MECHANICAL ENGINEERING DEPARTMENT

MOTILAL NEHRU NATIONAL INSTITUTE OF TECHNOLOGY ALLAHABAD

Automatic Control (ME14101)

B. Tech. IV Semester (Mechanical Engineering + Production and Industrial Engineering)

Course Coordinator: Dr. Praveen Kumar Agarwal

Tutorial Sheet - 1

1. State 5 examples each for the open-loop and the closed-loop control systems found in real life products.
Describe all elements of the control system for the selected examples.

2. Describe the relative advantages and limitations of the open-loop and the closed-loop control systems.

3. For the systems shown in Figs. 1(a) and (b):

a) Find the order of the system.
b) Obtain the state space representation if, input is force F(t) and outputs of interest are
x1 : displacement and x 2 : velocity. Indicate the A, B, C and D matrices.

4. The Fig. 2 represents an armature controlled DC motor with a fixed field being used to drive a rotational
inertial load. The motor armature circuit is being driven by a voltage source, V. The torque generated by
the motor is proportional to the armature current:
T = K.i
The back electromotive force voltage, Va, is proportional to the motor speed:
Va = Km
Derive the state equations assuming that all elements in the system are linear and ideal. Take the system
input as source voltage Vin and output as rotor speed j.

5. Consider the mechanical system illustrated in Fig. 3. The mass of disk is Md and it is uniformly
distributed. There is no friction between the cart and the ground. There is also no friction between the
disk and the cart. We are interested in horizontal motion only and assume that the rotational angle of the
disk is very small. The outputs that we are interested in are the spring force caused by spring K2 and the
damping force caused by damper B3. Choosing the appropriate set of state variables, represent system
model in state space equation. Make sure that output equation is also presented,

6. For the system shown in Fig. 4, obtain the state space representation, if the input is Qin and the outputs of
interest are Qout, H1 and H2. Indicate the A, B, C and D matrices.

7. The Fig. 5 illustrates two masses (carts) connected via spring, moving at a surface with no friction.
Derive a state space model for this system, assuming that the force F is considered as input, and the
position x1 is considered as output.
 X1 X2
B2
K1
F(t)
M
K2

Fig. 1(b)
Fig. 1(a)

L R

Fig. 2 Fig. 3

Qin

represents
fluid
resistance A2
A1
a Qout
H1 H2
L L
Density ρ

Fig. 4

Fig. 5