TUTORIAL 1 - MCE

GROUP WORK
PROBLEM GROUP
QUESTIONS (A & B)
1 A1
2 B1
3 A2, A6
4 B2, B6
5 A3
6 B3
7 A4
8 B4
9 A5
10 B5

REVIEW QUESTIONS

1. Give two reasons for modeling systems in state space.

2. State an advantage of the transfer function approach over the state-space approach.
3. Define state variables.
4. Define state.
5. Define state vector.
6. Define state space.
7. What is required to represent a system in state space?
8. An eighth-order system would be represented in state space with how many state
equations?
9. If the state equations are a system of first-order differential equations whose solution yields
the state variables, then the output equation performs what function?

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PROBLEMS

1. Represent the electrical network shown in Figure 1 in state space, where VO(t) is the
output.

Figure 1

2. Find the state-space representation of the translational mechanical system shown in Figure
2, where x3(t) if the output.

Figure 2

3. Represent the system shown in Figure P3.4 in state space where the output is X3(t).

4. For each system shown in Figure P3.9, write the state equations and the output equation for
the phase-variable representation.

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5. Gyros are used on space vehicles, aircraft, and ships for inertial navigation. The gyro
shown in Figure P3.10 is a rate gyro restrained by springs connected between the inner
gimbal and the outer gimbal (frame) as shown. A rotational rate about the z-axis causes the
rotating disk to process about the x-axis. Hence, the input is a rotational rate about the z-axis,
and the output is an angular displacement about the x-axis. Since the outer gimbal is secured
to the vehicle, the displacement about the x-axis is a measure of the vehicle's angular rate
about the z-axis. The equation of motion is

6. A missile in flight, as shown in Figure P3.ll, is subject to several forces: thrust, lift, drag,
and gravity. The missile flies at an angle of attack α from its longitudinal axis, creating lift.
For steering, the body angle from vertical ϴ is controlled by rotating the engine at the tail.
The transfer function relating the body angle ϴ to the angular displacement δ of the engine is
of the form

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7. Image-based homing for robots can be implemented by generating heading command
inputs to a steering system based on the following guidance algorithm. Suppose the robot
shown in Figure P3.14(a) is to go from point R to a target, point T, as shown in Figure
P3.14(6). If Rx, Ry, and Rz are vectors from the robot to each landmark, X, Y, Z,
respectively, and Tx, Ty, and Tz are vectors from the target to each landmark, respectively,
then heading commands would drive the robot to minimize Rx-Tx, Ry-Ty, and Rz-Tz
simultaneously, since the differences will be zero when the robot arrives at the target (Hong,
1992). If Figure P3.14(c) represents the control system that steers the robot, represent each
block—the controller, wheels, and vehicle—in state space.

8. For the given SS and Output Equations,

Find the Transfer Function.

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9. For the given SS and Output Equations,

Find the Transfer Function.

10. For the given SS and Output Equations,

Find the Transfer Function.