Assignment # 01

Subject: Control Systems

Date: March 9, 2015

Teacher: Dr. Aamer Iqbal Bhatti

Submission Date: After one week

Problem # 01:
Write with minor details, the steps for designing a control system?
Problem # 02:
Analyze the qualitative and quantitative differences between an open loop and a closed
loop (feedback) control system via the help of an example?
Problem # 03:
Assume two similar cars, each with mass m are traveling with velocity x(t),

on two different
roads with frictions (damping) b1 and b2 . We also assume that the air drag on both
the vehicles is the same and will be modeled as spring constant k. Assume that the
same throttle applied to each vehicle is F (t), which results in a displacement x(t), then a
generalized (and simplified) mathematical model for the vehicles is
F (t) = M x
(t) + bx(t)
+ kx(t)
Figure 1 shows the step responses of x(s)/F

(s) for both the cars. Analyze these responses

and comment on the performance and type of the road each car is traveling upon?
Problem # 04:
a. Write the Laplace Transform of the following functions?
1.

f (t) =

0
Sin(t)

if t < 0
if t 0

2.

f (t) =

0
te3t

if t < 0
if t 0

3.


0
if t < 0
Sin(t + ) if t 0

0
t2 Sin(t)

f (t) =
4.
f (t) =

if t < 0
if t 0

5.


0
t

f (t) =

if t < 0
if t 0

b. State the following functions in complex frequency domain using Inverse Laplace Transform?
1.
F (s) =

s+3
(s + 1)(s + 2)

2.
F (s) =

s3 + 5s2 + 9s + 7
(s + 1)(s + 2)

3.
F (s) =

2s + 12
(s + 2s + 5)

F (s) =

s2 + 2s + 3
(s + 1)3

4.

5. Given
L{f (t)} = F (s) =

1
s(s + 1)

Find the final value of f (t) using Final Value Theorem (FVT) and verify your answer
finding f (t) by inverse Laplace transformation?

6. Investigate the solution x(t) of the following differential equation

x
(t) + 3x(t)
+ 2x(t) = 0
with initial conditions x(0) = a and x(0)

= b, where a and b are constants?

7. Investigate the solution x(t) of the following differential equation
x
(t) + 2x(t)
+ 5x(t) = 3,

x(0) = 0,

x(0)

=0

Problem # 05:
Write the transfer function relating the capacitor voltage Vc (t), to the input voltage V (t)
of Figure 2?
Problem # 06:
Workout the transfer function I2 (s)/V (s) for the RLC network shown in Figure 3?
Problem # 07:
Answer the following questions from Figure 4.
a. Find the differential equations governing this system?
b. Find the transfer function when x1 (t) is taken as the output and then find state space
(A, B, C, D) matrices?
c. Find the transfer function when x2 (t) is taken as the output and then find state space
(A, B, C, D) matrices?
Problem # 08:
Write the state space (A, B, C, D) matrices for the transfer functions given in
Problem # 04, part b?
Problem # 09:
Given the nonlinear mathematical model of an inverted pendulum
Tc
g
+ sin =
`
m`2
Derive the equilibrium points for the system and determine the corresponsing small signal

T 
T
linear models? Hint: Take the state vector ~x = x1 x2 =

FIGURES

Figure 1: STEP Responses on different roads

Figure 2: RLC Circuit

Figure 3: RLC Network

Figure 4: Mass-Spring-Damper System