EE C128 / ME C134 Spring 2014 HW2 - Solutions UC Berkeley

Homework 2 - Solutions

1. Transfer Functions of Electrical Networks with Operational Amplifiers

Find the transfer function, G(s) = Vo (s)/Vi (s), for each operational amplifier circuit shown in the
Figures below.
(a) Solution:

Calculating the feedback and feedforward impedances.

1
Zf eedback (s) = Zf b (s) = 100 103 +
2 106 s
1
Zf eedf orward (s) = Zf f (s) = 500 103 +
2 106 s
Since the system is in the inverted amplifier configuration, we know that the gain is given by

Vo (s) Zf b (s) 105 (2 106 s) + 1

= =
Vi (s) Zf f (s) 5 105 (2 106 s) + 1

Vo (s) 0.2s + 1
=
Vi (s) s+1
(b) Solution:

Rev. 1.0, 02/09/2014 1 of 5

EE C128 / ME C134 Spring 2014 HW2 - Solutions UC Berkeley

Calculating the feedback and feedforward impedances.

 
5 5 (s + 10)
Zf eedback (s) = Zf b (s) = 10 1 + = 105
s+5 (s + 5)
 
5 (s + 5)
Zf eedf orward (s) = Zf f (s) = 105 +1 = 105
s s
Since the system is in the inverted amplifier configuration, we know that the gain is given by

Vo (s) Zf b (s) s(s + 10)

= =
Vi (s) Zf f (s) (s + 5)2

2. Transfer Functions of Translational Mechanical Systems

For the system shown below, find the transfer function, G(s) = X1 (s)/F (s).

Solution: Equation of motion (in s-domain) for mass M1 is given by

(s2 + 6s + 9)X1 (s) (3s + 5)X2 (s) = 0 (1)

and equation of motion (in s-domain) for mass M2 is given by

(3s + 5)X1 (s) + (2s2 + 5s + 5)X2 (s) = F (s)

F (s) + (3s + 5)X1 (s)

X2 (s) = (2)
2s2 + 5s + 5

Plugging Equation (2) in Equation (1) and rearranging yields

(3s + 5)F (s)

X1 (s) =
2s4 + 17s3 + 44s2 + 45s + 20

X1 (s) 3s + 5
= 4
F (s) 2s + 17s + 44s2 + 45s + 20
3

Rev. 1.0, 02/09/2014 2 of 5

EE C128 / ME C134 Spring 2014 HW2 - Solutions UC Berkeley

3. State Space Representation of Electrical Networks

(a) Represent the electrical network shown below in state space, where iR (t) is the output.

Solution: Write the differential equations for each energy storage element.

dv1 i2
=
dt 3
di3 vL
=
dt 2
" #
v1
Therefore the state vector is x = . Now obtain vL and i2 in terms of the state variables,
i3

vL = v1 v2 = v1 3iR = v1 3(i3 + 4v1 ) = 11v1 3i3

1 1 1
i2 = i1 i3 = (vi v1 ) i3 = v1 i3 + vi
3 3 3
Also, the output is
y = iR = 4v1 + i3

Hence,
19 13
" #
1
x = x + 9 vi
11 32 0
2
h i
y= 4 1 x

(b) Find the state space representation of the network shown below if the output is vo (t).

Rev. 1.0, 02/09/2014 3 of 5

EE C128 / ME C134 Spring 2014 HW2 - Solutions UC Berkeley

Solution: Let C1 be the grounded capacitor and C2 be the other. Now, writing the equations for
the energy storage components yields,

diL
= vi vC1 (3)
dt
dvC1
= i1 i2 (4)
dt
dvC2
= i2 i3 (5)
dt

iL
Thus the state vector is x = vC1 . Now, find the three loop currents in the terms of state variables

v C2
and the input. Writing KVL around Loop 2 yields

vC1 vC2 = i2

Writing KVL around the outer loop yields

i3 = vi i2 = vi vC1 + vC2

Also, i1 i3 = iL . Hence,
i1 = iL + i3 = iL + vi vC1 + vC2

Substituting the loop currents in Equations (3), (4) and (5), yields the results in vector-matrix form,

0 1 0 1
x = 1 2 2 x + 1 vi

0 2 2 1

Since v0 = i2 = vC1 vC2 , the output equation is

h i
y = 0 1 1 x

4. Transfer Function to Phase Variable Representation

For the system shown below, write the state equations and the output equation for the phase-variable
representation.

Rev. 1.0, 02/09/2014 4 of 5

EE C128 / ME C134 Spring 2014 HW2 - Solutions UC Berkeley

Solution: Using the standard form derived in the textbook,

0 1 0 0 0 0

0 0 1 0 0 0

x =
0 0 0 1 0 x +

0 r(t)

0 0 0 0 1 0

0 0 8 13 9 1
h i
c= 6 7 12 2 1 x

Rev. 1.0, 02/09/2014 5 of 5