FALL 2007 PROBLEMS EXAM I – PROBLEMS (Open-Book, Open-Notes) Page 1/4

1. (15 pts) The figure below shows a linkage, which is made of a bar whose upper and lower ends are
connected to a spring k1 and a parallel spring-damper, k2 and b, respectively. As shown in the figure, the
second end of the spring k1 is fixed, whereas the second end of the parallel spring-damper is connected to a
prescribed motion xi(t). The total length and the mass moment of inertia about its pivot O of the bar are
L1 + L2 and Jo, respectively. The angular position of the bar from the vertical line is called θo(t). Assume
small θo, i.e., θ o ( t ) 1 . Derive the governing equation of the mechanism with xi(t) and θo(t) as the input
and output, respectively, in the form:
J eqθ o ( t ) + br ,eqθ o ( t ) + kr ,eqθ o ( t ) = f  xi ( t ) , xi ( t ) , 
where Jeq, br,eq and kr,eq are the equivalent mass moment of inertia, equivalent rotational damping constant,
and equivalent rotational spring constant, respectively, and the term f  xi ( t ) , xi ( t ) ,  is the
corresponding input forcing function. Determine also the undamped natural frequency ωn and damping ratio
ζ of the system?
k1

θo(t)
L1 Jo

L2
k2 O

xi(t)

b
2. The figure on next page shows the block diagram of speed control of a servo motor with minor loop
feedback. The system is subject to a disturbance torque Td(s). In the block diagram, Ω(s) is the controlled
speed output whereas KT, Kb, Kf, La, Ra, J and br are positive constants. Here, KT, Kb and Kf are the motor
torque, back-emf and minor-loop feedback constants, respectively; La and Ra are the armature inductance
and resistance, respectively; whereas J and br are the moment of inertia and viscous-friction coefficient of
the motor and load referred to the motor shaft, respectively.
Ω(s)
(a) (10 pts) Obtain the transfer function: .
Td ( s )
(b) (3 pts) Determine the steady-state error ωs.s. = lim ω ( t ) when the disturbance torque is a step function:
t →∞

T for t > 0
Td ( t ) = Td i1( t ) =  d .
0 for t < 0
(c) (2 pts) Is this a good control strategy for disturbance rejection? Justify your reason.
ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
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Td(s)

E(s) KT M(s) + +U(s) 1 Ω(s)

− La s + Ra − Js + br
B(s) V(s)

Kf

Kb

Eo ( s )
3. (a) (10 pts) Obtain the transfer function: of the RLC operational amplifier circuit shown below.
Ei ( s )
Here Ei(s) and Eo(s) are the Laplace transforms of the input and output voltages, ei(t) and eo(t),
respectively. Assume the operational amplifier is an ideal one.
(b) (3 pts). Determine the system order. If it is a 1st-order system, Find the time constant τ and the static
sensitivities K j ( j = 0,1, , m ) . On the other hand, if it is a 2nd-order system, find the corresponding
undamped natural frequency ωn, damping ratio ζ and the static sensitivities K j ( j = 0,1, , m ) . Finally,
if the system is of higher-order (i.e., the system order is ≥ 3), just state it and do nothing.
e for t > 0
(b) (2 pts) If the input voltage ei(t) is a step function, i.e., ei ( t ) = ei i1( t ) =  i , where the constant
0 for t < 0
ei is the step input voltage, determine the steady-state output voltage eos.s. = lim eo ( t ) . If possible,
t →∞

estimate the time required to reach within ±1% of this steady state. If not, justify your reason why not?
Cf

Li
−
+ +
+
Ri
ei(t) Rg eo(t)

− −

ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
FALL 2007 PROBLEMS EXAM I – PROBLEMS (Open-Book, Open-Notes) Page 3/4

4. Consider the mechanical system shown on the right. The system is

m
initially at rest. At t = 0, a prescribed motion x1(t) is applied at the
mass m, causing the massless node to move with a displacement
x1(t)
x2(t).
X2 (s)
(a) (10 pts) Find the transfer function: , where X1(s) and
X1 ( s )
b k2
X2(s) are the Laplace transforms of x1(t) and x2(t), respectively.
massless
Ft ( s ) k node
(b) (5 pts) Obtain the transfer function: , where Ft(s) is the 1
X1 ( s )
Laplace transform of ft(t), which is the force transmitted to the x2(t)
massless node through the parallel spring-damper (i.e., b and k2) k3
mechanism.
(c) (3 pts) Determine the applied force f(t) needed at the mass m to
generate the prescribed motion x1(t).
(d) (2 pts) The figure below shows the time history of the input motion x1(t), which can be defined
mathematically as:
 ?? 0 ≤ t ≤ t1

 ?? t1 ≤ t ≤ t2

x1 ( t ) =  ?? when t2 < t < t3

 ?? t3 < t < t 4

0 t > t4
Fill in the blanks in the above equation of x1(t).

x1(t)

A
B

0 t1 t2 t3 t4 t
(e) (15 pts) Use MATAB and the data tabulated below to plot the input and response curves x1(t) and x2(t)
within the time range of 0 to 10.
Note: You should either copy all your MATLAB statements and results (including figures) onto the
exam book or print out the MATLAB statements and results.
Parameter m b k1 k2 k3 A B t1 t2 t3 t4
Data 3 8 2 6 4 5 3 2 4 5 7

ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
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5. The figure on the right shows a series R-L-C

circuit with ei(t) and eo(t) as the input and out
R L
signals, respectively. Knowing that the output
voltage eo(t) has zero initial conditions:
+ +
eo ( 0 ) = eo ( 0 ) = 0
ei(t) C eo(t)
and the input voltage ei(t) has a step signal:
e
ei ( t ) = ei i1( t ) =  i
for t > 0 − −
0 for t < 0
where ei is the step constant and 1(t) is the unit
step function. The figure below is the recorded time history of the output voltage eo(t) in (V) vs time t in (s).
Assume the inductance L is 16 mH.
(a) (3.5 pts) Derive the governing equation of the circuit with ei(t) and eo(t) as the input and output,
respectively.
(b) (16.5 pts) Estimate the following parameters: the maximum overshoot Mp, the peak time tp, the 0-100%
rise time tr, the ±2% settling time ts(±2%), the steady-state voltage eo,s.s., the step constant ei , the
undamped natural frequency ωn, the damping ratio ζ, the damped natural frequency ωd, the resistance R
and the conductance C. Justify the reasons of your estimates.
Note: You do NOT need to find these parameters in the stated order.

ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007