EE302: Control Systems

Course Instructor:
Dr. Sharad Kumar Singh
Assistant Professor, EE, IIT Indore

Assignment 1

Submission Deadline: 2 Feb 2024 Total Marks: 2.5 Marks

1. As of 2012, the number of people living worldwide with Human Immunodeficiency

Virus/Acquired Immune Deficiency Syndrome (HIV/ AIDS) was estimated at 35 million,
with 2.3 million new infections per year and 1.6 million deaths due to the disease. Cur-
rently there is no known cure for the disease, and HIV cannot be completely eliminated
in an infected individual. Drug combinations can be used to maintain the virus numbers
at low levels, which helps prevent AIDS from developing. A common treatment for HIV
is the administration of two types of drugs: reverse transcriptase inhibitors (RTIs) and
protease inhibitors (PIs). The amount in which each of these drugs is administered is
varied according to the amount of HIV viruses in the body. Draw a block diagram of
a feedback system designed to control the amount of HIV viruses in an infected person.
The plant input variables are the amount of RTIs and PIs dispensed. (a) Show blocks
representing the controller, the system under control, and the transducers. Label the
corresponding variables at the input and output of every block.

Further, HIV inflicts its damage by infecting healthy CD4 + T cells (a type of white
blood cell) that are necessary to fight infection. As the virus embeds in a T cell and the
immune system produces more of these cells to fight the infection, the virus propagates in
an opportunistic fashion. As we now develop a simple HIV model, refer to below Figure.

Figure 1: Simple HIV Model

Normally T cells are produced at a rate s and die at a rate d. The HIV virus is present
in the bloodstream in the infected individual. These viruses in the bloodstream, called
free viruses, infect healthy T cells at a rate β. Also, the viruses reproduce through the T
cell multiplication process or otherwise at a rate k. Free viruses die at a rate c. Infected
T cells die at a rate µ. A simple mathematical model that illustrates these interactions
is given by the following equations:
dT
= s − dT − βT v (1)
dt
dT ∗
= βT v − µT ∗ (2)
dt
dv
= kT ∗ − cv (3)
dt
where T = number of healthy T cells; T ∗ =number of infected T cells; v = number of
free viruses.
(b.) Determine which of these equations are linear, which are nonlinear, and explain why.
(c.) The system has two equilibrium points. Show that these are given by:
s 
(T0 , T0∗ , v0 ) = , 0, 0
d
and  cµ s cd sk d
(T0 , T0∗ , v0 ) = , − , − .
βk µ βk cµ β

2. The role of air traffic control systems is increasing as airplane traffic increases at
busy airports. Engineers are developing air traffic control systems and collision avoidance
systems using the Global Positioning System (GPS) navigation satellites. GPS allows
each aircraft to know its position in the airspace landing corridor very precisely. Sketch a
block diagram depicting how an air traffic controller might use GPS for aircraft collision
avoidance.

3. In the past 50 years, over 20,000 metric tons of hardware have been placed in Earth’s
orbit. During the same time span, over 15,000 metric tons of hardware returned to Earth.
The objects remaining in Earth’s orbit range in size from large operational spacecraft to
tiny flecks of paint. There are over 500,000 objects in Earth’s orbit 1 cm or larger in
size. About 20,000 of the space objects are currently tracked from ground stations on the
Earth. Space traffic control is becoming an important issue, especially for commercial
satellite companies that plan to “fly” their satellites through orbit altitudes where other
satellites are operating, and through areas where high concentrations of space debris may
exist. Sketch a block diagram of a space traffic control system that commercial companies
might use to keep their satellites safe from collisions while operating in space.

4. A nonlinear device is represented by the function

y = f (x) = ex
where the operating point for the input x is x0 = 1. Determine a linear approximation
valid near the operating point.

5. Consider the differential equation

d3 x d2 x dx
+ 10 + 20 + 15x = f (x)
dt3 dt2 dt
where f (x) is the input and is a function of the output, x. If f (x) = 3e−5x , linearize the
differential equation for x near 0.
6. For the three-cart system shown below, obtain the equations of motion. The system
has three inputs u1 (t), u2 (t), and u3 (t) and three outputs x1 (t), x2 (t), and x3 (t). Obtain
three second-order ordinary differential equations with constant coefficients.

Figure 2: Three Cart System

X2 (s)
7. Find the transfer function, G(s) = F (s)
, for the translational mechanical system
shown below:

Figure 3: Translational Mechanical System

θ2 (s)
8. Find the transfer function, G(s) = F (s)
, for the rotational mechanical system shown
below:

Figure 4: Rotational Mechanical System

9. Find the solution to the differential equation

ÿ(t) + y(t) = 0, y(0) = α, ẏ(0) = β

10. Draw a signal-flow graph for each of the following state equations:
(a.)    
0 1 0 0
Ẋ =  0 −3 1  X + 1 r
−3 −4 −5 1
 
y= 1 2 0 x

(b.)    
7 1 0 1
Ẋ = −3 2 −1 X + 2 r
−1 0 2 1
 
y= 1 3 2 x

11. A missile in flight, as shown below, is subject to four forces: thrust, lift, drag, and
gravity. The missile flies at an angle of attack, α, from its longitudinal axis, creating lift.
For steering, the body angle from vertical, ϕ, is controlled by rotating the engine at the
tail. The transfer function relating the body angle, ϕ, to the angular displacement, δ, of
the engine is of the form

Φ(s) K a s + Kb
=
δ(s) K3 s + K2 s2 + K1 s + K0
3

Figure 5: Missile

12. Find Inverse-Laplace Transform for the following transfer functions:

64 8
Y1 (s) = , Y2 (s) =
s(s + 4)(s + 8) (s + 2)2 (s + 1)

15 5s3 + 10s2 + 30s + 35

Y3 (s) = 2
, Y4 (s) =
s(s + 2s + 5) s2 + s + 5
 Y (s)
13. Find the transfer function U (s)
of the given systems:

(a)
ẋ = −5x + 3u, y = 7x

(b)         
ẋ1 −5 0 x1 3   x1
= + u, y= 7 0
ẋ2 0 −1 x2 1 x2

(c)         
ẋ1 −5 0 x1 3   x1
= + u, y= 7 3
ẋ2 0 −1 x2 0 x2

14. Using Mason’s rule, find the transfer function of the following Signal Flow Graph.
(a)

(b)

15. A three-phase ac/dc converter supplies dc to a battery charging system or dc motor.

Each phase has an ac filter represented by the equivalent circuit given below.
Derive that the inductor current in terms of the two active sources is
1 + RCs Cs
IacF (s) = 2
IacR (s) + 2
Va (s)
LCs + RCs + 1 LCs + RCs + 1

16. For the motor, load, and torque-speed curve shown below, find the transfer function
G(s) = EθLa(s)
(s)
. [Hint: Read Section 2.8 on Electromechanical System Transfer
Functions.]

17. For the rotational mechanical system with gears shown below , find the transfer
function,G(s) = θ3 (s)/T (s). The gears have inertia and bearing friction as shown.

18. Given the system represented in the state space as shown below:
   
−1 −7 6 −5  
ẋ = −8 4 8  x + −7 r; y = −9 −9 −8 x
4 7 −8 5
convert the system to one where the new state vector, z, is
 
−4 9 −3
z =  0 −4 7  x
−1 −4 −9