Ministry of Higher Education

Kabul University
Engineering Faculty
Graduate Program

Name Eng. Abbas Ali Afzali

Instructor: Dr. Aref Naimzad
Subject: Modern Control System
Assignment: Design problems of Nanorobots and Personal transportation

Date: 4th August 2022

Problems 2.1 to 2.10

C1
R2 R3

P2.1 An electric circuit is shown in Figure P2.1.

L1
+
~ i1(t) i2(t)
 Obtain a set of simultaneous integrodifferential
equations rep- resenting the network.

FIGURE P2.1 Electric circuit.

Solution:

P2.1 The integrodifferential equations, obtained by Kirchhoff’s voltage law to each loop,
are as follows:
∫ d(i1 − i2)
R1i1 + 1 i1dt + + R2 (i1 − i2 ) = v(t) (loop 1)
C1 L1 dt
and
1 ∫ d(i2 − i1)
R3i2 + i2dt + R2(i2 − i1) + = 0 (loop 2)
C2 . dt
L1
P2.2 A dynamic vibration absorber is shown in Figure P2.2. This system is representative
of many situations involving the vibration of machines containing unbal- anced
components. The parameters M2 and k12 may be chosen so that the main mass M1
does not vibrate in the steady state when F1t2 = a sin1v0 t2. Obtain the differential
equations describing the system.

k1 b
Force
F(t)
M1 Y1(t)

k12

M
y2(t) 2

Solution:
P2.2 The differential equations describing the system can be obtained
by using a free-body diagram analysis of each mass. For mass
1 and 2 we have
M1 y¨1 + k12 (y1 − y2 ) + by˙ 1 + k1 y1 = F (t)
M2 y¨2 + k12 (y2 − y1 ) = 0 .
Using a force-current analogy, the analagous electric circuit is
shown in Figure P2.2, where Ci → Mi , L1 → 1/k1 , L12 →
1/k12 , and R → 1/b

FIGURE P2.2
Analagous electric circuit.
 P2.3 A coupled spring–mass system is shown in Figure P2.3. The masses and springs are
assumed to be equal. Obtain the differential equations describing the system.

v v
Force 1(t) 2(t)
F(t) x1(t x2(t)
)
M M
b
k k

FIGURE P2.3 Two-mass system.

Solution:
P2.3 The differential equations describing the system can be obtained
by using a free-body diagram analysis of each mass. For mass
1 and 2 we have
M x¨1 + kx1 + k(x1 − x2 ) = F (t)
M x¨2 + k(x2 − x1 ) + bx˙ 2 = 0 .
Using a force-current analogy, the analagous electric circuit is
shown in Figure P2.3, where
C→M L → 1/k R → 1/b

FIGURE P2.3 Analogous electric circuit.

 P2.4 A nonlinear amplifier can be described by the following characteristics:

The amplifier will be operated over a range of 0.5V around the operating point for
vin. Describe the am- plifier by a linear approximation (a) when the operat- ing
point is vin = 0 and (b) when the operating point is vin = 1V. Obtain a sketch of
the nonlinear function and the approximation for each case.

Solution:
P2.4 (a) The linear approximation around vin = 0 is vo =
0vin, see Fig- ure P2.4(a).
(b) The linear approximation around vin = 1 is vo = 2vin −

1, see Fig- ure P2.4(b).

(a) (
0.4 b
)
4

3.5
0.3

3
0.2
2.5

0.1
2

0 1.5
vo

vo

linear
approximation
1
-0.1

0.5
-0.2
0

-0.3
-0.5 linear ap proximation

-0.4 -1
-1 -0.5 0 0.5 -1 0 1 2
1 vin
v
i
n
FIGURE P2.4
Nonlinear functions and
approximations
 P2.5 Fluid flowing through an orifice can be
represented by the nonlinear equation
Q = K(P1- P2)1/2,

where the variables are shown in Figure P2.5 and K

is a constant [2]. (a) Determine a linear
P2
approximation for the fluid-flow equation. (b)
What happens to the approximation obtained in P1
part (a) if the operating point is P1 - P2 = 0
Solution:

P2.5 Given

K(P1 − P2)1/2 .

Let δP = −P1 P2 and δPo = operating point. Using

a Taylor series expansion of Q, we have

δQ
Q=Qo δP−δPo ( δP−δPo ) …
δ∂P

Where
Qo=Kδ Po1/ 2∧¿

δQ
δP−δPo
δ∂P

K −1 /2
¿ δ Po
2

Define ∆Q =— Q-Q0 and ∆P = − δP-δPo.

Then, dropping higher-order terms in the Taylor series
expansion yields
∆Q = m∆P
Where
1 /2
m=K /2 δ Po

P2.6 Using the Laplace transformation, obtain the

 current I21s2 of Problem P2.1.
Assume that all the initial cur-
rents are zero, the initial voltage
across capacitor C1 is zero, v1t2 is
zero, and the initial voltage across
C2 is 10 volts.

Solution:
P2.6 From P2.1 we have
∫
1 d(i1 − i2)
R1 i 1 + i1dt + + R2 (i1 − i2 ) = v(t)
C1 L1 dt
and
∫
R3 i 2 + 1 d(i2 − i1)
C2 i2dt + R2(i2 − i1) + =0.
dt
L1
Taking the Laplace transform and using the fact that the initial voltage
across C2 is 10v yields
1
[R1 + + L1s + R2]I1(s) + [−R2 − L1s]I2(s) = 0
C1 s
and
1 10
[−R2 − L1s]I1(s) + [L1s + R3 + + R2]I2(s) = − .
C
2 s s
Rewriting in matrix form we have

[ R1+1−RC 12−L1
s + L1 s + R 2
s
−R 2−L 1 s
]( ) (
I 1s = 0
L 1 s+ R 3+1 C 2 s + R 2 I 2 s −10/ s )
Solving for I2 yields

( II 12 ss)= ∆1 [ L1 s + RR3+1C 2 s+ R 2
2+ L1 s
R 2+ L 1 s 0
R 1+1 C 1 s+ L1 s + R 2 −10 /s ]( )
I2(s) = (-10(R1 +1 / C1s + L1s + R2)) /s∆

Where
∆=¿ ) (L1s +R3 +1/C2s +R2) - (R2 + L1s)2

P2.7 Obtain the transfer function of the differentiating circuit shown in Figure P2.7.
Solution:

P2.7 Consider the differentiating op-amp circuit in Figure P2.7. For an ideal
op-amp, the voltage gain (as a function of frequency) is
Z2(s)
V (s) = − V (s),
2
Z1(s) 1

where Z1 = R1 / (1 + R1 Cs)
1

and Z2 = R2 are the respective circuit impedances. Therefore, we obtain

V2(s) = - (R2(1+R1Cs) / R1) V1(s)

 P2.8 A bridged-T network is often used in AC control systems as a filter network [8].
The circuit of one bridged-T network is shown in Figure P2.8. Show that the transfer
function of the network is
(Vo1s2 / Vin1s2) / (1 + 2R1Cs + R1R2C2s2) / ( 1 + 12R

+ R 2Cs + R1 R2 C2s2)
Sketch the pole–zero diagram when R1 = 1, R2 = 0.5, and C = 0.5.

Solution:

P2.8 Let
. .
. .
. .
.. G2 + Cs −Cs −G2 .
.
. .
∆ = .. −Cs G1 + 2Cs −Cs .
. .
. .
. −G2 −Cs Cs + G2 .

Then,
Vj = (∆ij/ ∆) I1 or V3/V1 = (∆13I1/∆)/∆11I1/∆)

Therefore, the transfer function is

−Cs 2Cs+ G1
−G2 −Cs
T(s) = V3 / V1 = ∆13 / ∆11 =
2Cs+G 1 −Cs
−Cs Cs+G 2
 Pole-zero map (x:poles and o:zeros)
3

2 o

1
Imag Axis

0 x x

-1

-2 o

-3
-8 -7 -6 -5 -4 -3 -2 -1 0

Real Axis

FIGURE P2.8
Pole-zero m

(C2R1R2s2 + 2CR1s + 1) / (C2R1R2s2 + (2R+ R2) Cs +1

Using R1 = 0.5, R2 = 1, and C = 0.5, we have
s2 + 4s + 8 (s + 2 + 2j)(s + 2 − 2j)
T (s) = = √ √ .
s2 + 8s + 8 (s + 4 + 8)(s + 4 − 8)

The pole-zero map is shown in Figure P2.8.

 2
P2.9 Determine the transfer function X11s2 >F1s2 for the coupled spring–mass system of
Problem P2.3. Sketch the s-plane pole–zero diagram for low damping when M = 1, b>k = 1,
and
Z= ½ (b / √ kM ) = 0.1

Solution:

P2.9 From P2.3 we have

M x¨1 + kx1 + k(x1 − x2 ) = F (t)

M x¨2 + k(x2 − x1 ) + bx˙ 2 = 0 .

Taking the Laplace transform of both equations and writing the result in
matrix form, it follows that

[ Ms−k2+2 k −k
]( )
X 1 s =¿
Ms 2+bs+ k 1 X 2 s

Pole zero map

0.4

0.3

0.2

0.1
Imag Axis

- 0.1

-0.2

-0.3

-0.4
-0.03 -0.025 -0.02 -0.015 -0.01 -0.005 0
Real Axis

FIGURE P2.9
Pole-zero map.
 where ∆ = (Ms2 + bs + k)(Ms2 + 2k) − k2 . So,

G(s) = (X1(s) / F(s) = (Ms2 + bs + k) / ∆

When b/k = 1, M = 1 , b2/Mk = 0.04, we have

s2 + 0.04s + 0.04
G(s) =
s4 + 0.04s3 + 0.12s2 + 0.0032s + 0.0016
The pole-zero map is shown in Figure P2.9.

P2.10 Determine the transfer function Y11s2 >F1s2 for the vibration absorber system of Problem
P2.2. Determine the necessary parameters M2 and k12 so that the mass M1 does not vibrate in
the steady state when F1t2 = a sin1v0 t2.
Solution:
P2.10 From P2.2 we have
M1 y¨1 + k12 (y1 − y2 ) + by˙ 1 + k1 y1 = F (t)
M2 y¨2 + k12 (y2 − y1 ) = 0 .
Taking the Laplace transform of both equations and writing the result in
matrix form, it follows that

[ M 1−ks 2+12k 12 k 12
]( )
Y1s
M 1 s 2+ bs+k 1+ k 12 Y 2 s
=¿

or

(YY 1(s)
2(s)) ∆
1 Mxs2+ k 12
= ⌈
k 12
k 12
M 1 s 2+ bs+k 1+k 12
⌉ ( )
F (s )
0

where

∆ = (M2s2 + k12)(M1s2 + bs + k1 + k12) − k122 .

So, when f (t) = a sin ωot, we have that Y1(s) is given by
aM2ωo(s2 + k12/M2)
Y1(s) =
(s2 + ωo2)∆(s)
For motionless response (in the steady-state), set the zero of the transfer function so that
k12 k12
(s2 + ) = s2 + ω2 or ω2 = .
M2 o o
M2