DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

TUTORIAL 3
(ANSWER SCHEME)

1. Write the differential equation for the system below.

R(s) s 5 2s 4 4s 3 s 2 3 C(s)
6 5 4 3 2
s 7 s 3s 2 s s 3

The transfer function,

Cross-multiplying,

Taking the inverse Laplace transform and assuming zero initial conditions,

2. Write the differential equation that is mathematically equivalent to the block diagram below.
Assume that r(t) = 3t3.

R(s) s 4 2 s 3 5s 2 s 1 C(s)
s5 3s 4 2 s 3 4s 2 5s 2

The transfer function,

Cross-multiplying,

Taking the inverse Laplace transform and assuming zero initial conditions,
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

Substituting r(t) = 3t3 yields,

3. A system is described by the following differential equation:

d 2x dx
2 3x 1
dt 2 dt

With the initial conditions x (0) 1 , x (0) 1 . Show a block diagram of the system, giving its
transfer function and all pertinent inputs and outputs.

d 2x dx
2 3x r (t )
dt 2 dt

Finding the Laplace transform for each element of the differential equation,

Substituting the transformed expressions into the differential equation yields,

DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

The block diagram is then,

+
+

4. Find the transfer function, G(s) = V 0(s)/V i(s), for each network below.

a) Writing the equation for nodes,

Solve for,

b) Theveninzing,

Using voltage divider rule,

DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

5. Find the transfer functions, G(s) = V L(s)/V(s), for each of the networks below.

a)

Writing the equation for nodes,

Rearranging the second equation yields,

Substituting I1(s) into the first equation,

or
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

Knowing that,

Therefore,

b)

Solving for I2(s),

Therefore,
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

6. Find the transfer function, G(s) = V o(s)/V i(s), for each of the operational amplifier circuits below.

a) Solving for Z1(s) and Z2(s),

Therefore,
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

b) Solving for Z1(s) and Z2(s),

Therefore,

7. Find the transfer function, G(s) = X1(s)/F(s), for the translation mechanical system below.

Writing the equations of motion, where x 2(t) is the displacement of the right member of spring,

Adding the equations,

From which,
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

8. Find the transfer function, G(s) = X2(s)/F(s), for the translation mechanical system below.

Writing the equations of motion,

Solving for X2(s),

From which,

9. Find the transfer function, G(s) = X2(s)/F(s), for the translation mechanical system below. (Hint: Place
a zero mass at x 2(t)).
DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

Let X1(s) be the displacement of the left member of the spring and X 3(s) be the displacement of the
mass.

Writing the equations of motion,

Solving for X2(s),

Thus,

10. Find the transfer function, G(s) = X 1(s)/F(s) as figure below.

Solving for M2,

DNT 354 - Control Principle Universiti Malaysia Perlis (UniMAP)

Solving for M1,

Solving for transfer function X 1(s)/F(s),