Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology

Worksheet – Chapter 1

Note:
• The listed problems are sample questions only, don’t expect the same
question in the Mid Exam
• All the examples/Exercise problems in the Presentation also considered as an
worksheet problem

Mathematical modelling of Mechanical and Electrical system

1. Determine the transfer function of the following Electrical system

𝑋1 (𝑠) 𝑋2 (𝑠)
2. Determine the transfer function and of the following mechanical
𝐹(𝑠) 𝐹(𝑠)
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:
Y ( s)
(a)
R( s ) N =0
Y ( s)
(b)
E (s) N =0

Y ( s)
(c )
N ( s ) 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

G1 ( s), G2 ( s), G3 ( s), G4 ( s), H1 ( s), and H 2 ( s) 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 𝑟1 (𝑡) and 𝑟2 (𝑡) and
outputs 𝑦1 (𝑡) and 𝑦2 (𝑡) is described by the following set of differential
equations.
d 2 y1 (t ) dy (t )
2
+ 2 1 + 3 y2 (t ) = r1 (t ) + r2 (t )
dt dt
2
d y2 (t ) dy (t ) dr (t )
2
+ 3 1 + y1 (t ) − y2 (t ) = r2 (t ) + 1
dt dt dt
Find the following transfer functions:

Y1 ( s) Y2 ( s) Y1 ( s) Y2 ( s)
R1 ( s) R =0 R1 ( s) R2 ( s) R2 ( s)
2 R2 = 0 R1 = 0 R1 =0

Signal Flow Graph

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