Federal TVET Institute, Addis

Ababa, Ethiopia.
Department of Electrical Automation and
Control Technology

Worksheet – Chapter 1

Mathematical modelling of Mechanical and Electrical system

1. Determine the transfer function of the following
Electrical system

�� (��) �� (��)
2. Determine the transfer function 1
and 2 of the following mechanical

��(��) ��(��)
translational system.

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

3. Determine the transfer function of the following mechanical

rotational
system.

Block diagram reduction

4. The block diagram of a feedback control system is shown in
Fig. Find the following
transfer functions:
Ys()
()a
Rs()
N=0
Ys()
()b
Es()
N=0
Ys()
()c
Ns( ) R=0
(d) Find the output Y s when R s and N s are applied
simultaneously.
( ) ( ) ( )

5. The block diagram of a feedback control system is shown in

Fig. Apply the SFG gain
formula directly to the block diagram to find the transfer
functions
Y(s) Y(s)
R(s) N=0 N(s) R=0
Express Y(s) in terms of R(s) and N(s) when both inputs are
applied simultaneously.
 Federal TVET Institute, Addis Ababa,
Ethiopia.
Department of Electrical Automation and Control
Technology
Worksheet – Chapter 1

(b) Find the desired relation among the transfer

functions
G(s),G (s),G (s),G (s),H (s), Hs()
1 2 3 4 1 and 2
so that the output Y(s) is not affected by the
disturbance signal N(s) at all.

6. A linear time-invariant multivariable system with

inputs �� (��) and �� (��) and

1 2
outputs �� (��) and �� (��) is described by the
following set of differential
1 2
equations.
d2y (t) dy (t)
11
+2 +3y (t) = r(t)+r (t)
dt2 dt 2 1 2
d2y (t) dy (t)
dr(t)
2 +3 1 + y (t)− y (t) = r (t)+
1
dt2 dt 1 2 2
dt
Find the following transfer functions:
Y(s) Y (s) Y(s) Y (s)
1 2 1 2
R(s) R(s) R (s) R (s)
1 R =0 1 2 2
2 R =0
2 R =0
1 R =0
Signal Flow Graph 1
7. Find the transfer function of the following signal flow
graphs

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

8. Convert the block diagram into signal flow graph and find the transfer
function

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
 Worksheet – Chapter 1

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

Example 2:

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology
Worksheet – Chapter 1