2nd Lecture Automatic Control I Dr.

Qasim Abbas

Example (1): Find the transfer function (X1/F) for the system shown in the figure
below.
F
X1 X2
K1 K2
K3
C1 M1 M2 C2

Solution:
Method (1): Using the normal series and parallel connections.
𝑍1 = 𝑚1 𝐷2 + 𝐶1 𝐷 + 𝑘1 F
𝑍2 = 𝑚2 𝐷2 + 𝐶2 𝐷 + 𝑘2 X1 X2
Z1 Z3 Z2
𝑍3 = 𝑘3
1 1 1 𝑍2 + 𝑍3
= + =
𝑍4 𝑍2 𝑍3 𝑍2 ∗ 𝑍3
𝑍2 ∗ 𝑍3
𝑍4 =
𝑍2 + 𝑍3
F
𝑍𝑇 = 𝑍1 + 𝑍4
X1
𝑍2 ∗ 𝑍3 Z1 Z4
𝑍𝑇 = 𝑍1 +
𝑍2 + 𝑍3
𝑍1 𝑍2 + 𝑍1 𝑍3+ 𝑍2 𝑍3
𝑍𝑇 =
𝑍2 + 𝑍3
𝑋1 1
=
𝐹 𝑍𝑇
1
Where: Z= Impedance =
𝑇𝐹

Notice: location of the force is very important in the question. For example, if the force is in
location 2 instead of 1, the connection between Z1 and Z2 will be parallel and the resultant Z4 will be
in series with Z3.

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2nd Lecture Automatic Control I Dr. Qasim Abbas

Method (2): Using Grounded-Chair representation.

Steps of solution:
1- Draw the ground coordinates at the bottom of the drawing.
2- Draw the coordinate at which the force acts at the top of the drawing.
3- Put all the other coordinates between the ground and force coordinates.
4- Insert each element in its correct orientation with respect to these
coordinates, as follow.
X1 F

𝑍1 = 𝑚1 𝐷2 + 𝐶1 𝐷 + 𝑘1
𝑍2 = 𝑀2 𝐷2 + 𝐶2 𝐷 + 𝑘2 X2
𝑍3 = 𝑘3
1 1 1 𝑍3 + 𝑍2
= + =
𝑍4 𝑍2 𝑍3 𝑍2 ∗ 𝑍3
X1 F
𝑍2 ∗ 𝑍3 K3
𝑍4 =
𝑍3 + 𝑍2 K1 C1
M1
𝑍𝑇 = 𝑍1 + 𝑍4 X2
K2 C2 M2
𝑍2 ∗ 𝑍3
𝑍𝑇 = 𝑍1 +
𝑍3 + 𝑍2
𝑍1 𝑍3 + 𝑍1 𝑍2+ 𝑍2 𝑍3
𝑍𝑇 =
𝑍3 + 𝑍2
𝑋1 1 X1 F X1 F
= Z3
𝐹 𝑍𝑇
Z1 Z1 Z4
X2
Z2

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2nd Lecture Automatic Control I Dr. Qasim Abbas

Method (3): Using force equilibrium based on Newton’s second law of motion.
X1 X2
𝐾1 𝑋1
𝐾2 𝑋2
F 𝐾3 (𝑋1 − 𝑋2 ) 𝐾3 (𝑋1 − 𝑋2 )
M1 M2
𝐶1 𝑋̇1 𝐶2 𝑋̇2

Solution:
From Free body diagram of M1 and M2
∑ 𝐹 = 𝑀1 𝑋̈1
𝐹 − 𝐶1 𝑋̇1 − 𝐾1 𝑋1 − 𝐾3 (𝑋1 − 𝑋2 ) = 𝑀1 𝑋̈1
𝐹 = 𝑀1 𝑋̈1 + 𝐶1 𝑋̇1 + 𝐾1 𝑋1 + 𝐾3 𝑋1 − 𝐾3 𝑋2
𝐹 = (𝑀1 𝐷2 + 𝐶1 𝐷 + 𝐾1 + 𝐾3 )𝑋1 − 𝐾3 𝑋2 … . . . . . (1)
For M2 from the free body diagram:
∑ 𝐹 = 𝑀2 𝑋̈2
𝐾3 (𝑋1 − 𝑋2 ) − 𝐶2 𝑋̇2 − 𝐾2 𝑋2 = 𝑀2 𝑋̈2
𝐾3 𝑋1 = 𝑀2 𝑋̈2 + 𝐶2 𝑋̇2 + 𝐾2 𝑋2 + 𝐾3 𝑋2
𝐾3 𝑋1 = (𝑀2 𝐷2 + 𝐶2 𝐷 + 𝐾2 + 𝐾3 )𝑋2 … . . . . . (2)
Solving Equation (2) for X2:
𝐾3
𝑋2 = [𝑀 2
𝑋1 … … … . . (3)
2 𝐷 +𝐶2 𝐷+𝐾2 +𝐾3 ]

Substituting Equation (3) in Equation (1) we get:

𝐾3
𝐹 = (𝑀1 𝐷2 + 𝐶1 𝐷 + 𝐾1 + 𝐾3 )𝑋1 − 𝐾3 ∙ [𝑀 2
𝑋1 … . . (4)
2 𝐷 +𝐶2 𝐷+𝐾2 +𝐾3 ]

Simplifying Equation (6) we get:

𝐾3
𝐹 = [(𝑀1 𝐷2 + 𝐶1 𝐷 + 𝐾1 + 𝐾3 ) − 𝐾3 ∙ [𝑀 2
] 𝑋1 … . . (5)
2 𝐷 +𝐶2 𝐷+𝐾2 +𝐾3 ]

(𝑀2 𝐷2 +𝐶2 𝐷+𝐾2 +𝐾3 )(𝑀1 𝐷2 +𝐶1 𝐷+𝐾1 +𝐾3 )−𝐾32

∴𝐹=[ [𝑀2 𝐷2 +𝐶2 𝐷+𝐾2 +𝐾3 ]
] 𝑋1

𝑿𝟏 [𝑴𝟐 𝑫𝟐 +𝑪𝟐 𝑫+𝑲𝟐 +𝑲𝟑 ]

∴ 𝑻. 𝑭 = = [(𝑴 𝟐 𝟐 𝟐 ]
𝑭 𝟐 𝑫 +𝑪𝟐 𝑫+𝑲𝟐 +𝑲𝟑 )(𝑴𝟏 𝑫 +𝑪𝟏 𝑫+𝑲𝟏 +𝑲𝟑 )−𝑲𝟑

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2nd Lecture Automatic Control I Dr. Qasim Abbas

Example (2): Find the transfer function (X/F) for the mechanical system shown
below.
F

X X1 X2
5K 4C K
2K
4M 2M M

Solution:
𝐹 − 5𝐾𝑥 − 4𝐶𝐷(𝑥 − 𝑥1 ) = 4𝑀𝑥̈
𝐹 4𝐶𝐷(𝑥 − 𝑥1 )
𝐹= (4𝑀𝐷2 + 4𝐶𝐷 + 𝐾)𝑥 − 4𝐶𝐷𝑥1 … . . (1) 5𝐾𝑥 4M

4𝐶𝐷(𝑥 − 𝑥1 ) − 2𝐾(𝑥1 − 𝑥2 ) = 2𝑀𝑥1̈

4𝐶𝐷𝑥 = (2𝑀𝐷2 + 4𝐶𝐷 + 2𝐾)𝑥1 − 2𝐾𝑥2 2𝐾(𝑥1 − 𝑥2 )
4𝐶𝐷(𝑥 − 𝑥1 )
2𝑀𝐷2 +4𝐶𝐷+2𝐾 2𝐾 2M
𝑥= 𝑥1 − 𝑥2 … … . (2)
4𝐶𝐷 4𝐶𝐷

2𝐾(𝑥1 − 𝑥2 ) − 𝐾𝑥2 = 𝑀𝑥2̈

2𝑘(𝑥1 − 𝑥2 ) 𝐾𝑥2
∴ 2𝐾𝑥1 = (𝑀𝐷2 + 3𝐾)𝑥2 M
2𝐾
𝑥2 = 𝑥 ……(3)
𝑀𝐷2 +3𝐾 1

Substituting equation (3) in equation (2), we get:

4𝐶𝐷(𝑀𝐷2 +3𝐾)(2𝑀𝐷2 +4𝐶𝐷+2𝐾)−16𝐶𝐷∙𝐾 2
𝑥=[ ] 𝑥1
16𝐶 2 𝐷2 (𝑀𝐷2 +3𝐾)

16𝐶 2 𝐷2 (𝑀𝐷2 +3𝐾)

𝑥1 = [ ]𝑥 … . . (4)
4𝐶𝐷(𝑀𝐷2 +3𝐾)(2𝑀𝐷2 +4𝐶𝐷+2𝐾)−16𝐶𝐷∙𝐾 2

Substituting equation (4) in equation (1), we get:

16𝐶 2 𝐷2 (𝑀𝐷2 +3𝐾)
𝐹 = [(4𝑀𝐷2 + 4𝐶𝐷 + 𝐾) − 4𝐶𝐷 ( )] 𝑥
4𝐶𝐷(𝑀𝐷2 +3𝐾)(2𝑀𝐷2 +4𝐶𝐷+2𝐾)−16𝐶𝐷∙𝐾 2
𝑥 1
∴ = 16𝐶2 𝐷2 (𝑀𝐷2 +3𝐾)
𝐹 [(4𝑀𝐷2 +4𝐶𝐷+𝐾)−4𝐶𝐷( )]
4𝐶𝐷(𝑀𝐷2 +3𝐾)(2𝑀𝐷2 +4𝐶𝐷+2𝐾)−16𝐶𝐷∙𝐾2

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2nd Lecture Automatic Control I Dr. Qasim Abbas

Home Work:
Q1): Find the transfer function (X1/F) for figure shown below?

Q2): Find the transfer function (X1/F) for figure shown below

F
X1
3K 3K

M1
K C C K
M2 M3

Q3): Find the transfer function (X1/F) for figure shown below

F
4K X1
K

M1
K C C K
M3 M2

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