Hochschule Ulm Prof. Dr. A.

Beckmann
University of Applied Sciences Page 1
Mid-term exam 15.05.2012

Name: Points: /100 Grade:


Describe using your own words:

1. What is the unit step response of a dynamic system? (2)

It is the response of a system to a step input of height 1

2. Draw the initial response of Pohls wheel for the 3 different types of damping: (6)

See. Experiment on Pohls Wheel underdamping / critical damping / overdamping










3. What is the transient response of a system? What is the steady state response? Draw a
diagram as well. (4)

The transient response is seen right after an input is applied. The steady state
response is seen when the transient response has decayed to zero. The steady state
response to an harmonic input is an oscillation with constant amplitude.

Diagramm: see Experiment on Pohl wheel







4. How can we derive the frequency response from the transfer function of a LTI-System?
Give an example. (4)

We have to replace s by je.
Example PT1-element: transfer function
1
) (
1
+
=
s T
K
s G
P

Frequency response:
1
) (
1
+
=
e
e
j T
K
j G
P

Hochschule Ulm Prof. Dr. A. Beckmann
University of Applied Sciences 15.05.2012
Mid-term exam Page 2

5. The differential equation of the Pohls wheel is:
Motor Rot Rot
T k
dt
d
b
dt
d
J = + +

2
2


a) What are the requirements of the system that have to be fulfilled so that the above
differential equation is true? (4)

- the coefficients J, b
Rot
and k
Rot
have to have constant values
- the friction force is assumed to be linear ( it could be non linear)
- Hookes Law is assumed to be fulfilled (deflection angle has to be small enough)



b) Write down the system parameters. (3)

;
2
J a =
Rot
b a =
1
;
Rot
k a =
0
; 0
2
= b ; 0
1
= b ; 1
0
= b


c) Write down the transfer function of the system. (3)

Rot Rot
k s b Js
s G
+ +
=
2
1
) (


d) What is the terminal angle of deflection if a constant torque is applied? (4)

0
2
2
=
dt
d
; 0 =
dt
d

Motor t Rot
T k =
Rot
Motor
t
k
T
=



e) Normalize the differential equation with respect to maximum values. (6)

max , max , Motor t Rot
T k =

max , max , max ,
2
2
max , Motor
Motor
t Rot
Rot
t Rot
Rot
t Rot
T
T
k
k
dt
d
k
b
dt
d
k
J
= + +

max ,
2
2
'
' '
Motor
Motor
Rot
Rot
Rot
T
T
dt
d
k
b
dt
d
k
J
= + +








Hochschule Ulm Prof. Dr. A. Beckmann
University of Applied Sciences 15.05.2012
Mid-term exam Page 3

6. The RC-circuit is used as a filter.





a) Find the differential equation of the system. (8)



Kirchhoffs loop rule 0 = + +
C R source
u u u


source C R
u u u = +

In this example the system output shall be
R
u , so we have to get rid of u
c
.


The potential difference across the resistance is according to Ohms Law: Ri u
R
= .
So the current i is:
R
u
i
R
=

The potential difference across the capacitor is written as voltage u
C
:
}
= = idt
C
Q
C
u
C
1 1




source R
u idt
C
u = +
}
1
| d/dt()

dt
du
i
C dt
du
source R
= +
1
| using
R
u
i
R
=


dt
du
u
RC dt
du
source
R
R
= +
1



System input:
source
u u = , system output:
R
u y =
The parameters of the system are: 1
1
= a , RC a / 1
0
= , 1
1
= b , 0
0
= b


b) What type of element is this circuit? (2)

From the differential equation we see that this is a D-T
1
-element.


dt
du
T y
dt
dy
T
D
= +
U
2
U
1
C
R
Hochschule Ulm Prof. Dr. A. Beckmann
University of Applied Sciences 15.05.2012
Mid-term exam Page 4

7. An I-element and a DT1-element are connected in series.

a) Write down the frequency response of the system. (6)


1
1
) ( ) ( ) (
1
+
= =
s T
s K
s T
s G s G s G
i
D
i
DT I

1
1
) (
+
=
s T T
K
s G
i i
D

i i
D
T j T
K
j G
e
e
+
=
1
1
) (


b) Calculate the spectral magnitude characteristics and spectral phase characteristics.
Discuss your results. (14)


( )
2
1
1
) (
i
i
D
T
T
K
G
e
e
+
=
-
( ) i
D
i
i
D
T
K
T
T
K
G =
+
=
2
0 1
1
) 0 (
-
( )
0
1
1
) (
2
=
+
=
i
i
D
T
T
K
G

i
i
T
T
c
d
e
e
e = = =
1
) ( tan

- 0 0 ) 0 ( tan = =
i
T = 0 ) 0 (

- = =
i
T ) ( tan = 90 ) (

Hochschule Ulm Prof. Dr. A. Beckmann
University of Applied Sciences 15.05.2012
Mid-term exam Page 5

8. The transfer function of a dynamical system is:
9 12 3
16 12 2
) (
2
2
+ +
+
=
s s
s s
s G .
a) Calculate the zeros and the poles of the transfer function. (3)

Zeros:

0 16 12 2
2
= + s s 0 8 6
2
= + s s ( )( ) 0 4 2 = s s

2
1 1
+ = = s z ; 4
2 2
+ = = s z

Poles:

0 9 12 3
2
= + + s s 0 3 4
2
= + + s s ( )( ) 0 1 2 = + + s s

2
1 1
= = s p ; 1
2 2
= = s p


b) Is the system stable? Why? (2)

Yes, it is stable, because all poles have a negative real part.

c) What is the transfer function in zero-pole-gain-representation? (2)

( )( )
( )( ) 1 2
4 2
3
2
) (
+ +

=
s s
s s
s G

9. The transfer function of a dynamical system is given by:
2 3
3
) (
2
+
=
s s
s
s G .

a) What are the poles and the zeros of the system? (3)

Zeros:

0 3 = s 0
1 1
= = s z ;

Poles:

0 2 3
2
= + s s ( )( ) 0 1 2 = s s

2
1 1
+ = = s p ; 1
2 2
+ = = s p


b) Is the system stable? Why? (2)

Yes, it is not stable, because both poles have a positive real part.

Hochschule Ulm Prof. Dr. A. Beckmann
University of Applied Sciences 15.05.2012
Mid-term exam Page 6

10. Calculate the step response of the system
1 2
1 3
) (
2
+ +
+
=
s s
s
s G . (18)

( ) ( )
|
|
.
|

\
|
+
+
=
|
|
.
|

\
|
+ +
+
=
|
.
|

\
|
=

2
1
2
1 1
1
1 3
1 2
1 3 ) (
) (
s s
s
L
s s s
s
L
s
s G
L t y
SR


( )
( )
( )
|
|
.
|

\
|
+
+
+
+ =
+
+
2 2
1
1
1
1 3
s
C
s
B
s
A
s s
s


Now expand so that the denominator is the same on both sides:

( )
( )
( )
( )
( )
( )
( )
|
|
.
|

\
|

+
+
+
+

+
+
+
+
=
+
+
s
s
s
C
s s
s s
s
B
s
s
s
A
s s
s
2 2
2
2
1
1
1
1
1
1
1
1 3


( )
( ) ( )
( )
|
|
.
|

\
|
+
+ + + +
=
+
+
2
2
2
1
1 1
1
1 3
s s
Cs s Bs s A
s s
s
, ( ) ( )
2
1 + s s

( ) ( ) Cs s Bs s A s + + + + = + 1 1 1 3
2


- 1 = s : C = + 1 3 2 = C

- 0 = s : 1 = A

- 1 + = s : C B A + + = 2 4 4 2 2 4 4 + + = B 2 2 0 + = B 1 = B

( )
( )
|
|
.
|

\
|
+
+
+
=

2
1
1
2
1
1 1
) (
s
s s
L t y
SR


2 1
s
1

6
at
e

a s +
1

10
at
e t
( )
2
1
a s



|
|
.
|

\
|

|
.
|

\
|
+
|
|
.
|

\
|

|
.
|

\
|
= t
s
t t
s
t y
SR
1
1 exp 2
1
1 exp 1 ) (