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1.

A translational mechanical system is shown below: mass M 1 , mass M 2 , spring with stiffness K and damper with damping constant B. A force f(t) is applied to M1 as shown below. The spring is not deflected when x 1 =0.

x 1 B M 1
x
1
B
M 1
The spring is not deflected when x 1 =0. x 1 B M 1 f(t) x
The spring is not deflected when x 1 =0. x 1 B M 1 f(t) x

f(t)

x 2
x
2

K

is not deflected when x 1 =0. x 1 B M 1 f(t) x 2 K

M

2

not deflected when x 1 =0. x 1 B M 1 f(t) x 2 K M
not deflected when x 1 =0. x 1 B M 1 f(t) x 2 K M
not deflected when x 1 =0. x 1 B M 1 f(t) x 2 K M
not deflected when x 1 =0. x 1 B M 1 f(t) x 2 K M

(1) Draw the free body diagram for M 1 and M 2 . Write the equations of motion for this system. (2) Write the input output form model with f(t) as the input and x 1 as the output.

1

2. A rotational mechanical system is shown below: inertia J 1 and J 2 , a gear set with ratio N (

2

N

), a

damper with damping constant B, the connections between the inertia and gear set are rigid. There is no inertia for the gear itself. A torque T(t) is applied to J 1 as shown below.

 T(t) 1  2 J 1 Gear J 2
T(t)
1
2
J 1
Gear
J 2

B

2

.

(1) Write the state variable form model using variable

(2) Draw the block diagram for the above state variable form model.

3. An electrical circuit is shown below: voltage source E ( t ) , resistor R, inductor L and capacitor C.

I L I c R E ( t ) L V C C (1) Write
I L
I c
R
E
( t )
L
V
C
C
(1) Write the state variable form model using variables I L , V C .
I
(2) Write the input output form model with E ( t ) as the input and
L as the output.

1.

2.

3.

Given a second-order system y6 y8 y u (t ) , where y (0) y(0) 0 and the input u (t ) is a unit step function.

a) Calculate the natural frequency and damping ratio.

b) Solve the output y ( t ) for the above dynamic system.

c) What is the steady state response of the above system?

Given a transfer function

the output.

(

H s

)

(

Y s

)

s 5

X ( s ) s

2

7

s

12

, where X ( s ) is the input and Y ( s ) is

a) Calculate the poles and zeros of the transfer function. Draw the pole zero plot.

b) Calculate the frequency response function

angle

()

input

x (t )

?

H

( y j ) (t ) sin t

, the magnitude

M ()

and the phase

. If the desired steady state output

, what is the appropriate

Given a nonlinear system

2

yy

sin

y

0

, where y (0) 1, y(0) 0 .

a) Let the operating point y 0 . Develop a linear model for the above nonlinear system at the operating point. Also indicate the initial conditions of the linear model.

b) Is the linear system obtained in (a) stable? Justify your answer.