EE-361 Feedback Control Systems

EE 361- Feedback Control Systems

Assignment 2

Due: 9th Feb, 2022 (Wednesday)

Question 1
[CLO 2]
Find the transfer function, G(s) = X3(s)/F(s), for the translational mechanical system shown in
Figure 1.

Figure 1

Question 2
[CLO 2]
Diabetes is an illness that has risen to epidemic proportions, affecting about 3% of the total
world population in 2003. A differential equation model that describes the total population
size of diabetics is:

with the initial conditions C(0) = C0 and N(0) = N0.

I(t) = the system input: the number of new cases of diabetes
C(t) = number of diabetics with complications
N(t) = the system output: the total number of diabetics with and without complications
μ = natural mortality rate (constant)
λ = probability of developing a complication (constant)
δ = mortality rate due to complications (constant)
v = rate at which patients with complications become severely disabled (constant)
γ = rate at which complications are cured (constant)

Assume the following values for parameters: v = δ = 0.05/yr, μ = 0.02/yr, γ = 0.08/yr,

λ = 0.7, with initial conditions C0 = 47,000,500 and N0 = 61,100,500. Assume also that
diabetic incidence is constant I(t) = 6 x106.

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EE-361 Feedback Control Systems

a) Draw a block diagram of the system showing the output N(s), the input I(s), the
transfer function, and the initial conditions.
b) Use any method to find the analytic expression for N(t) for t ≥0.

Question 3
[CLO 2]
Figure 2 shows a crane hoisting a load. Although the actual system’s model is highly
nonlinear, if the rope is considered to be stiff with a fixed length L, the system can be
modeled using the following equations:
𝑚 𝑥̈ = 𝑚 𝑔𝜙
𝑚 𝑥̈ = 𝑓 − 𝑚 𝑔𝜙
𝑥 =𝑥 −𝑥
𝑥 =𝐿
where mL is the mass of the load, mT is the mass of the cart, xT and xL are displacements as
defined in the figure,Φ is the rope angle with respect to the vertical, and fT is the force
applied to the cart.

Figure 2

a) Obtain the transfer function from cart velocity to rope angle Φ(s)/VT(s).
b) Assume that the cart is driven at a constant velocity V0 and obtain an expression for the
resulting Φ(t). Show that under this condition, the load will sway with a frequency w0 =
( )
c) Find the transfer function from the applied force to the cart’s position, ( )
.
d) Show that if a constant force is applied to the cart, its velocity will increase without bound
as t → ∞.

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EE-361 Feedback Control Systems

Question 4
[CLO 2]
For this problem, please first read through Chapter 2, Section 2.7 of your textbook,
“Control Systems Engineering” by Norman S. Nise (6th Ed) to gain an understanding of
systems that deal with gears.

Consider the system shown below in Figure 3. An armature-controlled dc servomotor drives a

load consisting of the moment of inertia JL. The torque developed by the motor is T. The
moment of inertia of the motor rotor is Jm. The angular displacements of the motor rotor and
the load element are θm and θ, respectively. The gear ratio is n = θ / θm. Obtain the transfer
function Θ(s)/Ei(s).

Figure 3

Question 5
[CLO 2]
Write the differential equations for the 3 mechanical systems shown below. For System(a)
and System(b), state whether you think the system will eventually decay so that it has no
motion at all, given that there are non-zero initial conditions for both masses, and give a
reason for your answer.
System (a)

System (b)

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EE-361 Feedback Control Systems

System (c)