Automatic Control II

Assignment One
Due 5pm Friday 6
th
September
The following questions must be calculated by hand.

Question 1: The two DOF system below has two moving masses M
1
, M
2
with an input force of f(t)
applied to M
2
. The characteristics of the system are as follows:

1
= 15
N
m


2
= 12
N
m


3
= 4
N
m


1
= 3
N.s
m


1
= 4
N.s
m


2
= 0.5
N.s
m


1
= 4 kg

2
= 2 kg
Note: the friction forces
1
and
2
can be thought of as damping forces.


a) Derive the systems dynamics (the governing differential equations) using the Lagrangian
method
b) For an output of x
1
(t) and a state vector of =

2
, find the A, B, C and D matrices
Question 2: Consider the transfer function:
()
()
=
+2

3
+10
2
+11 +18

a) Find the differential equation describing the system
b) Write the state and output equations in Observer Canonical (Left Companion)
c) Draw the block diagram of the system (using the form from part b above); how many states are
observable?

Question 3: In the case of an inverted pendulum shown below, the equations of motion for control
are a function of the movement in the horizontal direction and the angular motion of the bob. The
angle of the bob is assumed to be sufficiently low to provide a linear model of the system.


The properties of the system are as follows:
Mass of Cart (5 kg)
Mass (the bob) at end of rod (0.1 kg)
angular displacement of rod from vertical
displacement in horizontal direction
length of rod (0.5 m)
acceleration due to gravity, use 10
m
s
2
for simplicity
The sum of the forces in the horizontal direction can be shown to be:
+

() = 0 (1)
By approximating the pendulum as a point mass, the sum of the moments about the pivot point is:
+
2

= 0 (2)
By rearranging equations (1) and (2) and simplifying by assuming M >> m then the state and input
matrices are:
=

0 1 0 0
0 0

0
0 0 0 1
0 0

(3)

=

0
1

0
1

(4)
With a state vector given by:
=

a) What is the rank of the A matrix and what does this tell you about the states used in the state
space model? Relate this to the dynamic equations
b) For an output of the minimal realisation of the system will have a 2x2 A matrix. For this
minimal realisation find the A, B, C, D matrices and the state vector
c) Find the eigenvalues of the system from the state-space model derived in b)
d) Sketch the poles of the system on the complex plane
e) Is the system stable?
f) Using the state space model from b) find the transfer function



Bonus Questions: (Each is worth 10% of total up to maximum of 100%)
1. Derive Question 1 a) using the Newton-Euler method
2. The minimal realisation of the state space model from Question 3 with an output of will have
a 3x3 A matrix. Repeat parts b) through to f) with this minimal realisation.
3. Using the transfer function derived in bonus question 2, determine the zeros from the transfer
function directly and confirm this using the state space model.