ELECENG

4CL4: Control Systems Design-Fall 2012

Problem Set 1

P1) Where possible, find a state-space representation for each of the dynamical
systems in Fig. 1:








(a)

+




(c)

(b)
Fig. 1: Circuit diagrams for P1.

+
-

P2) Fig. 2 shows a schematic of a brushed DC motor with armature and field
excitation. In this figure:

La , Ra : are armature inductance and resistance
L f , R f : are field inductance and resistance

ia ,i f : are armature and field currents

a , f : are armature and field terminal voltages

eb : is armature back emf voltage
m , m : are motor torque and angular velocity
l , l : are load torque and angular velocity
J m , Bm : are motor inertia and viscous friction
J l , Bl : are load inertia and viscous friction
r : is gear ratio of the gearbox

Also note that that following relations hold:

eb = kt m , m = r l , m = kmi f ia

a) Derive a state-space representation for the dynamical system, i.e. define a set
of state variables and write the differential equations governing their
evolution.
b) Linearize the dynamics of the system around an equilibrium state
corresponding to constant armature and field terminal voltages.

gearbox






Armature





Field


Fig. 2: Schematic of a DC motor with armature and field excitation in P2.



P3) A dynamic model of an Set-Reset (SR) latch is shown in Fig. 3a . As you may
recall from your digital systems course, the latch is said to be in an indeterminate
state if both S and R inputs are set to the logic high, as is the case in the figure. Note
that the NAND gates are effectively acting as inverter gates in this case. Fig. 3b gives
a simplified input/output model for the inverter gates.

1) For the dynamic system in Fig. 3, define a set of state variables and obtain the
corresponding state-space representation.
2) Find all possible equilibrium states for this system.
(Note: this problem is adopted from the book Nonlinear Systems, Analysis, Stability
and Control, by S. Sastry, Springer-Verlag New York, Inc., 1999)

(a)

(b)

Fig. 3: Dynamic model of an SR latch.