Indian Institute of Technology Mandi

Assignment-1

Course Title: Modelling, Simulation, and Total Marks: 100

Control of HEVs Roll No:
Course Code: EE-542
Student’s name:

Note: The (·) represents equation number.

Q.1) Consider the dynamics of system

ẋ1 = x2
ẋ2 = −a sin x1 cos x2 − bx22 + u, (1)

where x1 is the angle with respect to the vertical axis, a and b are system parameters, and u is the
control input. Identify the equilibrium point(s) of the system with (a) u = 0 and (b) u ̸= 0.
4+6=10 marks
Q.2) Derive solution to the following linear time-invariant (LTI) systems.

i)
dx
= 5x with x(0) = 7. (2)
dt
Use MATLAB to plot the trajectory of the solution for an interval t = 0 to t = 10.

ii)

ẋ(t) = ax(t) + bu(t)

y(t) = cx(t) + du(t). (3)

For the general solution, plot the trajectory of the solution for an interval t = 0 to t = 10 with
a = 1, b = 2, c = −1, d = 4, and u(t) = 2 sin(πt) in MATLAB.
10+20=30 marks
Q.3) The HEV in Fig. 1 (left) is represented by a mass-spring-damper model in Figure 1 (right).
For the system in Figure 1 (right), u is the external input force applied, m is mass, x is position,
k is spring constant, and b is the damping coefficient. Answer the following:
i. Derive the state-space model.
ii. Derive the solution for the system model.
iii. Write a MATLAB program to identify the vehicle motion for external input force u = 5 cos t
N. Consider the time duration of motion to be 100 seconds. The sampling interval for the
process is 0.01 seconds. The other parameters are k = 2N/m, b = 0.1kg/s, and m = 150kg.
Plot the position, velocity, and acceleration graphs of HEV.
10+15+35=60 marks
SCEE EE 542 - Modelling, Simulation, and Control of Hybrid Electric Vehicles Page 2 of 2

Figure 1: HEV and its schematic representation through mass-spring-damper system.

Student’s name: End of Assignment