Final.1 (13 pts.

Increasing the damping constant of a system does what to its pe-

riod of vibration?
Useful for approximating solutions to nonlinear ODEs
Shortest interval between two instants in a system’s time trajectory,
y, at which ẏ = 0 and y’s curvature has the same sign
Useful mathematical tool for organizing coupled linear algebraic
equations and ODEs
What kind of spring is characterized by the equation: T = −k∆λ
Useful tool for calculating frequency response due to harmonic
forcing of a linear, constant-coefficient, ODE. This tool is also
useful for converting time-derivatives of f (t) into a new function,
namely sF(s)
Inhomogeneous ODE’s can be solved by adding what two terms
together?
Trigonometric function to calculate θ (−π ≤ θ < π) from sin(θ )
= -0.688 and cos(θ ) = -0.5
Graph showing the effect of k on the stability of an ODE, e.g.,
ÿ + 2ẏ + (k − 5)y = 0
Assumed solution to linear, constant-coefficient, homogeneous,
...
ODEs, e.g., y + 2ÿ + 3ẏ + 4y = 0
How many coefficients of the characteristic equation can be deter-
mined from the time history√ response of a linear 2nd-order ODE?
Invented the notation i = −1
Name for the time required for a system’s response from a step
input to reach its maximum deviation from its steady-state value.
 Final.2 (14 pts.)

16 pts.) Frequency response of an R, L, C circuit vi

vi R
F.5 (16 pts.) Frequency response of an R, L, C circuit
e RLC (resistor-inductor-capacitor) circuitofshown
F.5 (16 pts.) Frequency response an R, L,toC the
circuit vi L vo
ht is forced by an input voltage of vi = A sin(ω t) where
R
R L
The RLC (resistor-inductor-capacitor) circuit shown to the
and ω are non-negative constants and t is time. vo
The RLC (resistor-inductor-capacitor) circuit shown to the
right is forced by an input voltage of vi = A sin(ω t) where L voC
A right
and ω is forced by an input voltage
are non-negative constants = A tsin(ω
of vi and t) where
is time. C
A and ω are non-negative constants and t is time. C

a) Find the ODE relating

(a)(a)Find
vo (t)relating
(the voltage across the inductor and and
capacitor) with v (t). Write the
vii(t).theWrite the
Findthe
theODE o (t)(the
ODE relating vvo (t) (the voltage
voltage across
across the inductor
the inductor capacitor)
and capacitor) withWrite
with vi (t).
ODE in standardODE form,
ODE with all
ininstandard
standard terms
form,
form, withall
with involving
allterms
terms vo on
involving
involving vo ontheonleft-hand-side
vothe the left-hand-side
left-hand-side and terms
andinvolving
and terms vinvolving
terms involving
i vi vi
on the right-hand-side.
ononthe
theright-hand-side.
right-hand-side.
Result:
Result:
Result:
=
=
=
(b) For certain values of R, L, and C, a Bode plot relating the magnitude and phase of the steady-
(b) For certain
state values
output of vR,
voltage L, and C, a Bode plot relatingrad the magnituderad
and phase of the steady-
o (t)ss to the input voltage vi for 0.1 sec ≤ ω ≤ 1000 sec was created as
state
shownoutput
below.voltage vo (t)ss to the input voltage vi for 0.1 sec ≤ ω ≤ 1000 sec was created as
rad rad
b) For certain values of R, L, and C, a Bode plot relating the magnitude and phase of the steady-
shown below.
state output voltage vo (t)ss to the input voltage vi for 0.1 rad
sec ≤ ω ≤ 1000 rad
sec was created as
shown below.

Classify the filter by selecting a name in the first column. Based on the classification in the
first column, complete the associated second column using the number 0.707 for deciding cutoff
frequency, bandwidth, or gap width.
Name of filter Specification and approximate value
Classify the filter by selecting a name in the first column. Based on the classification in the
Low pass Cutoff frequency rad/sec
first column, complete the associated second column using the number 0.707 for deciding cutoff
High pass Cutoff frequency rad/sec
frequency, bandwidth, or gap width.
Notch (band-stop) Gap width 80 rad/sec
Namepass
Band of filter Specification
Cutoff frequency andrad/sec
approximate value
Low pass Cutoff frequency rad/sec
(c) Estimate the steady-state output voltage vo (t)ss when the input voltage is vi = 3 sin(3 t).
High pass Cutoff frequency rad/sec
Result:
Notch (band-stop)
vo (t)ss = Gap width 80 rad/sec
Classify the filter by selecting Band
a namepass in the first column.
Cutoff frequency Based on the classification in the
rad/sec
first column, complete the associated second column 3 using the number 0.707 for deciding cutoff
(c) Estimate the steady-state output voltage vo (t)ss when the input voltage is vi = 3 sin(3 t).
frequency, bandwidth,
Result: or gap width.
Name of filter vSpecification
o (t)ss = and approximate value
Low pass Cutoff frequency rad/sec
3
High pass Cutoff frequency rad/sec
Notch (band-stop) Gap width 80 rad/sec
Band pass Cutoff frequency rad/sec
c) Estimate the steady-state output voltage vo (t)ss when the input voltage is vi = 3 sin(3 t).
(a) Find the ODE relating vo (t) (the voltage across the inductor and capacitor) with vi (t). Write the
ODE in standard form, with all terms involving vo on the left-hand-side and terms involving vi
on the right-hand-side.
Result:
=

(b) For certain values of R, L, and C, a Bode plot relating the magnitude and phase of the steady-
state output voltage vo (t)ss to the input voltage vi for 0.1 rad
sec ≤ ω ≤ 1000 sec was created as
rad

shown below.

Classify the filter by selecting a name in the first column. Based on the classification in the
first column, complete the associated second column using the number 0.707 for deciding cutoff
frequency, bandwidth, or gap width.
Name of filter Specification and approximate value
Low pass Cutoff frequency rad/sec
High pass Cutoff frequency rad/sec
Notch (band-stop) Gap width 80 rad/sec
Band pass Cutoff frequency rad/sec
(c) Estimate the steady-state output voltage vo (t)ss when the input voltage is vi = 3 sin(3 t).
Result:
vo (t)ss =

3
 Final.3 (7 pts.)
F.9 (7 pts.) Concepts: Eigenvalues and eigenvectors
Consider the following set of linear algebraic equations governing the unknowns u1 , u2 , and λ.

λ u1 − u2 = 0
4 u1 + λ u2 = 0

Find the special values of λ that allow u1 to be non-zero.

Result:
λ1 = λ2 =
For each special value of λ there is a corresponding special ratio of u2 to u1 .
Determine these special ratios by completing the following eigenvector.
The symbols c1 and c2 denote arbitrary constants.
Result:
! " ! " ! " ! "
∆ u1 1 ∆ u1 1
For λ1 : U1 = = c1 For λ2 : U2 = = c2
u2 u2

F.10 (7 pts.) Concepts: Eigenvalues and eigenvectors

Consider the following set of linear algebraic equations governing the unknowns u1 , u2 , and λ.

λ u1 − u2 = 0
25 u1 + (λ − 6) u2 = 0

Find the special values of λ that allow u1 to be non-zero.

Result:
λ1 = λ2 =
For each special value of λ there is a corresponding special ratio of u2 to u1 .
Determine these special ratios by completing the following eigenvector.
Result:
! " ! " ! " ! "
∆ u1 1 ∆ u1 1
For λ1 : U1 = = c1 For λ2 : U2 = = c2
u2 u2

8
Final.4 (12 pts.)
Given the following equations where A and B are constants and the dependent variables xA and xB and their
derivities are small values:

2[A sin2 (xA ) − A sin(xA )cos(xB )]

ẍA =
B cos(xB ) + ẋA ẋB sin(xB )

ẍB = −sin(xA )cos(xA )ẋA2 + Bsin(xB )

(a) (2 pts.) Classify these equations:

Uncoupled linear Homogeneous Algebraic Constant Coef.

Coupled Nonlinear Inhomogeneous Differential Variable Coef.

(b) (4 pts.) Linearize these equations:

(c) (2 pts.) Classify these new equations:

Uncoupled linear Homogeneous Algebraic Constant Coef.

Coupled Nonlinear Inhomogeneous Differential Variable Coef.

(d) (6 pts.) Utilize the Taylor’s series approach to linearize the following equation about x = ẋ = ẍ = 0.

4ẍ + 3 sin(x) + ẋ cos(x) = 0

Final.5 (10 pts.)

'"# '%#
)*+,#
&"# &(# &%#
!"# !%#

$"# $%#

The system shown above is governed by the equations of motions below:

m1 ẍ1 + b1 ẋ1 + k1 x1 + k3 (x1 − x2 ) = f (t)

m2 ẍ2 + b2 ẋ2 + k2 x2 + k3 (x2 − x1 ) = 0

(a) (2 pts.) Write the equations of motion in matrix form M Ẍ + BẊ + KX = GF.

       
% & % & % &
  ẍ1 ẋ1 x1
+  +  =  f (t)
ẍ2 ẋ2 x2

% the&forcing function f (t) = 0, convert these equations into state-space form:

(b) (8 pts.) Assuming that
X
Ẏ = AY , where Y = . Express A in terms of mi , bi , ki .
Ẋ

A=
 Final.6 (8 pts.)
...
(a) (8 pts.) Given the following equation: x + 4ẋ + 4x = f (t) where f (t) = 2sin(t). Plot the steady-state
time behavior of the system. Make sure to label the axes and tick marks, but don’t worry about the phase of
the system.

d system response
is
1
8s + 7

lution for 0 ≤ t ≤ 5 when

.
sponsible for y(t)’s behavior.)
Final.7 (12 pts.)
Given the double pendulum shown below with Frame b attached to link 1 (connecting points N0 and P) and
with Frame c attached to the springy link 2 (connecting points P and Q).

(a) (2 pts.) Find the rotation table that relates the orientation of frame b to frame c, b Rc .

(b) (3 pts.) Find the position of point Q relative to point N0 ,!rQ/N0

(c) (7 pts.) If N ω
! B = θ̇!bz , B ω
! C = φ̇!bz = φ̇!cz , and N ω
! C = (θ̇ + φ̇ )!cz , Find the velocity of Q in frame n.

N!
VQ =
 Final.8 (12 pts.)
Given mechanical system (a mass-spring-damper) system that can be modeled as a second order ODE of
the form mẍ + bẋ + kx = f (t), with m = 1, b = 4, k = 16
(a) (2 pts.) If f (t) = 0, what will be the settling time of the system? (using a settling ratio of 0.01)

(b) (3 pts.) If f (t) = −kd ẋ, (note: this is not x̃˙) what value of kd would be necessary to cut the settling time
in half?

ion, multiplication, division,

(c) (4 pts.) Plot the root locus and
of this system (with f (t) =exponents
−kd ẋ) as a function of kd as kd goes from 0 to 5.

Imaginary
Axis
n the complex plane, and
Then, make the calcu-
n Cartesian and magni-
ted in radians).
Real
Axis

(d) (3 pts.) Draw the block diagram of this system with the control system from part (b). Make sure to label
+ j each line and each box in the diagram.

+ j = ej