Homework ME 374 Assigned: April 8, 2011

Assignment #2 System Dynamic Analysis and Design Due: April 15, 2011

Problem #1 c) With a zero initial state (that is, vM (0) = 0 and

fK (0) = 0), a step input is applied, F (t) = F0 us (t),
Recall that in Problem #1 of last week’s assignment you
where F0 = 10. Using the results from parts a) and
considered the following system with state vector x:
b), determine the response of the velocity V1 (t).
� � � �
0 −5 4 � � � �
A= ,B = ,C = 0 1 ,D = 0 d) Using MATLAB verify the step response in c). Do
6 −11 3 the initial and final values of V1 (t) make sense? Why?
� � e) Derive the transfer functions :
� � x1
y(t) = 0 1
x2
V1 (s) V2 (s)
H1 (s) = , and H2 (s) =
with initial state F (s) F (s)
� �
3 and plot the locations of the poles and zeros on the
x(0) =
0 s-plane. Determine the system damping ratio ζ and
the natural frequency ωn .
This week you will calculate the zero-input response using
the system in diagonal form. f) Using MATLAB, verify the transfer function in (c),
using the function SS2TF (state space to transfer
a) Transform the state equation above to its diagonal function). Information on the function SS2TF is listed
form, written in terms of the transformed state vector below and can be obtained from MATLAB by typing
x� “help ss2tf”.
b) Find the state transition matrix for the diagonalized
SS2TF: State-space to transfer function conversion.
system Φ(t).
[NUM,DEN] = SS2TF(A,B,C,D,iu)
c) Find the zero-input state response x� (t) of the trans- calculates the transfer function:
formed system for the transformed initial state x� (0).
NUM(s)
H(s) = = C(sI − A)−1 B + D
d) Transform the response of part c) back to the original DEN(s)
state space x, calculate the response y(t), and com-
pare your answer to your zero-input response y(t) of of the system: ẋ = Ax + Bu, y = Cx + Du for the iu’th
last week. input. Vector DEN contains the coefficients of the denom-
inator of the transfer function in descending powers of s.
The matrix NUM contains the numerator coefficients with
Problem #2
as many rows as there are outputs. If there is only one
The mechanical system shown has the input force F (t). input to the system, then iu=1.

V1 V2 Problem #3
Do problem 14.2 in your text. This problem is closely
related to Lab #2, that you will be performing next week.
K
F(t) M Note: It is traditional to plot the phase angle with units
Input
of degrees, rather than radians.
B1 B2

� � � �� � � �
˙
vM −B 2 1
vM 0 � �
˙ = M M + K F (t)
fK −K − BK1 fK B1

where: B1 = 2, B2 = 12 , K = 2, M = 1
2

a) Show that the state equations are as shown.

b) Derive the output equations (in matrix form) for the
variables V1 and V2 as shown in the schematic above.