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DEPARTMENT OF MECHANICAL ENGINEERING

ME2142/ME2142E Feedback Control Systems

Tutorial Problems Set 1
August 2013


1. Find the Laplace Transform of the following functions:
a)
t
e t t f
3 2
) (

b)
2 for 0
2 for ) 2 ( 3 sin 2 ) (


t
t t t f

c) d)






2. Find the inverse Laplace transform of the following functions
a)
) 5 2 (
4
) (
2
1

s s s
s F b)
2
2
) 2 )( 1 (
10
) (

s s s
s F
c) For the two functions, ) (
1
t f and ) (
2
t f obtained, determine their values when
time t becomes very large.
d) Solve the following differential equation for the function x(t) using the
method of Laplace Transforms
. 1 ) 0 ( , 1 ) 0 ( , 0 3 7 2 x x x x x

) (t f
t
1
0 1
) (t f
t
1
0 1
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3. a)







For the mechanical system shown above, derive the transfer function X
3
(s)/X
1
(s) and
X
2
(s)/X
1
(s).


b)








For the mechanical system shown above, derive the transfer function X
1
(s)/X
2
(s).



c)

For the circuit above, derive the transfer function V
o
(s)/V
i
(s). Hence, determine the
steady-state value of the output ) (t v
o
when the input ) ( ) ( t u t v
i
, ) (t u being a unit
step input.

v
i
-
+
v
o
C
1
C
2
R
1
R
2
m
k
b
1
x 2
x
3
x
m
1
k
2
k
b
1
x
2
x
b
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Answers:

1. a)
2
(s+3)
3
b)
6c
-2s
s
2
+9
c)
1-c
-s
s
d)
1
s
2
-
c
-s
s
2


2. c)

f
1
(t) = u.8 - u.8e
-t
cos(2t) - u.4e
-t
sin(2t) foi t u
f
1
() = u.8
f
2
(t) = 2.S - 1ue
-t
+ 7.Se
-2t
+ Ste
-2t

f
2
() = 2.S

d)
0.5 3
8 3
( )
5 5
t t
x t e e




3. a)
X
2
(s)
X
1
(s)
=
k(b + ms)
bms
2
+ kms + kb

X
3
(s)
X
1
(s)
=
kb
bms
2
+ kms + kb


b)
X
1
(s)
X
2
(s)
=
bs + k
2
ms
2
+ 2bs + k
1
+ k
2


c)


v
o
(s)
v
I
(s)
= -
R
2
(R
1
C
1
s + 1)
R
1
(R
2
C
2
s + 1)


v
u
() = -
R
2
R
1