Consider the dynamic system shown in the figure below. The upper pulley is fixed in position.

Both pulleys rotate freely without friction about their axles. Both pulleys are light in the sense that their rotational inertias are small and their rotation contributes negligibly to the kinetic energy of the system. The rims of the pulleys are rough, and the ropes do not slip on the pulleys. The gravitational acceleration is g . The mass M moves upwards at a rate x with respect to the upper, fixed, pulley, and the smaller pulley moves downwards at the same rate. The mass m1 moves upwards at a rate y with respect to the small pulley, and consequently its speed in the inertial reference frame is x y . The speed of the mass m2 is therefore x y in the inertial reference frame. An external force Fx acts on the mass M .

Fx

Using a Lagrangian approach, show that the differential equations that govern this system are x M m1 m2 and y M m1 m2 4m1m2 2gM m1 m2 Fx m1 m2 (2) x y x y and the
T

4m1m2

g M m1 m2

4m1m2

Fx m1 m2

(1)

Finally write the dynamics in state form assuming that the state vector is x plant output is the velocity of mass m1 .

Note: You are welcome to use the symbolic toolbox in Matlab to simplify the linear algebra. If you do, please attach output from the m-file or mupad.

Consider the mechanical system shown in the figure below. It consists of two weights, m1 and m2 , attached together with a string of length l . One is on a ramp at an angle to the horizontal; the other is hanging from the string. The string goes over a pulley. The displacement of the mass m1 is x and is measured from the pulley to the mass (so that m1 moving downhill would increase x ). Both weights are initially stationary, and the distance between the pulley and weight m1 is initially x 0 . An external force F which you have control over acts on mass m1 (positive downhill). Derive the differential equation that governs the system dynamics. You may neglect friction.

a. Prove that the governing differential equation is x b.

c. d. e.

f. g. h. i. j.

m1 sin m2 1 g F. m1 m2 m1 m2 Now write the differential equation in state form. Let the states be the displacement of m1 and its velocity, ie ( [ x, x ] ). Let the output be the height, h , of mass m1 , which is positive downwards. In the state equations identify the controllable input and the uncontrollable input. Find the poles of the state space system and determine if the system is stable. Find the zeros of the state space system. Using the state space equations in question (b), calculate the transfer function between the applied force, F , and the height, h . Confirm the expression is correct by applying the Laplace Transform to the DE in question (a). Determine the state transition matrix in the Laplace space (s) as well as in the time domain (t). T Solve the state update equation for x (t ) for initial conditions x(0) x0 0 and no external force input ( F 0 ). Calculate the system output, , for part (g). Draw the block diagram for the state space model. Is the system controllable?

k. Are all states of the system observable? Determine under what conditions they are no longer observable, and explain in laymans terms why the states would not be observable under this condition. l. Using the equation derive in question (h), sketch the system response for the first 4 seconds given the following: m1 3 kg , m2 1kg , g 10 m/s 2 , x0 2 m , 30

For system in Part 1, derive the differential equations given by Equations (1) and (2) using force balances and Newtons laws.

For the plant in Part 2, derive the state space equations and draw the corresponding block diagram for the system; in control canonical form (matrix A in upper companion form), observer canonical form (matrix A in left companion form), the modal form, as well as for a balanced realisation.