SYSTEM MODELING

1. Functionally, how do closed-loop systems differ from open-loop systems?

2. Name the three major design criteria for control systems.
3. Name and discuss the different approaches in modeling systems. What are the advantages of each
over the other?
4. Discuss gears. What functions do gears perform?
5. Discuss how the transfer function for the electromechanical systems are derived.

Problems:

6. Control of aircraft roll. An aircraft’s attitude varies in roll,

pitch, and yaw as shown below. Draw a functional block
diagram for a closed-loop system that stabilizes the roll as
follows: The system measures the actual roll angle with a
gyro and compares the actual roll angle with the desired roll
angle. The ailerons respond to the roll angle error by
undergoing an angular deflection. The aircraft responds to
this angular deflection, producing a roll angle rate. Identify
the input and output transducers, the controller, and the plant. Further, identify the nature of each
signal.

7. Dynamometer mechanism. A dynamometer is a device used to measure torque and speed and to
vary the load on rotating devices. The dynamometer operates as follows to control the amount of
torque: A hydraulic actuator attached to the axle presses a tire against a rotating flywheel. The greater
the displacement of the actuator, the more force that is applied to the rotating flywheel. A strain gauge
load cell senses the force. The displacement of the actuator is controlled by an electrically operated
valve whose displacement regulates fluid flowing into the actuator. Draw a functional block diagram of
a closed-loop system that uses the described dynamometer to regulate the force against the tire during
testing. Show all signals and systems. Include amplifiers that power the valve, the valve, the actuator
and load, and the tire.

𝑠+3
8. Inverse Laplace transform. Find the inverse Laplace transform of 𝐹 (𝑠) = 𝑠3 +11𝑠2 +12𝑠+18.

9. Transfer function of electrical network. Use mesh analysis to find

the transfer function 𝐺 (𝑠) = 𝑉0 (𝑠)/𝑉(𝑠) for the electrical network
shown.

10. Operational amplifiers. A lead-lag filter is shown. Find the

transfer function 𝑉2 (𝑠)/𝑉1 (𝑠) when 𝑅1 = 100 kΩ, 𝑅2 = 200 kΩ,
𝐶1 = 1 uF and 𝐶2 = 0.1 uF.

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Feedback and Control Systems
11. Translational mechanical system. Find the transfer
function 𝐺 (𝑠) = 𝑋1 (𝑠)/𝐹(𝑠) for the translational mechanical
system shown in figure at the right.

12. Translational mechanical system. Find the

transfer function 𝐺 (𝑠) = (𝑋3 (𝑠) − 𝑋1 (𝑠))/𝐹(𝑠) for the
system shown.

13. Rotational mechanical system. For the rotational

mechanical system shown at the right, find the transfer
function 𝐺 (𝑠) = 𝜃2 (𝑠)/𝑇(𝑠).

14. Rotational mechanical system. Find the

transfer function 𝐺 (𝑠) = 𝜃𝐿 (𝑠)/𝑇(𝑠) for the
system shown.

15. Rotational mechanical system. Find the transfer

function 𝐺 (𝑠) = 𝜃4 (𝑠)/𝑇(𝑠) for the rotational
mechanical system shown.

16. Rotational mechanical system. For the rotational

system shown, find the transfer function
𝐺 (𝑠) = 𝜃2 (𝑠)/𝑇(𝑠).

17. Electromechanical systems. A dc motor

develops 55 N ⋅ m of torque at speed of
600 rad/s when 12 V are applied. It stalls out at
this voltage with 100 N ⋅ m of torque. If the inertia
and damping of the armature are 7 kg ⋅ m2 and
3 N ⋅ m ⋅ s/rad, respectively, find the transfer
function, 𝐺 (𝑠) = 𝜃𝐿 (𝑠)/𝐸𝑎 (𝑠), of this motor if it
drives an inertia load of 105 kg ⋅ m2 through the
gear train, as shown in the figure.

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Feedback and Control Systems
18. Electromechanical systems. For the motor, load, and torque-speed curve shown, find the transfer
function 𝐺 (𝑠) = 𝜃𝐿 (𝑠)/𝐸𝑎 (𝑠).

19. Electromechanical systems. The motor whose torque-speed characteristics are shown below drives
the load shown in the diagram. Some of the gears have inertia. Find the transfer function 𝐺 (𝑠) =
𝜃2 (𝑠)/𝐸𝑎 (𝑠).

20. Electromechanical system. Find a general expression for the transfer function relating the output
torque of a motor to its input armature voltage.
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