1.

Step Response:

Variation in Mass of Hook and Load ML:

 ML = 10

X1 and X2 (both slightly oscillatory) and y having an exponentially increasing nature.

X4 and X3 having with sustained oscillatory nature (at steady state).

ML = 10

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 - 0.681 -
x3 - 1.02 x 10-2 0.681 -4.697 x 10-3
x4 2.187 x 10-2 0.681 -3.292 x 10-4
 ML = 100

 Increased frequency of oscillations of x 2, x4 and x2.

 Decreased Rise times of x1, x2 and y.
 Mean values of x3 and x4 are closer to the equilibrium of x3 = 0 and x4 = 0.
 Smaller peak-to-peak oscillations for state response of x 4.

ML = 100

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 - 1.670 -
x3 -1.853 x 10-3 1.670 -9.04 x 10-4
x4 9.612 x 10-3 1.670 -9.815 x 10-5
Variation in Length of Rope:

 L = 10 m

 Decreased rise times of x1, x2 and y.

 Decreased Frequency of oscillations of x3 and x4.
 Smaller Peak-to-Peak amplitudes of oscillations of both x 3 and x4.

L = 10

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 - 0.226 -
x3 -5.307 x 10-3 0.226 -4.717 x 10-3
x4 7.379 x 10-3 0.226 -1.335 x 10-4

2. Impulse Response:
 ML = 10 Kg , l = 1 m
 x2, x3 and x4 exhibit sustained oscillations (at steady state) whereas x 1 and y show an unstable
increasing response.
 The frequency of oscillations of x2, x3 and x4 is almost similar to that of step response.
 Significantly lower peak-to-peak amplitudes and mean values for oscillations of state
responses as compared to step response.

L = 1 and ml = 10

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 4.624 x 10-4 0.684 2.274 x 10-4
x3 -1.043 x 10-4 0.684 -8.407 x 10-7
x4 -4.699 x 10-4 0.684 -1.189 x 10-5
 mL = 100 an L = 1m

 Almost similar peak-to-peak amplitudes for oscillations as well as their mean values.
 Increased frequency of oscillations by a factor smaller than that in the corresponding step
response case.
 L = 1 and ml = 100

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 -4.667 x 10-4 0.821 1.404 x 10-4
x3 4.491 x 10-5 0.821 -3.009 x 10-7
x4 5.742 x 10-4 0.821 -1.084 x 10-4

 mL = 10 an L = 10m

 Similar mean values for oscillatory behavior of states but with reduced peak-to-peak
amplitudes.
 Frequency of oscillations is decreased by a smaller factor than the corresponding case of
step input.

L = 10 and ml = 10

Signal Peak Overshoot Frequency of Mean Value

Oscillations (Hz)
x2 -6.447 x 10-4 0.241 3.886 x 10-4
x3 3.370 x 10-5 0.241 -8.031 x 10-7
x4 7.943 x 10-5 0.241 -3.272 x 10-5

 Ramp Input

 The state as well the output response of the system become unstable with the states x 1,
x2, x3 and y being exponentially increasing along with x 4 having exponentially growing
oscillations.