Tutorial 2 (Control Systems – ME309)

16.1.2017

T.1. For the shown mechanical system, (15 points)

a. Determine the governing equations.
b. Obtain equations in terms of Laplace transform assuming zero initial conditions.
c. Sketch signal flow graph and block diagram representing the system of equations.
d. Obtain T13(s) between X1(s) and X3(s) by using Mason’s signal-flow gain formula.
e. Compare above results with one obtained using matrix based methods.

T.2. Figure below shows two pendulums suspended from frictionless pivots and connected at their mid-
points by a spring. Assume that each pendulum can be represented by mass M at the end of a massless
bar of length L. Also assume that the displacement is small and linear approximations can be used for
sinϴ and cosϴ. The spring located in the middle of the bars is unstretched when ϴ1= ϴ2. The input force
is represented by f(t), which influences the left hand bar only. (a) Obtain the equations of motion and
sketch a block diagram and signal flow graph for them. (b) Determine the transfer function T(s)=
ϴ1/F(s).(c) Sketch poles and zeros of T(s). (15 points)
 Assignment 4 (Control Systems – ME309)

(For practice – not to be submitted)

Solve following problems from the textbook (Bishop and Dorf – 11th ed.)

2.16, 2.26, 2.29, 2.31(you may have to do a bit of search in the book to solve this problem), and 2.33
Solution

P1

P.2.