16/08/2020

System Dynamics and Control 1 Modeling in Time Domain - Problems System Dynamics and Control 2 Modeling in Time Domain - Problems

3.1 Represent the electrical network in state space with output 𝑣0 3.2 Represent the electrical network in state space with output 𝑖𝑅
1Ω 1Ω 1Ω 3Ω 𝑣1 (𝑡) 2𝐻

𝑣𝑖 (𝑡) 1𝐻 1𝐻 1𝐹 𝑣𝑜 (𝑡) 𝑣𝑖 (𝑡) 3𝐹 4𝑣1 (𝑡) 3Ω 𝑖𝑅 (𝑡)

d^t

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 3 Modeling in Time Domain - Problems System Dynamics and Control 4 Modeling in Time Domain - Problems

3.3 Find the state-space representation of the network with output 𝑣0 3.4 Represent the system in state space with output 𝑥3 𝑡
𝑥3 (𝑡)
1Ω 𝑓𝑣 3
𝑀3
𝑀1 = 2𝑘𝑔, 𝑀2 = 𝑀3 = 1𝑘𝑔, 𝐾 = 2𝑁/𝑚
1𝐻
𝑖3 (𝑡)
𝐶2
𝑓𝑣 𝑓𝑣
1
𝑓 4
𝑓𝑣 𝑓(𝑡) 𝑓𝑣1 = 𝑓𝑣2 = 𝑓𝑣3 = 𝑓𝑣4 = 𝑓𝑣5 = 1𝑁𝑠/𝑚
5
𝑣2 𝐾
1𝐹 𝑀1 𝑀2
𝐶1
𝑣𝑖 (𝑡) 1Ω 𝑣𝑜 (𝑡) frictionless
1𝐹 𝑥1 (𝑡) 𝑥2 (𝑡)
𝑖1 (𝑡) 𝑖2 (𝑡)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 5 Modeling in Time Domain - Problems System Dynamics and Control 6 Modeling in Time Domain - Problems

3.5 Represent the translational mechanical system in state space, 3.6 Represent the rotational mechanical system in state space,
𝑥1 𝑡 : output 𝑥2 (𝑡) 𝑥3 (𝑡) 𝑀3 𝑀1 = 2𝑘𝑔, 𝑀2 = 𝑀3 = 1𝑘𝑔 𝜃1 𝑡 : output, 𝐽1 = 50𝑘𝑔𝑚2 , 𝐽2 = 100𝑘𝑔𝑚2 , 𝐾2 = 100𝑁𝑚/𝑟𝑎𝑑, 𝐷2 =
𝑓𝑣 𝐾1 = 𝐾2 = 1𝑁/𝑚, 𝑓𝑣1 = 𝑓𝑣2 = 𝑓𝑣3 = 1𝑁𝑠/𝑚 100𝑁𝑚𝑠/𝑟𝑎𝑑, 𝑁1 = 30, 𝑁2 = 100
𝑀2 1
𝑓𝑣2 𝑓(𝑡) 𝑇1 𝜃1
𝐾1 𝐾2 𝑁1
𝑓𝑣3 𝑀1 𝐽1
𝜃2
𝐾2 𝐷2
𝐽2
𝑥1 (𝑡) 𝑁2

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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 16/08/2020

System Dynamics and Control 7 Modeling in Time Domain - Problems System Dynamics and Control 8 Modeling in Time Domain - Problems

3.7 Represent the system in state space with output 𝜃𝐿 𝑡 3.8 Show that the system yields a fourth-order TF if we relate the
𝑇 𝑥1 (𝑡) 𝑥2 (𝑡)
𝑁1 = 30 displacement of either mass to the
3𝑁𝑚𝑠/𝑟𝑎𝑑 𝐷 𝐾 𝑓(𝑡)
𝐾2 𝐷2 𝑁2′ = 10 𝑀1 𝑀2 applied force, and a third-order one if
0.1𝑁𝑚/𝑟𝑎𝑑 𝐾1
𝜃𝐿 frictionless we relate the velocity of either mass to
𝑁2 2𝑁𝑚/𝑟𝑎𝑑
300 the applied force
𝑁3 = 100
200𝑁𝑚𝑠/𝑟𝑎𝑑 𝐷3

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 9 Modeling in Time Domain - Problems System Dynamics and Control 10 Modeling in Time Domain - Problems

3.9 Find the state-space representation in phase-variable form for 3.10 Find the state-space representation in phase-variable form
a. 𝑅(𝑠) 100 𝐶(𝑠)
b. 𝑅(𝑠) 30 𝐶(𝑠) using matlab
𝑠 4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100 𝑠 5 + 8𝑠 4 + 9𝑠 3 + 6𝑠 2 + 𝑠 + 30 𝑅(𝑠) 100 𝐶(𝑠) 𝑅(𝑠) 30 𝐶(𝑠)
a. 𝑠 4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100
b. 𝑠 5 + 8𝑠 4 + 9𝑠 3 + 6𝑠 2 + 𝑠 + 30

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 11 Modeling in Time Domain - Problems System Dynamics and Control 12 Modeling in Time Domain - Problems

3.11 For each system write the state equations and the output 3.12 For each system write the state equations and the output
equation for the phase-variable representation equation for the phase-variable representation using matlab
a. 𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠)
b. 𝑅(𝑠) 𝑠4 + 2𝑠3 + 12𝑠2 + 7𝑠 + 6 𝐶(𝑠) a. 𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠)
b. 𝑅(𝑠) 𝑠4 + 2𝑠3 + 12𝑠2 + 7𝑠 + 6 𝐶(𝑠)
𝑠 4 + 5𝑠 3 + 𝑠 2 + 5𝑠 + 13 𝑠 5 + 9𝑠 4 + 13𝑠 3 + 8𝑠 2 𝑠 4 + 5𝑠 3 + 𝑠 2 + 5𝑠 + 13 𝑠 5 + 9𝑠 4 + 13𝑠 3 + 8𝑠 2

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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System Dynamics and Control 13 Modeling in Time Domain - Problems System Dynamics and Control 14 Modeling in Time Domain - Problems

3.13 Represent the following TF in state space. Give your answer 3.14 Find the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each of the following
in vector-matrix form 𝑠 2 + 3𝑠 + 8 systems represented in state space
𝑇 𝑠 = 0 1 0 0
(𝑠 + 1)(𝑠 2 + 5𝑠 + 5)
a. 𝒙ሶ = 0 0 1 𝒙 + 0 𝑟, 𝑦= 1 0 0𝒙
−3 −2 −5 10
2 −3 −8 1
b. 𝒙ሶ = 0 5 3 𝒙 + 4 𝑟, 𝑦= 1 3 6𝒙
−3 −5 −4 6
3 −5 2 5
c. 𝒙ሶ = 1 −8 7 𝒙 + −3 𝑟, 𝑦 = 1 −4 3 𝒙
−3 −6 −2 2

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 15 Modeling in Time Domain - Problems System Dynamics and Control 16 Modeling in Time Domain - Problems

3.15 Use matlab to find the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each of the 3.16 Use matlab, the Symbolic Math Toolbox, and Eq.3.73 to find
following systems represented in state space the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each of the following systems
0 1 5 0 0 0 1 5 0 0
0 0 1 0 5 0 0 1 0 5
a. 𝒙ሶ = 𝒙+ 𝑟, 𝑦 = 1 3 6 6 𝒙 a. 𝒙ሶ = 𝒙+ 𝑟, 𝑦 = 1 3 6 6 𝒙
0 0 0 1 8 0 0 0 1 8
−7 −9 −2 −3 2 −7 −9 −2 −3 2
3 1 0 4 −2 2 3 1 0 4 −2 2
−3 5 −5 2 −1 7 −3 5 −5 2 −1 7
b. 𝒙ሶ = 0 1 −1 2 8 𝒙 + 8 𝑟, 𝑦 = 1 −2 −9 7 6 𝒙 b. 𝒙ሶ = 0 1 −1 2 8 𝒙 + 8 𝑟, 𝑦 = 1 −2 −9 7 6 𝒙
−7 6 −3 −4 0 5 −7 6 −3 −4 0 5
−6 0 4 −3 1 4 −6 0 4 −3 1 4

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien