TUTORIAL QUESTIONS

MODELLING OF PHYSICAL SYSTEMS

1. For the systems in Figure 1. Write of the state-space models. Obtain the transfer functions
Vc ( s) V ( s)
G1 ( s)  and G2 ( s)  L
Ein ( s) I in ( s)

Figure 1.a Figure 1.b

2. For the massless cart system shown in Figure 2, show that the transfer function is given by:
Y ( s) bs  k

U ( s) ms  bs  k
2

Derive also the state-space model of the system.

Figure 2.a

3. For Figure 3, obtain the state-space representation of the system. Assume that the states of the
. .
system are given by x1 , x1 , x2 , x 2 .
 Figure 3

Show that the transfer functions of the system are given by :

X 2 ( s) bs  k 2

U ( s) (m1 s  bs  k 1 k 2 )(m 2 s 2  bs  k 2  k 3  (bs  k1 ) 2 )
2

4. Show that the transfer function of the of the system in Figure 4, is given by:

Figure 4

E0 ( s) 1

Ei ( s) ( R1 R2 C1C 2 s  ( R1C1  R2 C 2  R1C 2 ) s  1
2

5. Derive the state-space representation of the system in Figure 5. Obtain also the transfer function.

Figure 5
6. Model and obtain the transfer function of the systems in Figure 6.

Figure 6.1

Figure 6.2 (Note that figure (b) is the electrical equivalent of Figure (a))

Figure 6.3

7. For the system in Figure 7, obtain the state-space model. Derive the transfer function, using
qin  u, q2  y
 Figure 7

8. The differential equations describing the dynamic behaviour of a certain system are given by

.. .
m1 x1  b1 x1  k1 ( x1  x 2 )  u
.. .
m2 x 2  b2 x 2  k1 ( x 2  x1 )  k 2 x 2  0

(i) Write the state-space description of this system

X 1 ( s) X ( s)
(ii) Obtain G1 ( s )  and G1 ( s )  2
U ( s) U ( s)
 LINEARISATION OF NONLINEAR STATE SPACE MODELS

For the following systems:

.
(i) Express in the form x  f ( x, u )

(ii) Linearise around the equilibrium point

(iii) Obtain the transfer function of the linear system

.
L( x)i  Ri  ein  L x x i
.. . 1
1. Consider the system dynamics given by: m x  b x  kx  Lx i 2
2
L0
L( x)  , u  ein , y  x
d (1  x d ) 2

.  .
P (Qin  V );
2. A pneumatic system given b y: V
.. . .
m x  b x  kx  k o A;V  V0  A x, y  x, u  Qin

.
P h  k1 (Qin  QC  Qh )
.  .
PC  (QC  A x)
3. A pneumatic system given by: k 2  Ax
.. .
m x  b x  kx  k 3 A
QC  k 4 Ph  PC , u  Qin , y1  Ph , y 2  PC

. k1 .
Ph  (u  k 2 x)
4. A hydraulic system given by: x
.. .
m x  b x  kx  k 3 A
 . .
RC ( x) e c  ec  ein  RC x ec
.. . 1
m x  b x  kx  C x ec2
2
5 An MEMs device whose dynamics is given by:  ( x  x) w
c( x)  0 0
d
 0 w
Cx  ,u
d

di
ein  Ri  L
dt
6. A magnetic levitation system: 2
d x Ki 2
m 2   mg
dt (d  x) 2

.
x1  x 2  0
7. A mathematical system: .
x 2  2 x11 / 4  3x 2  u