Controls 3B, Prac 1

Dynamic System Modelling

2 August 2022 (150pm to 330pm)

B2 Lab 119

Due Midnight 5 August 2022

QUESTION A



(1) Consider the mechanical system shown below.

FIGURE B.6
Mechanical System
The forces exerted by the springs are zero when x1 = x2 = x3 = 0. The
input force is f (t) and the absolute displacements of m1 , m2 and m3 are
x1 , x2 and x3 , respectively. The output is the spring force in k2 . The
dierential equations which represent the system can be expressed in the
State-Variable Matrix model (A, B, C, D). This can be done by choosing
the vector of state variables as

 T
x = x1 v1 x2 v2 x3 v3 .
 (a) Show that the State-Variable Matrix model is then given by
 
0 1 0 0 0 0
   (k1 + k2 )
ẋ1 b1 k2 k1 b1  
− − 0  x1
 v̇1  
 m1 m1 m1 m1 m1   v1 
 
  
 ẋ2   0 0 0 1 0 0
  x2 
 
 =
 v̇2   k2 k 2 b 2 b2   +
0 − − 0   v2 
  
 ẋ3   m 2 m 2 m 2 m 2
 x3
 
0 0 0 0 0 1
v̇3 (b1 + b2 )  v3
 
 k1 b1 b2 k1
0 − −
m3 m3 m3 m3 m3
0
 
 1 
 m1 
 
 0 
  f (t)
 0 
 
 0 
0
 
x1
 v1 
 
   x2 
y = k2 0 −k2 0 0 0  v2  + [0] f (t)

 
 x3 
v3
For the following data

m1 = 0.5kg
m2 = 0.75kg
m3 = 2.0kg
b1 = 1000N s/m
b2 = 5N s/m
k1 = 50N/m
k2 = 100N/m
(b) Find the output response y(t) to an input force of 50N.
(c) Find the response to an impulse force input.
(d) Choose values of b1 and b2 that will reduce oscillations, give a prac-
tical settling time, and produce smooth responses.
(e) Explain why the steady state values of the MATLAB plots are in
agreement with what is expected from analyzing the mechanical system.
(f ) Is the matrix A invertible, and why is this the case?
(suggestion: For the responses, specify the time for which the plot is to
be graphed, e.g., from 0sec to 3sec)
1158 Appendix B: MATLAB

(2) If the output was the platform displacement is x3 then the matrices
C and D are obtained as follows
 
x1
 v1 
 
   x2 
y= 000010  v2  + [0] f (t).

 
 x3 
v3

(a) Find the output response y(t) to an input force of 50N

(b) Find the response to an impulse force input.
(c) Explain why these MATLAB plots are in agreement with what is
expected from analysing the mechanical system.

(3) For the translational mechanical system under consideration, the vec-
tor of independent variables (minimum number of state variables) can be
chosen as
 T
x(t) = x R 1 v1 x R 2 v2 v3 ,
where

xR1 = (x1 − x3 )
xR2 = (x1 − x2 )
 Appendix B: MATLAB 1159

(a) Show that the State-Variable Matrix model is then given by,

 
0 1 0 0 −1
   k1 b1 k2 b1  
ẋR1 − − − 0  xR1
 v̇1   m1 m1 m1 m1   v1 

   0 1 0 −1 0 
 ẋR2  =    xR2 
+

   k 2 b 2 b2
 v̇2    0 0 −  v2 

m2 m2 m2
v̇3 (b1 + b2 )  v3
 
 k1 b1 b2
0 −
m3 m3 m3 m3

0
 
 1 
 m1 
 
 0  f (t)
 
 0 
0
 
xR1
  v1 
 

y = 0 0 k 2 0 0  xR2 

 + [0] f (t).
 v2 
v3

(b) Show that this representation produces the same results as the six
State-Variable Matrix system by repeating 1(a), (b) and (c) using the new
ve State-Variable Matrix system.
(c) Is the matrix A invertible, and why is this the case ?

QUESTION B

Calculate by hand and then by MATLAB the partial-fraction expansion

of the following transfer functions:

(a)
5(s + 2)
G6 (s) =
s(s 2 + 8s + 15)
(b)
5(s + 2)
G7 (s) =
s(s2 + 6s + 9)
(c)
5(s + 2)
G8 (s) =
s(s 2 + 6s + 34)
QUESTION C


1. Find the equivalent transfer function of three cascaded blocks (man-
ually and then MATLAB):

1 1 s+3
G1 (s) = s+1 , G2 (s) = s+4 , G3 (s) = s+5 .

2. Find the equivalent transfer function of three parallel blocks (manu-

ally and then MATLAB):
1 1 s+3
G1 (s) = s+1 , G2 (s) = s+4 , G3 (s) = s+5 .

3. Find the equivalent transfer function of the negative feedback system

in Figure 1 (manually and then MATLAB):
s+1 s+3
G(s) =
s(s+2) , and H(s) = s+4 .

FIGURE B.5
Negative Feedback System