NPTEL Online Course: Control Engineering

Instructor: Dr. Ramkrishna Pasumarthy

Assignment 1
Jul-Nov. 2019

1. In the following predator-prey model, what happens to the population of predator (y) in the absence of prey
i.e. x = 0.
dx
= αx − βxy
dt
dy
= −γy + δxy
dt
(a) y = 0, ∀ t > 0
(b) y grows exponentially
(c) y decays exponentially[correct]
(d) y remains constant
Answer:
y decays exponentially i.e. y → 0 as t → ∞
2. Which of the following term represents the loss of energy in the model equation of a lossy pendulum whose
dynamics is given as
B q
θ̈ + 2
θ̇ + sin θ = 0
ML L
(a) θ̈
B
(b) M L2 θ̇ [Correct]
q
(c) L sin θ
(d) 0
Solutions:
It is the term in which damping element appears and it is the loss causing element.
3. Which of the following is/are examples of casual system
(a) Thermostat based AC [correct]
(b) Motor or generator [correect]
(c) Missile guidence system
(d) None of these
Solutions: Refer module-1/lecture-1/slide-10

4. Two springs are connected in parallel and is shown in the figure below. The equivalent spring constant keq is

k


k2

(a) keq = k1 + k2 [correct]

k1 k2
(b) keq = k1 +k2

1
 (c) keq = k1 − k2
k1 +k2
(d) keq = k1 k2

5. Consider a continous-time system with input x(t) and output y(t) related by

y(t) = et x(t).

The system is

(a) linear and causal. [correct]

(b) linear and non-causal.
(c) nonlinear and causal.
(d) nonlinear and non-causal.

Solution: A system is said to be causal if its output depends only on the past or present values of the input.
y(t) depends only on the present values of x(t). Thus, the system is causal.
Now, to verify linearity, suppose

x1 (t) → y1 (t) = et x1 (t), x2 (t) → y2 (t) = et x2 (t).

Then,

x1 (t) + x2 (t) → et (x1 (t) + x2 (t)) = y1 (t) + y2 (t).

Thus, superposition is satisfied. Now, given

x(t) → y(t) = et x(t).

For any scalar a, we have

ax(t) → et (ax(t)) = ay(t).

Thus, homogeneity is also satisfied and the system is linear.

Common data for Question 6 -8 :

Consider the system as given below

6. What is the force balance equation at displacement node x of the system?

(a) M ẍ − k2 (x1 − x) = f (t) [Correct]
(b) k2 (x1 − x) = k1 x1
(c) M ẍ + k2 x = f (t)
(d) M ẍ + k2 x1 + k1 x1 = f (t)
X(s)
7. What is the transfer function F (s) ?

2
 X(s) k2 +k1
(a) F (s) = M (k2 +k1 )s2 +k1 k2 [Correct]
X(s) (k2 −k1 )s
(b) F (s) = M (k2 −k1 )s2 +k1 k2
X(s) (k1 k2 s)
(c) F (s) = M (k2 −k1 )s2
X(s) (k2 −k1 )
(d) F (s) = M (k2 −k1 )s2 −k1 k2 s

8. After applying the F-V analogy, what is the analogous balance equation corresponding to displacement node
x obtained in Q6?
(a) C1 (q1 − q) = C2 q1
2
(b) L ddt2q + 1
C2 (q − q1 ) = v(t) [Correct]
1 1
(c) C1 (q1 − q) = C2 q1
2
(d) L ddt2q + C2 (q − q1 ) = v(t)
Solution
The differential equations representing the systems are

d2 x
M + k2 (x − x1 ) = f (t)
dt2
k2 (x1 − x) + k1 x1 = 0

Taking Laplace transformation on both sides

M s2 X(s) + k2 [X(s) − X1 (s)] = F (s)

k2 [X1 (s) − X(s)] + k1 X1 (s) = 0

Then,

(k2 + k1 )X1 (s) = k2 X(s)

k2
⇒ X1 (s) = X(s)
k2 + k1
and
 
k2
M s2 X(s) + k2 X(s) − k2 X(s) = F (s)
k2 + k1
 
k1 k2
⇒ X(s) M s2 + = F (s)
k2 + k1
X(s) k2 + k1
∴ =
F (s) M (k2 + k1 )s2 + k1 k2

In force voltage analogy

f (t) ←→ v(t)
M ←→ L
1
k ←→
C
x ←→ q

∴ The mathematical model becomes

d2 q 1
L 2
+ (q − q1 ) = v(t)
dt C

9. Consider a system whose input x(t) and output y(t) are related by y(t) = tx(t). Is the system linear?
(a) Yes [correct]
(b) No

3
 (c) Require more information

10. Select one equation which correctly model the electrical circuit shown in the figure below.

(a) vL (t) = v(t) R1R+R

1
2
+ vc (t) R1R+R
2
2
− i2 RR11+R
R2
2

(b) v(t) = vL (t) R1R+R

2
2
+ vc (t) R1R+R
1
2
− i2 RR11+R
R2
2

(c) vL (t) = v(t) R1R+R

2
2
+ vc (t) R1R+R
1
2
− i2 RR11+R
R2
2

(d) vL (t) = v(t) R1R+R

2
2
+ vc (t) R1R+R
1
2
− i2 RR11+R
R2
2
[correct]

Solutions
Now, In loop-1,

v(t) = i1 (R1 + R2 ) − i2 R2 + vc (t)

v(t)−vL (t)
But, i1 = R1
Thus,
v(t) − vL (t)
v(t) = (R1 + R2 ) − i2 R2 + vc (t)
R1

R2 R1 R1 R2
vL (t) = v(t) + vc (t) − i2
R1 + R2 R1 + R2 R1 + R2