Control Systems MEC709

Assignment 1 Solutions

Problem 1.
a. Using the frequency shift theorem (Table 2.2, item 4) we have I{c
-ut
(t)] = F(s + o).
For the Laplace transform of sin(t), we know that
I{(t)] = I{sin(t)] =
o
s
2
+ o
2
= F(s) .
Then, finally it is obtained F(s + o) =
o
(s+u)
2
+ o
2
.

b. Using the Laplace transform of cos(t), i.e., I{cos(t)] =
s
s
2
+ o
2

and from the frequency shift theorem (Table 2.2, item 4), it follows
I{c
-ut
(t)] = F(s + o) =
s+u
(s+u)
2
+ o
2
.

c. Using the Laplace transform table (Table 2.1, item 4)
I{t
n
] =
n!
s
n+1

for the Laplace transform of t
3
we obtain
I{t
3
] =
3!
s
3+1
=
321
s
4
=
6
s
4
.

Problem 2.
a. Taking the Laplace transform with initial conditions (Table 2.2 items 7, 8),
{s
2
X(s) - sx(u) + x
i
(u)] + 2 {sX(s) - x(u)] + 2X(s) =
2
s
2
+ 2
2

s
2
X(s) - 2s + S + 2sX(s) - 4 + 2X(s) =
2
s
2
+ 2
2

Solving for X(s),
(s
2
+ 2s + 2)X(s) - 2s - 1 =
2
s
2
+ 2
2

(s
2
+ 2s + 2)X(s) =
2
s
2
+ 2
2
+ 2s + 1
(s
2
+ 2s + 2)X(s) =
2s
S
+ s
2
+ 8s + 6
(s
2
+ 4)

X(s) =
2s
3
+ s
2
+ 8s + 6
(s
2
+ 4)(s
2
+ 2s + 2)

Now it is required to do an inverse Laplace transform to find the solution.
Expanding by partial fractions it is obtained:
X(s) = -_
1
S
]
s +1
s
2
+ 4
+ _
1
S
]
11s + 8
s
2
+2s + 2

You can use the Help with Laplace Equation file, available on the BB, to find the inverse
Laplace transform for the second term,:

11s+8
s
2
+2s+2
=
cs+d
s
2
+us+b
where c = 11, d = 8, a = 2, and b = 2.
The solution is
( )
( )
( )
( )
( )
( )
2 2
2 2
2
2 2 2
2 2
2
2 .
cos sin
4 4
4
2 8 2 11
2 4
11 cos 2 sin 2
4 4
4 2 2
16 22
11 cos 2 1 sin
8 4
11 cos 3 sin
at at
t t
t t
t t
d a c
a a
ce b t e b t
b a
e t e t
e t e t
e t e t




| | | |

+ = | |
| |

\ . \ .
| |
| |
+ = |
|
|
|
\ .
\ .

+ =

For the first term it is also possible to use the same equation, so we have c = 1, d = 1, a = 0, and b
= 4.
( )
( )
( )
( )
2 2
2 2
2
0 0 2 2
2 2
2
2 .
cos sin
4 4
4
2 1 0 1
0 0
1 cos 4 sin 4
4 4
4 4 0
1
cos 2 sin 2
2
at at
t t
d a c
a a
ce b t e b t
b a
e t e t
t t


| | | |

+ = | |
| |

\ . \ .
| | | |

+ = | |
| |

\ . \ .
+

By combining these results, it is obtained:
x(t) = -
1
5
[cos2t +
1
2
sin2t +
1
5
c
-t
(11cost - Ssint) =
- u.2cos2t - u.1 sin2t + c
-t
(2.2cost - u.6sint)

b. Taking the Laplace transform with initial conditions,
s
2
X(s) -2s -1 + 2s X(s) -4 + X(s) =
5
s+2
+
1
s
2
.
Solving for X(s),
X(s) =
2s
4
+ 9s
3
+ 1Ss
2
+ s + 2
(s + 2)(s + 1)
2
s
2

X(s) = S
1
s + 2
-
1
s + 1
+ 9
1
(s +1)
2
- 2
1
s
+
1
s
2

Therefore, x(t) = 5e
-2t
- e
-t
+9 t e
-t
- 2 + t.
c. Taking the Laplace transform with initial conditions,
s
2
X(s) s -2 +4 X(s) =
2
s
3
.
Solving for X(s),
X(s) =
s
4
+ 2s
3
+ 2
(s
2
+ 4)s
3

X(s) =
1
8

9s + 8.2
s
2
+4
-
1
8
1
s
+
1
2

1
s
3

Therefore, (similarly to the problem 2a), the first component can be solved by using the equation
on the BB, and we have
x(t) =
9
8
cos2t + sin2t -
1
8
+
1
4
t
2
.
Problem 3.
The Laplace transform of the differential equation, assuming zero initial conditions is,
(s
3
+3s
2
+5s+1) Y(s) = (s
3
+4s
2
+6s+8) X(s).
Solving for the transfer function,
(s)
X(s)
=
s
3
+4s
2
+6s+8
s
3
+3s
2
+5s+1


Problem 4.
a. Cross multiplying the equations it yields, (s
2
+2s+7) X(s) = F(s).
Taking the inverse Laplace transform,
d
2
x
dt
2
+ 2
dx
dt
+ 7x = (t).

b. Cross multiplying after expanding the denominator, (s
2
+15s+56) X(s) = 10 F(s).
Taking the inverse Laplace transform,
d
2
x
dt
2
+ 1S
dx
dt
+ S6x = 1u(t).

Problem 5.
The forces on the mass M
1
are:

K
2
x
1

f
v2
x
1

M
1
K
1
x
1

f
v1
x
1

M
1
x
1

K
2
x
2

f
v2
x
2

Therefore:
1 1 1 1 1 1 2 1 2 1 2 2 2 2
0
v v v
K x f x M x K x f x K x f x + + + + =
,
1 1 1 1 1 2 2 2
1 2 1 1 1 1 1 0 x x x x x x x + + + + =
,
1 11 1 2 2
3 2 0 x x x x x + + =


Taking the Laplace transform:
(s
2
+3s+2) X
1
(s) - (s+1) X
2
(s) = 0

Similarly for the M
2
:

2 2 2 2 2 2 3 2 2 1 2 1
0
v v v
K x f x M x f x K x f x F + + + =
,
2 2 2 2 1 1
1 1 1 1 1 1 0 x x x x x x F + + + =

2 2 2 1 1
2 0 x x x x x F + + =

Taking the Laplace transform:
(s
2
+2s+1) X
2
(s) - (s+1) X
1
(s) - F(s) = 0
-(s+1) X
1
(s) + (s
2
+2s+1) X
2
(s) = F(s)
Both equations make the system:
(s
2
+3s+2) X
1
(s) - (s+1) X
2
(s) = 0
-(s+1) X
1
(s) + (s
2
+2s+1)X
2
(s) = F(s)

K
2
x
1

f
v2
x
1

M
2
K
2
x
2

f
v2
x
2

M
2
x
2

F
f
v3
x
2

Solving for X
1
(s); X
1
=
_
0 -|s+1]
P s
2
+2s+1
_
_
s
2
+3s+2 -|s+1]
-|s+1] s
2
+2s+1
_
=
P(s)
s
3
+4s
2
+4s+1
.
Thus,
X
1
P(s)
=
1
s
3
+4s
2
+4s+1
.

Problem 6.
Reflect all impedances on the right to the viscous damper D and reflect all impedances and
torques on the left to the spring K, to obtain the following equivalent circuit:

The following parameters are calculated as:
[
1cq
= [
2
+ ([
u
+ [
1
)(
N
2
N
1
)
2
;
0
2
(s) = 0
1
(s)
N
1
N
2
;
[
2cq
= [
3
+ ([
L
+ [
4
)(
N
3
N
4
)
2
;

cq
=
L
_
N
3
N
4
]
2
;
For the mass 1, the sum of the torque moments is:
[
1cq
0

2
+ K0
2
- K0
3
= I
cq

We assume a mass-less point between the spring and the damper with angular displacement 0
3
.
For this point we have
-K0
2
+ 0
3

+ K0
3
- 0
4

= u
For the mass 2, the sum of torque moments is:
-0
3
+ [
2cq
0
4

+ 0
4

+
cq
0
4

= u
The combined equations of motion are:
[
1cq
0

2
+K0
2
- K0
3
= I
cq

-K0
2
+ 0
3

+ K0
3
- 0
4

= u
-0
3

+ [
2cq
0
4

+ 0
4

+
cq
0
4

= u