ENS5253 Control Systems

Quiz 2: Questions on modelling in the frequency domain.

Question 1
What mathematical model permits easy interconnection of physical systems?
Question 2
To what classification of systems can the transfer function be best applied?
Question 3
What transformation turns the solution of differential equations into algebraic manipulations?
Question 4
Define the transfer function.
Question 5
What assumption is made concerning initial conditions when dealing with transfer functions?
Question 6
What do we call the mechanical equations written in order to evaluate the transfer function?
Question 7
If we understand the form the mechanical equations take, what step do we avoid in evaluating the
transfer function?
Question 8
Why do transfer functions for mechanical networks look identical to transfer functions for electrical
networks?
Question 9
What function do gears perform?
Question 10
What are the component parts of the mechanical constants of a motor’s transfer function?
Question 11
The motor’s transfer function relates armature displacement to armature voltage. How can the
transfer function that relates load displacement and armature voltage be determined?
Question 12
Summarize the steps taken to linearize a nonlinear system.

pg. 1
Answers to the above questions:

Answer 1
Transfer function.
Answer 2
Linear time-invariant.
Answer 3
Laplace.
Answer 4
G(s) = C(s)/R(s), where c(t) is the output and r(t) is the input.
Answer 5
Initial conditions are zero.
Answer 6
Equations of motion.
Answer 7
Free body diagram.
Answer 8
There are direct analogies between the electrical variables and components and the mechanical
variables and components.
Answer 9
Mechanical advantage for rotating systems.
Answer 10
Armature inertia, armature damping, load inertia, load damping.
Answer 11
Multiply the transfer function by the gear ratio relating armature position to load position.
Answer 12
(1) Recognize the nonlinear component,
(2) Write the nonlinear differential equation,
(3) Select the equilibrium solution,
(4) Linearize the nonlinear differential equation,
(5) Take the Laplace transform of the linearized differential equation,
(6) Find the transfer function.

pg. 2
Q1: For each of the following statements, state whether it is TRUE or FALSE

1. A closed-loop control system is usually more accurate than an open-loop system.

2. Feedback is sometimes used to improve the sensitivity of a control system.

3. If an open-loop system is unstable, then applying feedback will always improve its stability.

4. The purpose of a control system is to _____________.

a) Regulate a system so that a desired objective is obtained.
b) Use feedback to generate an error signal which is then minimized.
c) Minimise the effect of disturbances (or noise) on the system output.
d) All of the above.

5. For the pole-zero plot shown below, the transfer function is ____.

5(𝑠+3−𝑗)(𝑠+3+𝑗)
𝑎. 𝐺(𝑠)=
(𝑠+1)(𝑠+2+𝑗)(𝑠+2−𝑗)

5(𝑠+1)(𝑠+2−𝑗)(𝑠+2+𝑗)
𝑏. 𝐺(𝑠)= (𝑠+3+𝑗)(𝑠+3−𝑗)

5(𝑠+2)
𝑐. 𝐺(𝑠)=
(𝑠+1)(𝑠 2 +4𝑠+5)

5(𝑠+2−𝑗)(𝑠+2+𝑗)
𝑑. 𝐺(𝑠)=
(𝑠+1)(𝑠 2 +4𝑠+5)

Answers to problems (1-5):

1. True
2. True
3. False
4. (d)
5. (a)

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6. Write the transfer function for the following electronic controller.

Sol.:
1 1
RF RF
Z1 = Cs  Cs  RF
1 RF Cs  1 RF Cs  1
RF 
Cs Cs
Vout ( s) Z1 ( s) 1 RF
  This is a transfer function of an electronic integrator.
Vin (s) R R RF Cs  1

7. Consider the mechanical system in the figure shown below. Consider that m = 1 kg, b = 3 N-
sec/m, and k = 2 N/m. Assume that at t = 0 the mass m is pulled downward such that y(0) = 0.1 m
and y (0) = 0.05 m/sec. The displacement y(t) is measured from the equilibrium position before the
mass is pulled down. Obtain the motion of the mass, Y(s), subjected to the initial condition. [Assume
no external forcing function. i.e. u(t)=0].

Sol.:

The system equation is my  by  ky  0

With the initial condition

y(0) = 0.1 m and y (0) = 0.05 m/sec.
(y is measured from the equilibrium position.)

The Laplace transform of the system equation gives

m[s 2Y (s)  sy(0)  y (0)]  b[sY (s)  y(0)]  kY(s)  0

or
(ms 2  bs  k )Y (s)  my (0)s  my (0)  by(0)
Solving this last equation for Y(s) and substituting the given numerical values,
my (0) s  my (0)  by(0) 0.1s  0.35
We obtain: Y ( s)  = 2
ms 2  bs  k s  3s  2

pg. 4
Book Problems

Prob. 2: Using the Laplace transform pairs of Table 2.1 and the Laplace transform theorems of
Table 2.2, derive the Laplace transforms for the following time functions.

a. 𝑒 −𝑎𝑡 sin 𝜔𝑡 𝑢(𝑡)

b. 𝑒 −𝑎𝑡 cos 𝜔𝑡 𝑢(𝑡)

c. 𝑡 3 𝑢(𝑡)

Sol.

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Prob. 8: A system is described by the following differential

equation:

Find the expression for the transfer function of the system, Y(s)/X(s).

Sol.

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Prob. 9: For each of the following transfer functions, write the corresponding differential equation.

pg. 5
 Sol.

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Prob. 12: A system is described by the following differential equation with the initial conditions
𝑥(0) = 1, 𝑥̇ (0) = −1. Show a block diagram of the system, giving its transfer function and all
pertinent inputs and outputs. (The initial conditions will show up as added inputs to an effective
system with zero initial conditions).

Sol.

pg. 6
 Prob. 12: Find the transfer function, G(s) = VL(s)/V(s), for the network shown below?

Sol.

pg. 7