1.

A translational mechanical system is shown below: mass M1, mass M2, spring with stiffness K and
damper with damping constant B. A force f(t) is applied to M1 as shown below. The spring is not
deflected when x1=0.

x1 x2
B
K
M1 M2
f(t)

(1) Draw the free body diagram for M1 and M2. Write the equations of motion for this system.
(2) Write the input output form model with f(t) as the input and x1 as the output.

1
2. A rotational mechanical system is shown below: inertia J1 and J2, a gear set with ratio N (  N ), a
2
damper with damping constant B, the connections between the inertia and gear set are rigid. There is no
inertia for the gear itself. A torque T(t) is applied to J1 as shown below.
T(t) 1

J1
2
Gear

J2

(1) Write the state variable form model using variable  2 .

(2) Draw the block diagram for the above state variable form model.

3. An electrical circuit is shown below: voltage source E (t ) , resistor R, inductor L and capacitor C.

IL Ic
R
L
E (t ) C VC

(1) Write the state variable form model using variables I L , VC .

(2) Write the input output form model with E (t ) as the input and I L as the output.
1. Given a second-order system y  6 y  8 y  u (t ) , where y(0)  y (0)  0 and the input u (t ) is
a unit step function.

a) Calculate the natural frequency and damping ratio.

b) Solve the output y (t ) for the above dynamic system.

c) What is the steady state response of the above system?

Y ( s) s5
2. Given a transfer function H ( s)   2 , where X (s ) is the input and Y (s ) is
X ( s) s  7s  12
the output.

a) Calculate the poles and zeros of the transfer function. Draw the pole zero plot.

b) Calculate the frequency response function H ( j ) , the magnitude M ( ) and the phase
angle  ( ) . If the desired steady state output y (t )  sin t , what is the appropriate
input x(t ) ?

3. Given a nonlinear system y  y 2  sin y  0 , where y (0)  1 , y (0)  0 .

a) Let the operating point y  0 . Develop a linear model for the above nonlinear system at
the operating point. Also indicate the initial conditions of the linear model.

b) Is the linear system obtained in (a) stable? Justify your answer.