BG

3102 Solutions to Most Frequently Asked Tutorial Questions

and Quiz Questions


Tutorial 2

Tutorial 3

Question 3.

Tutorial 5

3. Solution:
ref

1
s

G
Js + B + kvG

Thus, the closed-loop TF is

G( s )
=
ref 1 + G( s )
where

G( s ) =

G
s( Js + B + kvG )

With

G / J = 14400 rad 2 s 2

B / J = 24 rad s 1

we obtain

G( s ) =

14400
s( s + 24 + 14400kv )

The characteristic equation is

1 + G( s ) = 0
and

s 2 + ( 24 + 14400kv )s + 14400 = 0

To have sustained oscillation, the real part of two roots, # , need to be zero.
Since we know that 2# =24+14400kv, 24+14400kv=0, so kv=1/600.


Tutorial 6

Question 5.

#
&
2et e2t
et e2t (
(t) = e At = L1[(sI A)1 ] = %

%$ 2et + 2e2t et + 2e2t ('

'
Since &' should satisfy &' = , <= &<= = + + @ @ +

'
@!

@!

@ @

+ = ,

#
2et e 2t
1 (t) = e At = %
%$ 2et + 2e 2t

&'

&
et e 2t (

et + 2e 2t ('

&<=

, i.e.

Question 3.

Tutorial 7







BG 3102 Quiz



1. Express the following function f(t) in terms of the unit-step function u(t) and
find its Laplace transform F(s);



2.5

f(t)
1.5

0.5

-0.5

0.5

1.5

2.5

t
-0.5

-1

2. Find the inverse Laplace transform of G(s)

&F
= @

+ 2 + 3