Assignment 2

1. Obtain a state-space representation of the mechanical system shown in Figure 1, where u1

and u2 are the inputs and y1 and y2 are the outputs.

Fig. 1

2. Obtain the transfer functions X1(s)/U(s) and X2(s)/U(s) of the mechanical system shown in
Figure 2.

Fig. 2

3. Consider the electrical circuit shown in Figure 3. Obtain the transfer function Eo(s)/Ei(s) by
use of the block diagram approach.

Fig. 3

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4. Using the impedance approach, obtain the transfer function 𝐸𝑜 (𝑠)/𝐸𝑖 (𝑠) of the op-amp
circuit shown in Figure 4.

Fig. 4

5. Consider the system shown in Figure 5. An armature-controlled dc servomotor drives a load

consisting of the moment of inertia JL. The torque developed by the motor is T. The moment
of inertia of the motor rotor is Jm. The angular displacements of the motor rotor and the load
element are 𝜃𝑚 and 𝜃, respectively. The gear ratio is 𝑛 = 𝜃⁄𝜃𝑚 . Obtain the transfer function
Θ(𝑠)⁄𝐸𝑖 (𝑠).

Fig. 5

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