Homework problem set 1

EE 379 Linear Control Systems

Fall 2015
Issued on: 2 Oct 2015

Due: 12 Oct 2015 (Monday)

Problem 1a
Consider the system shown in Figure 1
Derive the transfer function
=

( )
( )

Compute (using inverse laplace transforms*)

the output response for
the following inputs
Unit step input
f(t) = 10 sin(100t)
f(t) = 10 sin (100t) + 5 cos(10t)

Figure 1

* : You may use MATLABs symbolic toolbox (hint: use ilaplace command, youll find info in the help section of
MATLAB and in chapter 2 of Nise)

Problem 1b
In the above problem, assume the 3 kg-m2 is being driven by a DC
motor. (i.e. The torque T(t) is being applied by the DC motor)
Derive the transfer function between the input voltage (applied at the
terminals of the motor), and the displacement x(t)

Problem 2
The figure below shows an electronic filter
Find the transfer function

( )
( )

Make a model of the above TF in Simulink

By giving input sinosoids of
varying frequencies, try to
qualitatively identify the
behaviour of this passive filter
(i.e. low pass, high pass,
band pass, band stop etc.)
C1 = 1 uF, C2 = 2 uF, L1 = 3 mH
L2 = 1 mH, R = 0.5 k

Problem 3
The figure below shows a simplified model of the drive train of a wind turbine
1

Jr

Tind

2
1

Jm
3

See next slide

DC Generator

GENERATOR

Problem 3 (cont.)
T : the torque exerted on the blades (due to wind)
Tind : the torque induced by the generator this torque is applied on body Jm in a
direction opposite to motion 3
(related to armature current by Tind = Kt ia(t) )
The output of the system is a voltage ea(t) at the terminals of the generator (assume a
load resistor R is connected at the output terminal)
For the DC generator, use the model that was used for the DC motor in the book/slides
(except that in this case the DC machine is being used as a generator instead of motor)
The problem is to find the transfer function:

( )
( )

Problem 4
A car/vehicle is traveling on a bumpy road.
Shown in the figure is the so called quarter car
automotive suspension system model
It represents the automotive suspension at each
wheel i.e. the motion of the axle and of the
vehicle body at any one of the four wheels
of the vehicle
The suspension is shown to consist of a spring
ks and a damper bs
Wheel

Road

Problem 4 (cont.)

The mass ms represents the quarter car equivalent of the vehicle body mass
The mass mu represents the equivalent mass to due axle and tyre
The vertical stiffness of the tyre is represented by kt
The car is travelling at a speed of 20 m/s
Radius of wheel is 0.15 m
The car encounters a bump in the road which can be modelled by the following road
profile
zr
Wheel

0.1 m

Find the resulting profile of

Road
zs (i.e. the vehicle mass displacement)
After deriving the transfer function, you should use Simulink to compute the resulting
output profile (set the constant values to unity for all elements e.g. mu = 1 kg, ks= 1 N/m
etc. )

Problem 5
For your NERC 2015 robot, derive the transfer function between the
input voltage applied to the motor and the angular displacement of
the wheel
Also, in your solution,
Draw the schematic of the system
Attach pictures of your robot which clearly show the drive mechanism

Problem 6 - linearization
Derive the differential equation describing the dynamics of a simple
pendulum (input is the applied torque and output is the angular
displacement of the pendulum)
Linearize the above differential equation about some operating point (of
your choice)

Bonus: Simulate both the nonlinear and linearized dynamic models in

Simulink (you will have to look up how to simulate a dynamic model
described by a differential equation). Plot their response to a step input.
Submit the plots with your solution. Comment on the differences and
similarities in the behavior of the two models.