Oct15 / Feb16 - CONTROL SYSTEMS I - PROBLEM-SET

ASSIGNMENT 1

Introduction to Control Systems

1

Block diagrams

Exercise 1. Obtain the equivalent transfer function of the following block scheme
s
1
s
, G2(s) = s+1
, G3(s) = s+2
and H(s) = 3.
with G1(s) = s2

Exercise 2. Obtain the equivalent transfer function of the following block

2
7s
2
5
scheme with G1(s) = s+2
, G2(s) = s3 +2s
2 +3s , G3(s) = s+3 and G4(s) = 2s+4 .

Exercise 3. Obtain the equivalent transfer function of the following block

3
s
s2
scheme with G1(s) = s+1
, G2(s) = s2 +3s+12
, G3(s) = s+3
.

Exercise 4. Reduce the following block diagram.

Exercise 5. As follows, the block diagram corresponds to the well known state
space representation. Deduct the equations.

Exercise 6. Reduce the following block diagram.

Exercise 7. Consider the following control system block diagram. Give the
transfer function matrix from r to y and the transfer function from d to y.

Laplace transform

Exercise 8. Consider the signal x(t) = 3e2t u(t) + 4e3t u(t). Determine the Laplace
transform X(s) of x(t). Sketch the location of the poles and zeros of X(s).
Exercise 9. Determine the Laplace transform and pole and zero locations for
the time function eat u(t), a > 0.
Exercise 10. Determine x(t) if X(s) is given by:
G(s) =

1
(s + 1)(s + 2)

Exercise 11. Determine the time function x(t) for each Laplace transform X(s):

1
, Re{s}
s+1

> 1

1
, Re{s}
s+1

< 1

s+1
, Re{s}
s2 +5s+6

s+1
, Re{s}
(s+1)2 +4

> 2
> 1

System dynamics

Exercise 12. Consider the following feedback system,

Find the closed-loop zeros and poles, considering the values of K, given as follows:
K=0.01
K=1
K=10
K=100
Exercise 13. Consider a system with transfer function
H(s) =

1
(s + 1)(s 2)

Consider first a series compensation scheme as illustrated in the following figure:

Show that overall system of this figure is stable if the systems function C(s) is
taken as
s2
H(s) =
s+3
Exercise 14. Write the differential equations for the mechanical systems shown
in the figure. For (a) and (b), state whether you think the system will eventually
decay so that it has no motion at all, given that there are non-zero initial conditions
for both masses, and give a reason for your answer.

Exercise 15. Write the equations of motion for the double-pendulum system
shown in the figure. Assume that the displacement angles of the pendulums are
small enough to ensure that the spring is always horizontal. The pendulum rods are
taken to be massless, of length I, and the springs are attached three-fourths of the
way down.

Exercise 16. The following figure depicts such a situation, where a force u is
applied to the mass M and another mass m is connected to it. The coupling between
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the objects is often modeled by a spring constant k with a damping coefficient

b, although the actual situation is usually much more complicated than this. (a)
Write the equations of motion governing this system. (b) Find the transfer function
between the control input u and the output y.

Exercise 17. A first step toward a realistic model of an op-amp is given by the
following equations and is shown in the figure.
107
[V+ V ],
s+1
= i = 0

Vout =
i+

Find the transfer function of the simple amplification circuit shown using this
model.

Exercise 18. A very typical problem of electromechanical position control is an

electric motor driving a load that has one dominant vibration mode. The problem
arises in computer-disk-head control, reel-to-reel tape drives, and many other applications. A schematic diagram is sketched in the figure. The motor has an electrical
constant Ke , a torque constant Kt , an armature inductance La , and a resistance Ra .
The rotor has an inertia J1 and a viscous friction B. The load has an inertia j1 . The
two inertias are connected by a shaft with a spring constant k and an equivalent
viscous damping b. Write the equations of motion.

Work to be done
1. Solve the problems by hand, scan the document and upload to the virtual
platform. Additionally, come to classes bringing the same physical document.
2. Since it is necessary that students master the subject, the work must be done
individually.

Deadline

December 6th 2015, 23:55h.