Homework Assignment 2, Spring 2016

24-352 Dynamic Systems and Controls

Due February 3, 2016

Question 3. EOM for a System with Damping

Shown in the figure is an inverted pendulum consisting of a sphere of radius R and mass M attached to a rod of length L and mass m hinged at the point P. The inverted pendulum is supported
by two springs as shown in the figure. Using Newtons laws of motion for rotational motion, find
the EOM of this system for small angular motions (t) about the equilibrium (vertically upright)
position. Your answer should be in terms of M, R, m, L, k, c and g.
Hint: You will need the moment of inertia of the sphere and the rod about P.

Question 4. Block Diagram Computation/Reduction

For the system given above, find the overall transfer function of the system Y (s)/R(s).

Question 5.
For the system Fig. 4-54 in page 164 of the text,
a) Find the transfer function X(s)/U(s) (see Example 4-4 in page 117 and Problem A-4-4 in page
138)
b) Find the analytical solution x(t) for a unit impulse input u = (t). (Unfortunately, the text
uses u as the input, do not mix that up with the unit step function).
c) For k1 = 100 N/m, k2 = 200 N/m, k3 = 150 N/m, m = 5 kg, and b = 5 N s/m, solve (separately) the response x(t) for the inputs of u1 (t) = 1(t) (unit step function), u2 (t) = t, and
u3 (t) = 2 sin (5t) using Matlabs step, lsim, and lsim functions, respectively. Plot the responses for 5 complete periods of vibrations. Turn in your plots and Matlab codes.