Qno:1

Qno:2
Part(a)
To derive the equations of motion for the given spring-mass system, we can use Newton’s second law of
motion, which states that the sum of the forces acting on a mass is equal to the mass multiplied by its
acceleration. We’ll consider the vertical direction for the displacements.

Now, let’s derive the equations of motion for each mass:

For mass m1:

The net force acting on mass m1 is the sum of the forces from springs 1 and 3 and the damping force
from damper 1. According to Newton’s second law, we have:

M1 * y1’’ = k1 * (y2 – y1) + k3 * (y3 – y1) + c1 * (y2’ – y1’)

For mass m2:

The net force acting on mass m2 is the sum of the forces from spring 1 and damper 1 and the force from
spring 2. According to Newton’s second law, we have:

M2 * y2’’ = -k1 * (y2 – y1) – c1 * (y2’ – y1’) + k2 * (yc – y2) – c2 * y2’

For mass m3:

The net force acting on mass m3 is the force from spring 3 and the damping force from damper 3.
According to Newton’s second law, we have:

M3 * y3’’ = -k3 * (y3 – y1) – c3 * (y3’ – y1’)

These equations represent the equations of motion for the given spring-mass system. They describe the
relationship between the displacements, velocities, accelerations, and the forces acting on each mass.

Part(b)
To put the equations of motion for the spring-mass system into matrix form, we can express the
displacements, velocities, accelerations, and forces as vectors. Let’s define the following vectors:

- Displacement vector:

X = [y1, y2, y3]

- Velocity vector:

V = [y1’, y2’, y3’]

- Acceleration vector:

A = [y1’’, y2’’, y3’’]

 - Force vector:

F = [F1, F2, F3]

Where F1 represents the net force acting on mass m1, F2 represents the net force acting on mass m2,
and F3 represents the net force acting on mass m3.

Now, we can express the equations of motion in matrix form as:

M*a=K*x+C*v

Where:

- M is the mass matrix:

M = [[m1, 0, 0],

[0, m2, 0],

[0, 0, m3]]

- K is the stiffness matrix:

K = [[k1 + k3, -k1, -k3],

[-k1, k1 + k2, 0],

[-k3, 0, k3]]

- C is the damping matrix:

C = [[c1, -c1, 0],

[-c1, c1 + c2, 0],

[0, 0, c3]]

Part(c)
Let’s define the state variables as follows:

- x1: Displacement of mass m1

- x2: Displacement of mass m2

- x3: Displacement of mass m3

- x4: Velocity of mass m1

- x5: Velocity of mass m2

- x6: Velocity of mass m3

Now, let’s express the system as a set of first-order differential equations:

X1’ = x4

X2’ = x5

X3’ = x6

To derive the equations for the velocities, we can use the equations of motion we previously derived:

M1 * x4’ = k1 * (x2 – x1) + k3 * (x3 – x1) + c1 * (x5 – x4)

M2 * x5’ = -k1 * (x2 – x1) – c1 * (x5 – x4) + k2 * (yc – x2) – c2 * x5

M3 * x6’ = -k3 * (x3 – x1) – c3 * (x6 – x4)

Now, we have a set of first-order differential equations in terms of the state variables. To write the
system in matrix form, we can define the state vector and input vector as:

State vector:

X = [x1, x2, x3, x4, x5, x6]

Input vector:

U = [yc]

Using these vectors, we can express the system in matrix form:

X’ = A * x + B * u

Where A is the state matrix and B is the input matrix.

The state matrix A is given by:

A = [[0, 0, 0, 1, 0, 0],

[0, 0, 0, 0, 1, 0],

[0, 0, 0, 0, 0, 1],

[-(k1 + k3) / m1, k1 / m1, k3 / m1, -c1 / m1, c1 / m1, 0],

[k1 / m2, -(k1 + k2) / m2, 0, c1 / m2, -(c1 + c2) / m2, 0],

[k3 / m3, 0, -k3 / m3, 0, 0, -c3 / m3]]

The input matrix B is given by:

B = [[0], [0], [0], [0], [-k2 / m2], [0]]

Therefore, the state-space representation of the spring-mass system is:

X’ = A * x + B * u

Where x is the state vector, u is the input vector, A is the state matrix, and B is the input matrix.
Part(d)
Matlab code:
clc

clear all;

m1=2000

m2=200

m3=500

k1=500

k2=5000

k3=50

c1=100

c2=1000

c3=10

% Define the state matrix A

A = [0, 0, 0, 1, 0, 0;

0, 0, 0, 0, 1, 0;

0, 0, 0, 0, 0, 1;

-(k1 + k3) / m1, k1 / m1, k3 / m1, -c1 / m1, c1 / m1, 0;

k1 / m2, -(k1 + k2) / m2, 0, c1 / m2, -(c1 + c2) / m2, 0;

K3 / m3, 0, -k3 / m3, 0, 0, -c3 / m3];

% Solve for the eigenvalues and eigenvectors

[V, D] = eig(A);

% Extract the eigenvalues and eigenvectors

eigenvalues = diag(D);

eigenvectors = V;

% Display the results

disp(‘Eigenvalues:’);

disp(eigenvalues);
disp(‘Eigenvectors:’);

disp(eigenvectors);

Results:

Eigenvalues:

-2.7523 + 4.4663i

-2.7523 – 4.4663i

-0.0217 + 0.5162i

-0.0217 – 0.5162i

-0.0110 + 0.2915i

-0.0110 – 0.2915i

Eigenvectors:

Columns 1 through 2

0.0009 + 0.0015i 0.0009 – 0.0015i

-0.0982 – 0.1594i -0.0982 + 0.1594i

-0.0000 + 0.0000i -0.0000 – 0.0000i

-0.0090 + 0.0000i -0.0090 – 0.0000i

0.9823 + 0.0000i 0.9823 + 0.0000i

0.0000 – 0.0000i 0.0000 + 0.0000i

Columns 3 through 4

0.7597 + 0.0000i 0.7597 + 0.0000i

0.0697 – 0.0000i 0.0697 + 0.0000i

-0.4541 + 0.0328i -0.4541 – 0.0328i

-0.0165 + 0.3922i -0.0165 – 0.3922i

-0.0015 + 0.0360i -0.0015 – 0.0360i

-0.0071 – 0.2351i -0.0071 + 0.2351i

Columns 5 through 6

-0.1420 + 0.0058i -0.1420 – 0.0058i

-0.0129 + 0.0005i -0.0129 – 0.0005i

 -0.9493 + 0.0000i -0.9493 + 0.0000i

-0.0001 – 0.0414i -0.0001 + 0.0414i

-0.0000 – 0.0038i -0.0000 + 0.0038i

0.0105 – 0.2767i 0.0105 + 0.2767i

Part(e)
Matlab code:
% Assuming the values of k1, k2, k3, c1, c2, c3, m1, m2, and m3 are provided

m1=2000

m2=200

m3=500

k1=500

k2=5000

k3=50

c1=100

c2=1000

c3=10

% Define the state matrix A

A = [0, 0, 0, 1, 0, 0;

0, 0, 0, 0, 1, 0;

0, 0, 0, 0, 0, 1;

-(k1 + k3) / m1, k1 / m1, k3 / m1, -c1 / m1, c1 / m1, 0;

k1 / m2, -(k1 + k2) / m2, 0, c1 / m2, -(c1 + c2) / m2, 0;

k3 / m3, 0, -k3 / m3, 0, 0, -c3 / m3];

% Solve for the eigenvalues and eigenvectors

[V, D] = eig(A);
% Extract the eigenvalues and eigenvectors

eigenvalues = diag(D);

eigenvectors = V;

% Calculate the natural frequencies (square root of eigenvalues)

natural_frequencies = sqrt(abs(eigenvalues));

% Normalize the mode shapes

normalized_mode_shapes = eigenvectors;

% Display the results

disp(‘Natural Frequencies:’);

disp(natural_frequencies);

disp(‘Normalized Mode Shapes:’);

disp(normalized_mode_shapes);

Result:

Natural Frequencies:

2.2905

2.2905

0.7188

0.7188

0.5401

0.5401

Normalized Mode Shapes:

Columns 1 through 2

0.0009 + 0.0015i 0.0009 – 0.0015i

-0.0982 – 0.1594i -0.0982 + 0.1594i

 -0.0000 + 0.0000i -0.0000 – 0.0000i

-0.0090 + 0.0000i -0.0090 – 0.0000i

0.9823 + 0.0000i 0.9823 + 0.0000i

0.0000 – 0.0000i 0.0000 + 0.0000i

Columns 3 through 4

0.7597 + 0.0000i 0.7597 + 0.0000i

0.0697 – 0.0000i 0.0697 + 0.0000i

-0.4541 + 0.0328i -0.4541 – 0.0328i

-0.0165 + 0.3922i -0.0165 – 0.3922i

-0.0015 + 0.0360i -0.0015 – 0.0360i

-0.0071 – 0.2351i -0.0071 + 0.2351i

Columns 5 through 6

-0.1420 + 0.0058i -0.1420 – 0.0058i

-0.0129 + 0.0005i -0.0129 – 0.0005i

-0.9493 + 0.0000i -0.9493 + 0.0000i

-0.0001 – 0.0414i -0.0001 + 0.0414i

-0.0000 – 0.0038i -0.0000 + 0.0038i

0.0105 – 0.2767i 0.0105 + 0.2767i

Qno:4
The characteristic equation is obtained by setting the denominator of G(s) equal to zero:

s^3 + 5s^2 + 3s + 2 + K = 0

The coefficients of the characteristic equation are: a3 = 1, a2 = 5, a1 = 3, a0 = 2 + K.

The Routh array is as follows:

s^3 1 3

s^2. 5 2+K

s^1 {15-(2+K)}/{5} 0
s^0 2+K

Now, we can determine the conditions for stability:

1. The first row of the Routh array must have all coefficients greater than zero:

1 > 0 (s^3 coefficient is always positive).

2. The second row of the Routh array must have all coefficients greater than zero:

5 > 0 (a2 = 5).

3. The first element of the third row must be greater than zero:

(15 - (2 + K))/5 > 0

15 - 2 - K > 0

13 - K > 0

K < 13

4. The second element of the third row must be greater than zero:

0 > 0 (This condition is always satisfied).

5. The first element of the fourth row must be greater than zero:

2+K>0

K > -2

From the above conditions, we have:

-2 < K < 13

Therefore, the range of values for the gain factor K, for which the system is stable, is -2 < K < 13.