) Obtain the state space using physical variable form by choosing M 1=100; M2=10;
B1=20; B1=2 and K=10;
ii) Analyze the behavior of the system such as the natural modes of oscillation by knowing
the frequencies and modes.

Fig.1.
12. The mechanical system of two masses coupled by springs is shown in figure. Analyse the
behaviour of the system such as the natural modes of oscillation by knowing the
frequencies and modes.

 Choose the two masses equal (say to m), the two spring constants to be, in some
units, 2, 1 respectively and Friction coefficient to be, in some units 1, 0.5
respectively.
 There are no frictional forces, the springs are mass-less and the masses are
constrained to move horizontally.
13. Analyze the behavior of the mechanical system shown in Fig.3, such as the natural
modes of oscillation by knowing the frequencies and modes. (7)
 Assume the value of K=15, M1=10, M2=20 and Xi=Ai sin(wt+), where i=1,2

14. Matrix methods can be used as we have discussed in the class room to solve systems of
second-order differential equations such as might arise with coupled mechanical or
electrical systems. For example the motion of two masses M1 and M2 vibrating on
coupled springs, neglecting damping and spring masses, is governed by
••
M1 Y1 =-K1Y1 +K 2 (Y2 -Y1 )
••
M 2 Y 2 =-K 2 (Y2 -Y1 )
where dots denote derivatives with respect to time. Write this system as a matrix
••
equation Y =AY and use the decoupling method to find Y if
I. M1 = M2 = 1, K1 = 3, K1= 2 and the initial conditions are Y1(0) = 1, Y2(0) = 2,
• •
Y1 (0)=-2 6, Y2 (0)= 6
II. M1 = M2 = 1, K1 =6, K1= 4 and the initial conditions are Y1(0) = Y2(0) = 0,
• •
Y1 (0)= 2, Y2 (0)=2 2 Verify your solutions by substitution in each case.
15. By applying Infinite Series Method and Cayley-Hamilton to find the state transition
matrix solution for the following system. Are they comparable?. Write your comments?
� �-1 1�
x=� �x
�0 1�

16. Analyze the behavior of the system shown below, such as the natural modes of
oscillation by knowing the frequencies and modes.

Note: we are interested in the transient behavior of the electrical system in particular to
know the oscillations of the loop with respect to the other.
17. Obtain the state space model from the transfer matrix
� 4s -10 �
� 2s +1 �
T ( s) = � �
� 1 �
�
(2s
� +1)(s + 2) �
�
�
� g �
18. Equation of the motion of the simple pendulum is θ = - sin θ - δ θ , where θ is the angular
l
�
position, θ is the angular velocity of the pendulum and δ is the small friction introduced in the

pendulum. Use the following information to find the required solution:

g
(i) =1
l
�
(ii) State variables are θ and θ

(iii) Output is θ
- 0π
�� - ��
(iv) Linearization at fixed points x = ��and x = ��
0 �� 0 ��
Q 1 - Linearize the pendulum equation using Taylor’s series approximation for (i) δ=0 (ii) δ=0.1
Q 2 - Check the asymptotic stability of the linearized system for (i) δ=0 (ii) δ=0.1
Q 3 - Is this system BIBO stable for (i) δ=0 (ii) δ=0.1
19. The temperature in a particular 3-dimensional solid is a function of position, and is known to be

T(x, y, z) = 42 + (x - 2) 2 + 3 (y - 4) 2 - 5 (z - 6)2 + 2yz

 Find the first order approximation (linearization) of the temperature near the location (1, 0, -1).
Use δx, δy and δz as your deviation variables.
20. Obtain the state space model for either Solenoid valve system shown in Fig.1 or
Armature control speed control of DC motor shown in Fig.2 using
(i) Signal flow graph method
(ii) Canonical variable form

21. By applying (i) Infinite series method and (ii) Cayley-Hamilton to find the solution of the
state equation for the system given below: (10)
�
�x1 � �
0 -2 ��
x1 �
� �=
�� � �� �
1 -3 ��
x2 �
x1 � � �
�
1 2
Assume x (0)=1 and x (0)=0