FIRST TERM EXAMINATION [SEPT. 2015] FIFTH SEMESTER [B.TECH] CONTROL SYSTEMS [ETEL-307] 21.80 hrs. Note: Q.No.1 is compulsroy and attempt any two more Questions from remaining. Assume suitable data ifany. Q.1. (a) List three advantages and disadvantages of open-loop and closed- loop system. ; aera ‘Ans. Advantages of open loop systems are I Itis simple : L IL. It is economical : | Tim Ill. Less maintenance is required IV. Proper calibration is not a problem. Disadvantages of open lop systems are I Inaccurate II. Not reliable IIl. Slow : , IV, Optimization is not possible. Advantages of closed loop systems are I. More reliable IL. Faster IIL. A number of variables can be handled simultaneously. IV, Optimization is possible. Disadvantages of closed loop systems are I. Expensive II. Maintenance difficult III. Complicated installation. a Q.1. (6) Write only the transfer function for the following controllers () P (ii) I Giz) D (v) PL (v) PID MS Ans.()) Ka i w K, MS) . 8 = ES) . MS) : (iii) SK, - Fe 1 MS. (iv) «oz - 1 zo) Klee oeta| _ “Ss E(S)Control Systems 22018 Fifth Semester, (Qu. (6) What ae the disadvantages of stondy 9 error constants?> What dor of system? is the difference between type and oF ffsteady state error are + cathe inputs are other than the three standard hs. Disadvantfs 0 ‘tay notre an formation cet pe Sapo an arb inp eae ree ae FE Ides note arin of evo wih for dei rr pod is appli to stable sete Eo aplcatetosiable - / pee i emma ern ee cea a earth arene SSS Sister j rages iret vsios tes of pe" a a a ttre three pest steper mete tet reluctance motors Ir pcananeat magnet means ‘TIL. Hybrid type. j ign groph and determine he YIN) ‘Mason's Gain Formula @) ect to time which may be needed al 2 ‘The following loop and nodal equations are MMe = RR a Y= G-WR, @) “RR LP. University-(B:Tech)-Akash Books 2016-8 YY, wate Ye 4 Ry Ry 3) pee (a) ‘The signal flow graph is shown below Forward Path LVI, VeleVy 2.V,44,V, __ Feedback Loop LL Veh, 2.VpI5 Vy B.1Vgly 411 Vel, L, and, are the onk 1 only bwo non-touching : ing loops. Ther gain product ; ct is given by L, Aiks th Be A= 1-Cy+bjsly+Lo+tyL, {Br Ri _ Rs (BB BB) ae RR Ry“ R, RR b= 1B GR Rik RR RO , heh, fa All the feedback loo} rote ny lnback oa touching the forward paths P, and P, when removed areLP. University-is) Ry oR : Rak, R, * FR SRR TRF, Th aR = Rs Ss o, 7 Ray a RR, +0R,Ry S| TERR RAR Ry = BR, ORR + RR i i standard 2.) Show the location of poles inthe complex plane for # stony soon ace epstem for the damping factors shown Below. @ ee Gi 0cg el Ui) §> 1 Gi) § = 0 Ue) 1, : Ans. (d01 + Critically damped m E>1 : Overdamped Vv. <0 Undamped. en-us anFifth Semester, Control Systems » Absolute stability means whether the systems aie neable then we determine how stable it is, ie, wel is stable or unstable. Ifthe system is Je eral ne dogreo of stability, itis known as relative stabi ‘ra yme domain, the relative stability is measured by maxim overshoot ang damping ratio. In frequency domain relative stability i ‘measured by resonant in » .nsation? Explain various types t + alteration of a control system to get desire (Qu. (e) What is the principle of compe ‘compensation. “Ans. The process of adjust performance specification is cal ‘Types of Compensation: A compensat tocation depending upon the requirement. Compensation i i 1. Series compensation or cascade compensation back compensation tment 0 2, Parallel compensation or feed! {3 Series-parallel compensation. aectas Compensation or Cascade Compensation: Ifthe compensator i pace in the ewan path, the scheme is known as the series compensation 0° caste in eee acation. The transfer function ofthe compensator is denoted by CS) and Cane ction of the orginal process or plants denoted by G(s). Fig. 1 (@) shows scheme of series or cascade compensation. Fis) fous cis) cis) compensator Hs) Fig. 1(a): Compensator configurations series or cascade compensation Parallel Compensation or Feedback Compensation: If the compensaor placed inthe minor feedback path, sehemes known a8 parallel compensation or foedbs Fig, 1 (2) shows the parallel of feedback compensated system Ba sat compensation 8) compensstor Fig. 4. () Compensator configurations parallel or feedback compensation Combined Caseade and Feedback Compensation or Series_ Parallel Compensation Figure 1(c) shows a combined cascade and feedback compensation or series pat compensation. LP. University-(B-Tech)-Akash Books 2015-17 rs) by Fig.1. (c) Compensator Configurations. Combined cascade ‘and feedback compensation UNITI Q2.(a) Find the closed loop transfer function for the block diagram given below using block diagram reduction technique. (65) ra gles cet ou re rot Ls: f He al, G oy Hoe WG #6) Lpeos) G+ 0} a18-2018 Fith Semester, Control Systems ro ~ [FBI] feyno} scm re Ley oy fre-a} —hroro9009;2 } co 4 ' Gy es) BMG, -60| 6, -6,0,+05 5) RS) * UG STG NOG, 08,56, 0 10, C8) _as0,i +64 16,0,0.1, 166,648, 0,64!, BS * yom taecedl Cae scel 20) Describe the operation of AC Serovomotors wth ts schematic diagram and speed toque characteistcn Alve derive ls ransfer functions e Ans. Two Phase a.c. servomotor: A two phase ac, servomotor is a two phase induction motor having drag cup type rotor construction, The contral voltage #,/0 13, applied tothe control winding and a fixed voltage having a phase difference of 90° wrt. Control winding voltage is applied to the reference winding. The control voltage results inthe development ofthe motor forque 7, The torque speed characteristics ofthe motor shown in fig below. Rotor loput com ve ced Control winding Ret wiraing Fig. (a) Two phase a.c. servometer 2018-19 ‘The moment of inertia and the coefficient of viscous friction at the motor shaft are respectively J, and/,, The angular shift resultingin the motor shift beingd,, and the corresponding angular velocity being w,,. From the torque-spoed characteristics the dynamic equation relating the motor torque and speed and is formed below, Tg = Mig KV, a If Ty is the stalling torque and w, is the no load speod. The paramet m and K are determined in terms of 7, and w, a8 follows (@ When the speed is zero, the torque is Ty and this stalling tor the control voltage V,. fe proportional to ‘Therefore T+ HV, q x. (Gd The slope of the torque spoed characteristicis a , tn sinw, = “a ‘ ‘the torque equation can be expressed «, Ty = He oho, Q3. (a) Determine the transfer function V;(s)/V,(s) for the electric cireult shown below using Mason's Gain Formula, (85) Ans. Vong VE) = hy LO “- oe Fifth Semester, Control Systems Ya) Vite R r ig) From (1) Vy) = yh ehyy¥a(0 attra . vat) Yash thal) o = 1 a y. Leff) = hit) “ik, = Vi L, = Vth hy 1) j -VylthgR, hy, RIO = Vy) Vg(t1+ ha} fa, Ve) [_ Ot hgeR Yay | ve * tam, : {tata ha * hay Ry Ve hysR, ¥ +R, highend] as. pimamraiappipae ‘suitable diagram, cs) os A srrnechanin ean autmate evs hat se ersensing hepsi Seebeck ta caret «Performance ofa mechanism and is defined by its function, Itia 2 heterostat since it controls a system's behavior by means off hheterostatis. It consists of three basie eo heteroaie Ror basic components-a controlled device, a output sensor eed of PM deste idly propenl athe arsine te ‘much more flatter speed torque characteristics th: LP. University-(B.Tech)-Akash Books 2015-21 fold wound motor which has even armature reaction effects. There are three types of de servomotors. They are slotted armature type, surface wound iron core type and surface ‘would non-magnetic core type as shown in Fig, (a) (b) and (c) respectively. (a) Siotted armature type (@) Surface wound iron core _(c)Surtace wound nonmagnetic core Fig. (a) shows the slotted armature type. Armature windings are placed in the slots similar toa conventional de motor, Slotted armature type has large inertia. To reduce this, surface wound iron core is used as shown in Fig. (b). The main draw back in the Suetace would iron core is that it requires a strong PM for its construction. The inertia nay be further reduced by having surface would non-magnetic core as shown in Fig. (c). ‘This tion-magnetic core rotates on an annular stationary rotor. UNIT: Qu. (a) The block diagram of the system shown below has PDcontroller to control the time domain specification of the system. Determine T, such that the 65) system will be critically damped and also calculate its settling time. 9G Lata} Ans. Given that , ; hor 1 aa +c(s) ; 1+8To Fuse cis)22-2015 Fifth Semester, Control Systems i) CS) | 4ase%) = ae RS FHS warty y Fetes os) | __Aaest) BS) * Faisevsil+sT) sasst) = FyaeeTplse4 ‘Since system is second order, the characteristic equation fs Se(eT)s+4 = 0 ‘Aisa given that the eyetem is eritically amped Bed Yep, = 1667, a 1647, or, =24see. j 44 Setting time t, = Go, "Ted Q4.(&) The closed loop poles of a system lie at 4425. Find the unit response of the system and the settling time for 5% tolerance. "Ans. Given that Saaejo~—42i2 | 1 Oe) = Foca a Also * Quix 1 | = (e+ 4—j2ks +4452) eaiaae waa 3 = P86 +20 i ‘The characteristic equation is s* + 85 + 20 compare it with #42l0,0+0,3 wehave ©, = 20 and LP Universi: Akash Boks 5-23 din, = 8 « 5 5 nce cy = tea ot! 3 and setting time A) = Fo, 7 OTS 8ee. Q-5. (a) The open loop transfer function of a system with unity feedback 20 ain is given as G(s) = =7-5,-g- Determine the Damping Ratio, maximum overshoot, rise time and peak time. ‘Ans. Given that 20 Ce) = Ty ore6 ‘The closed-loop transfer function of the system is es) Gs) RS) ~ GESTS HES) Compare the transfer funetion withthe standard frm ofthe transfer fneton of second order system, we have ‘onofa 02 = 200rwn= 0 ~4.472 radisce and Yo, = Bor 2% x4472 0.559 Since <1, the given system is underdaraped oy = oie = 4472/1 05507 o % = 2.708 radbee ‘ i= 0.559" 0889 Rise time, ae =0.447s¢,Fifth Semester, Control Systems 24-2015 Maximum overshoot Mp = ot OF 100% . My = 12.05% ra sz S14; «opsteee @.5. () The open loop transter function of #syste™ with unity feodback is M42 given by G6) = qty 7941" ‘Detormine the static error constants an parabolic signal is applied to the And a unit @ .d stondy state error. ten. ‘Anu Type 2 order§ : aa eee each eystem We) 1 Therefor, Ks+2)_ op cons = ee she potion error constant KO limGte)H (8) tim Ret we 0 g2(s? +75 +12) se velocity error constant K, = ims'Gwne) tim 25+? 20 = sh0g7(eF +75 +12) ‘The acceleration error constant K, = lims'G@H) tim PRED x = Iya nrim 26 For parabolic input 1 Re) = 3 so) = lim — 0 1+G()H) LP. University-(B/Tech}-Akash Books 2015-25 UNIT Q.6. (a) The open transfer function of a system is given by G(s) H(s) 80 i Zev cap: Petermine the gain crossover frequency, piace (croseever frequency, gain margin and phase margin. Ans. Given that (8.5) so Gout = ram oe 80, oro Go) Ho) * Fal XB + Jo) 1GUo) H —— io) A Go)! = oto? V400 +08 A) and Oor k 666.25 Gi) 200+ >0 ork >~200 ‘That is ~ 200 < f < 666.25 For sustained oscillation 1995 -12k 525“30-2015 Fifth Semester, Control Systems ‘The Routh array becomes 1 69° 20048 e112 198 s 525 200+ #0 0 ‘The auailiary equation is A(s) = 52.59°+ 200+ K =0 or 525s? = -200 - 666.25 or 2 SBE 649 or 5 = = 54.061 Pat s= io ‘The frequency of sustained oscillation is w, = 4.061 rad/sec. Q8.(b) Define principle of arguments. State and explain Nyquist eriterion for stability. 7 (4.5) ‘Ans. The Argument Principle: Ifwe have a contour, drawn in one plane (say the complex lapalce plane for instance). We ean map that contour into another plane, the F(e) plane, by transforming the contour with the function F(s). The resultant contour, Tp will circle the origin point ofthe Fa) plane N times where N is equal tothe different between Z and P the numberof zeroes and poles of the function Fs) respectively ‘A feedback system or closed lop system is stable if the contour Fa, ofthe open loop transfer function Gs) He) corresponding tothe Nyquist contour is the s-plane encircles the point (-14j0) in clock wise direction & number of counter clockwise encirelement above the (-14j0) equals ta the numberof poles of G(s) H (sin the right half of splane ive with positive axis, The closed loop eystem is stable ifthe contour Tg, of G(s) H (s) does not pass through or does not encircle (-14j0) point ie. net encirclement is zero te D(9)-Pane ot Contour i LP. University-(B.Tech)-Akash Books 2015-31 Q9.(a) Draw Root Locus for 0.Kisst1Ms42N813) Fig. Root locus n= 041,2.3 0 = 45%, 135%, 225% and 315° 5. The centroid is calculated as Sreal part of poles GH()- real parts of zeros of GHis) @e-D . 8 =~ 1:5 =~3. The root loci start from these four poles 1 and betwen s =~ 2 and| | | | | 32-2015 * Fifth Semester, Control Systems 2-15 0-1-2-3 : 4 6. The breakaway points are calculated using the characteristics equation which ig | given by a(s +1)(s +2)(5+3)+K = 0 : 7 st+6s4 1s?+6s+K = 0 Differentiating the above equation with respect to s and P 459+ 1852+ 22s +6 = 0 Solving the above equation for s we get §, = -2.5; 8.=-03; s=—17 “Ats==1.7, there is no root locus and it is not a breakaway point. Hence, 8, taken as breakway points. 7, The intersections of the root loci with the imaginary axis isc Routh’s array formed by the characteristic equation sf[ 1 Uk rutting dK/ds = 0 we get ands, alculated from 10 sitieal value of gain K, = 10. The auxiliary equation is 103+K, = 0 = 10, we geto=1. ceording to the magnitu From Routh’s array the ci ‘Thw value of K, obtained can be Substituting s =jo and K, de condition, at any point on using magnitude condition. A root locus, the value of Kis drawn from all the poles to that point Product of directed distances: Product of directed ‘drawn from all the zeros to that point Product of directed distances Since the root loci intersect the imaginary axis ato = 1 K, = 1xy2xV6V10 = 10 ‘The complete root locus is shown in Figure. Q.9. (6) What is the effect of Lead compe rise time and settling time? ‘Ans, By introducing a lead compensator, the phase margin is increased. increases the damping and the bandwidth. The time response 18 faster and th the rise time and settling time are reduced. nsation on the system bandwit ¢ Time Note the ¢ erro! not | errr cons thetFIRST TERM EXAMINATION [SEPT. 2016] FIFTH SEMESTER [B.TECH] CONTROL SYSTEMS [ETEL-307] Time: 1% hrs. M.M. : 30 Note: 1. Q. No. Lis compulsory. 2. Attempt two questions from the remaining. Q.1. Answer the following questions in brief: (2.5.x 4) Q.1. @ Differentiate between type and order of a system. Ans. The order of the system is defined by the number of independent energy storage elements in the system, and intuitively by the highest order of the linear differential equation that describes the system. In a transfer function representation, the order is the highest exponent in the transfer function. 148 14+S48' The highest exponent in the denominator is S*, so the system order 2. System type : Type number ofa transfer function indicates the number of poles in the origin that the transfer function has. This can indicate wheather the steady state error of the system will be zero or a constant value, or infinity according to the input Q.1. (ii) Define PI and PID controller. Ans. Proportional Controller: This type of controller is used where a deviation in not large or not sudden. Here the output of controller is directly proportional to the errror signal. GS) = a(t) = welt) alt) = k,e® Taking Laplace A(s) = h, Fils) elt) re) —@4 t | Disadvantage: (a) It causes the offset (b) It increases the maximum overshoot. Integral Controller: The term ‘integral’ is derived from the mathematic consideration of this type of controller. Here the output of the controller is time integ of . the error signal. It is also called the reset controt. al) " hy feitnat hk Als) = “PE(s); &; = Integralconstant K/st-® Als)ne 222016 ifth Semester, Control Systems Derivative Contrroller: ervor signal. tere the output ofthe controtieris time derivative ofthe Disadvantage: ‘a Kt amplifies the noice signal and may eause t (b) It does not improves the steady state error. PID Controller: +f Ks L ra! 4 +{ Plant 15) | l Se he saturation effec in the actuatog we e Feedback element | «J hetnenfirns age | = Bo Bato 2A s809 In $domain: = [pr ene]zte \When advantages of ll individual controller are required by the system, then PID controller is used Q. ii) Briefly discuss different types of stepper motors. ‘Ans. Three ace thee types of stepper motors (i Variable reluctance motors i) Permanent magnet moters ti) ya type Q.1.(ée) Detine position and velocity error éonstants. Ans. Unit siep input and position errors: The steady state error of the syste! for a unit step input is called position error. Forinputrit) = u(t) | | LP, University-1B.Tech,}-Akash Books Ris) = Tim 8) 2) Gis) Hs) 1 "Ts Ga Fie = lim #0 12 Gis Hew) 1 1 Tolim Gi His) “Ts, where lim G(s) 1/(s) is defined as the Position Error Constant. For a unity feedback system = limais) since Hs) = 1 Unit ramp input and velocity error: "The steady state error ofthe system for unit ramp input isealled velocity error. Forinput i) = tutt) Riss From a aa 1 L tim pigg —1 PO 5s 8G 8 stata)” ‘where f, = limsG(s) Ht) isthe Velocity Error Constant. For a unity feedback system A, = lim sis) Unit parabolic input and acceleration error: The steady’ state error of the system for unit parabolic input is called acceleration ervor. Forinput rit) = 22 Ris) = Vs From Eq 1 ty — 220 tpg SOT Gili) 0 1+ Giallo tin = — oo ES GiniHio 1 i where &, = lims’G(s) f(s) is the Acceleration Error Constant.systems sith Semester, Control SY: 42016 Finh Se From a unity feedback syste™ a, = lig stats) un reduction technigyy ortho system by block diagra R, )- 2. (a) Evaluate QB % (Ry Cy Hy) + Gy(Ry+ Hy Col Ry + G,C, Hy+ GR, + GgHl Cy iC Hy+ GR, Hy+G,R Gah, C, = G+ HH, C)+G,(R,+ Cy i Ry+Gyll,C, Put the value of C, from . 4 5G.R, Oh . GGAR, + GG,1Cy + GG, , GR C-Gi1- GH) Gl G)R1-GH) + GG,R, = 2 G.GHLC, + CGR, GRA Gil) GH Gln) i i LP. University-(B.Tech, }-Akash Books 2016-5 GpRe~ GPG Hy + GG, «GG yH Cy G +O,64R, + GR, ~CR,GuH, TGA, Git to eliminate R, from above eq, Cw EGR + GGyH.C + OR, GR Gut a 0-6) 1- GH) GEC, ~ 0-GH,)0-GH) GGrR, + GR, - GR Gull, * 0-6) 0 GH) Cy BE Gath = Gully + tht, -6.0,H,) 0-G,A) dG) _ GG, + Gs, -G RGM, = GH )A-GyH,) (GG Ge 2G=GGEr, Ans. 1h," 1G - GH, + GGH,H, GG Q.2. (b) Define synchros. @ ‘Ans. Asynchros is an electromagnetic transducer which converts the angular position ofa shaft into an electric signal. Synchros are used as detectors and encoders. . 3. (a) Using Masons Gain formula find out the overall gain of the system. @ Ans. Ris) Gain of forward paths 8-6, 6,6, y= GyLyk, = Hye Lyk, = 6,GyH,H, Since all four Loops touching the forward path & 3 = 021 Since, The fist loop L, does not touch the forward path g therefore, a= 1+, Qo Wily t ly t Lg t hy) t tly bet Ly Ly) Ay taede SQ 48:22 [Masons Gain Formula) GCs eG) TCH, -H,-,G,,- GH) + Hy +G.Gth Hs C=6H, i GH, Hh, Cis RS ho Ka+28) Q.3. (b) For Gis) Hs) = Say gyasoda find the value of K to limit the steady state error to 10% when input is't. @) im = Tim SRS) S+S\1 +045 » + 4 oka we Tad : fe = Whie 01 ore 2 x Q4. : 4. (a) Open loop transfer function of a uni : of unity feedback system is Gls) = ety Where K and’? are constant i e ants: Determine the factor by which the gain a. gee | | | } ersity-4B.Tech.)-Akash Books 2016-7 k should be multiplied so that overshoot of unit step response be reduced from (8) 75% to 25%. LP. Uni Given that Mp, Mp2 0.25 0.207s-2016 Fit Semester, Control Sytems peace _t-(s7er) 2 ; Toy = 0207 a ca Solve theabove equation we get [K.=20%3] “Ans. Q. 4, (b) Derive the expression for the peak time of a second order underdamped system when a unit step input is given to it. Ans noe Py “ werk e ‘The lose oop transfer futons, as) a RS) 7 Ss Ro,S+0%, 1) under damped case Roots ofthe characteristic equations S*+250,8+0%, Sia = Ww, ti, _ ts) 6) 2016-9 a= ant ‘Take Inverse Laplace of above eg. on both sides, i 21 [eno getsineg] Joe ‘Wo know that, sin (ot +0) = sinwyt.cos 0 +cos wf. sin 0 sin) = J1- 0 8. (a) Find the conditions forthe stability ofsystem whosecharacteristic K+t>0 K-1>0 ‘equation is given by: s*+ (k + 0.5)s?+ 4ks +50=0. j Ke-1) Kot Determine the value of ‘k’ which will cause sustained oscillations and j frequency of such oscillations. os | Ans. S°4(K+0.515"+4KS +50 = 0 i 8, (a) Draw Bode plots for the system having Gis) = 100/[s(s + lis + 2)) s Rind: @) 1 ak | ae G (+05) 50 @ Gain margin © $ @® Phase margin , s a | (iit) Gain cross over frequency and 05 (Ge) Phase cross over frequency. s 50 For absolute stability, there should be no sign change in the first column ie. no root Ans. 68) = RES ofthe characteristic eg, should i in right half-plane. This possibly when, 7 I When, | Calculation of phase cross over frequency. |30-2016 Fifth Semester, Control Systems LP. University-(B.Tech.)-Akash Books 2016-31 oo ‘This isthe gain crossover frequency we, GGjo) Ho) = Foy joxl +0-5j0) . 50 WH iwloree, = Bae ‘At phase crossover frequency the angle is ~ 180°. [Glo H Goo=oe, = Tpayjaties) =180° = -90°- tan (0.5«)— tan" (w) ‘ ©, = 3.74 rad/sec. = x37 = 14 & = 0187 LP. University-{B Tech.}-Akash Books 2017-8 sino, = 5+ Sule 8 = ors, 24% 08 = 018741877, 1877, = 0.613 (Giveng =0.8) fr= 0.52 2. (a) Differentiate between open loop and closed loop control systems. Identify each of the following control systems (whether open loop system or single-feedback closed loop system or multi-feedback closed loop system). (2) (j) Human Eye (ii) Automatic Iron (iii) Voltage stabilizer (iv) Traffic Light Ans: ‘S.No. | Open Loop System Closed Loop System 1. | These are not reliable. ‘These are reliable. 2. | It is easier to build. Itis difficult to build 3. | Ifcalibration is good, ‘They are accurate they perform accurately. because of feedback. 4. | Open toop systems are ‘These are less stable. generally more stable. 5. | Optimization is not possible. Optimization is possible. (® Human Eye: Multi-feedback Closed Loop System. ii) Automatic Iron: Single-feedback Closed Loop System. (ii) Voltage Stabilizer: Single-feedback Closed Loop System. (iv) Traffic Light: Open Loop System. Q.2.(6) Find the transfer function of the diagram in Figure 1 by Block Diagram Reduction (BDR). (4) ‘Ans: o_o Q- He-}e-HEHF Hy he H, Fig.1 os :2017 Step 2. R ‘Step 3. GG, c TGC +£ |, _____—_ SS, c FEC > ny 56, e YS |] 16.64 6, Hite aya Co LP. University-{B.Tech. }-Akash Books 2017-5 step 7. k 6.6.6.6. ¢ +) — — | 1566, CGH, Hult + 6,6) G8. | Step 8. R 2060. ¢ THOR CBs * CGH CERT . c. CAC Re” 14G,G,H, +G,G,Hs +G,G,H,0 +56, Hy) @.2.(c) Refer to the mechanical system shown in Figure 2, Obtain the system equations first and then the electric cireuit using «@ {() force-voltage analogy _(#i) force-current analogy ‘Ans. From the question we have 4 " 5, ‘Nodal Diagram |