1

ME 3050 SP/10 Midterm #2 Name: _______________________

Box all your answers. Only boxed answers will be graded!

1) Peak time, t
p
:
2) Overshoot, M
p
(%) :
3) Settling time (2%), t
s
:
4) Rise time (10% - 90%), t
r
:
1. Indicate True or False.
a. Eigenvalues for a multi DOF system are related to the mode shape of the system.
( F )
b. The farther to the left the system pole lies in the S-plane, the faster the response
decays. ( T )
c. Rise time is the time required for the oscillations to stay within some specified
small percentage of the final value. ( F )
d. When a sinusoidal input with a frequency is applied to a linear system, the
system vibrates at the same frequency. ( T )
2. Find the natural frequencies for the following two DOF system. Use m
1
= m
2
=1 kg, k
1

=k
3
=1 N/m, and k
2
=2 N/m.

(

=
(

+
+
+
(

0
0
) (
) (
0
0
2
1
3 2 2
2 2 1
2
1
2
1
x
x
k k k
k k k
x
x
m
m
& &
& &

(

=
1 0
0 1
M
(

=
3 2
2 3
K 0 ] [
2
= + u K M 0
3 2
2 3
2
1
2
2
=
(

(
(

+
+
u
u

0
3 2
2 3
det
2
2
=
(
(

0 4 ) 3 (
2 2
= 0 5 6
2 4
= +
0 ) 5 ( ) 1 (
2 2
= 5 , 1
2
= 5 , 1 =
Natural frequencies:1 and 5 rad/s
2
1
100

= e M
p
n
r
t

8 . 1

2
1

= =
n
d
p
t
n
s
t

4 4
= =
2
3. (a) Draw a Simulink block diagram to simulate the frequency response of the
following system. Clearly show your choices for the source and the sink. (b) How
will the initial conditions affect the frequency response of the system? Explain.

f x x k x m
x x k x c x m
+ =
=
) (
) (
2 1 2 2
2 1 1 1 1
& &
& & &

(b) For frequency response, the initial conditions do not matter as the initial
conditions affect only the transient response.




4. (a) Find the unit step response, x(t) of the following system. (b) What is the time
constant, ? (c) Plot the system pole in the S-plane.


1
1
3
2
1
3
1
+
=
+

+
=
s
s
s
T
CL

) 1 (
1 1
1
1
) ( ) ( ) (
+
=
+
= =
s s s s
s F s T s X
Partial fraction expansion:
1
1 1
) 1 (
1
+
=
+
=
s s s s
X
Taking the Inverse Laplace Transform:
t
e
s s
L

=
|
|

\
|
+
1
) 1 (
1 1
1

t
e t x

=1 ) (
(b) Time constant: 1 sec.



3
5. (a) Derive the system transfer function for the electric circuit in terms of R, L, and
C, if the input is v
s
and the output is the voltage across the resistor, v. (b) What is the
range of values for L if R = 1k and C = 1F and the circuit shows no overshoot for a
step input?


From KVL:
s C L R
v v v v = + +
The constitutive equations are:
C
idt
v
dt
di
L v iR v
C L R

= = = , , :
s
v v
C
idt
dt
di
L v = +

+ +
s
v v
dt
dv
R
L
RC
vdt
= + +

s
v RC v RC
dt
dv
LC vdt = + +

dt
dv
RC v
dt
dv
RC
dt
v d
LC
s
= + +
2
2
) ( ) ( ) 1 (
2
s sV RC s V RCs LCs
s
= + +
1
) (
) (
) (
2
+ +
= =
RCs LCs
s RC
s V
s V
s T
s

The desired damping condition is overdamped or critically damped.
0 4
2 2
LC C R L C R 4
2
25 . 0 ) 10 10 (
4
1
4
1
6 6 2
= =

C R L
H L 25 . 0

6. Fill in the blank next to each step response on the next page with the corresponding
pole location (A,B,C, or D) in the following S-plane.

4

7. An unbalanced motor applies a vertical force of f(t) = 2sin(2t) to the supporting
system. When a sinusoidal force is applied, motion of this type of system approaches
a sinusoidal function after a short period of time. If the total mass is 1kg, c=2Ns/m,
and k=4N/m, calculate the motion, x of the mass in the steady state and sketch it in
the graph with the input function.

0 1 2 3 4 5 6
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Time (s)
M
a
g
n
i
t
u
d
e


Force
Displacement

f kx x c x m = + + & & &
4 2
1 1
2 2
+ +
=
+ +
= =
s s k cs ms
F
X
T
FRF =
4
1
2 4
1
2
j
j
=
+

4
1
= M , = 90 : ) 90 2 sin( 5 . 0 ) 90 2 sin( ) 4 / 1 ( 2 ) ( = = t t t x
5
8. The following Bode plots are obtained from a transfer function,
100 4
100
2
+ +
=
s s
T .
Fill in the blanks with appropriate numbers. Show all your calculations.