ME 4330 (Automatic controls) – Homework 2

Block diagrams, state-space representation, final value theorem

Due: Feb. 22nd, 2024

Problem 1. (5 points) Perform algebraic long division for

−s3 + 4s − 7
X(s) =
s3 − 2s + 4
solution: To solve this problem first notice that the degree of the polynomial in the denominator and the numerator
is the same (3rd degree) and therefore we will get a divisor if we divide these fractions. We can write

−s3 + 4s − 7 −(s3 − 2s + 4) − 2s + 4 + 4s − 7 2s − 3
3
= = −1 + 3
s − 2s + 4 s3 − 2s + 4 s − 2s + 4
Problem 2. (20 points) A system is shown in Figure 1.
(a) (5 points) Find the closed-loop transfer function Y (s)/R(s) when
10
G(s) = .
s2 + 2s + 10
(b) (5 points) Determine Y (s) when the input R(s) is a unit step.
(c) (5 points) Compute y(t).
(d) (5 points) If the negative feedback sign changes to positive feedback, find the closed loop transfer function
Y (s)
R(s)

R(s) Y (s)
kG(s)
−

Figure 1: Unit feedback control system for Problem 2.

Problem 3. (5 points) The block diagram of a system is shown in Figure 2. Determine the transfer function
T (s) = Y (s)/R(s).

10 1
R(s) Y (s)
− s+1 s

+ +

Figure 2: Multiloop feedback system of problem 3.

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Problem 4. (10 points) A system is shown in Figure 3a.
(a) (5 points) Determine G(s) and H(s) of the block diagram shown in Figure 3b that are equivalent to those of
block diagram of Figure 3a.
(b) (5 points)Determine Y (s)/R(s) for Figure 3b.

R(s) Y (s)
− G(s)
1 + 1 −
R(s) s+5 s + 10 Y (s)
−

H(s)

(a) (b) Generic negative feedback system.

Figure 3: Block diagram equivalence for problem 4.

Problem 5. (15 points) A two-transistor series voltage feedback amplifier is shown in Figure 4a. This AC equivalent
circuit neglects the bias resistors and the shunt capacitors. A block diagram representing the circuit is shown in
Figure 4b. This block diagram neglects the effect of hre which is usually an accurate approximation, and assumes
that R2 + RL ≫ R1 .
(a) (5 points) Determine the voltage gain v0 /vin .
(b) (5 points) Determine the current gain ic2 /ib1 .
(c) (5 points) Determine the input impedance vin /ib1 .

1 ib1 ic2
β1 β2 RL
vin (s) − Rg + hie1 vo (s)

(1 + β1 )R1
vc1 +
+

R1
R1 + R2
(a) (b)

Figure 4: Feedback amplifier of problem 5.

Problem 6. (40 points) For differential equations below:

1. ẏ1 (t) − y1 (t) = u1 (t).
2. ÿ2 (t) + ẏ2 (t) − 2y2 (t) = u̇2 (t) + 2u2 (t)
where both systems are at rest (all initial conditions are zero),
(a) (10 points) Find the transfer function of each system.
(b) (10 points) Write the state-space representation of each system (find matrices A, B, C, D).
(c) (10 points) Draw a block diagram using integrator, summation, and gain blocks for each system.
(d) (MATLAB problem- 10 points) To work with state-space systems, MATLAB has the command ss(·). Read
the instructions on how to use this command either by looking it up on the Internet, or by typing help ss
inside Command Window in MATLAB. Now use this MATLAB command to convert the transfer function that
you found in part (a) into a state-space representation. To check that your state-space representation is correct,
use MATLAB command pole(·) to find poles of the state-space model and then use the same command on
the transfer functions you found before.

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Problem 7. What is the shortcoming of transfer functions as a way to model systems? solution: Transfer functions
are defined as the Laplace transform of the output of a system divide by the Laplace transform of the input of the
system. So if both numerator and the denominator have the same term (let’s say s − 5) then because we have an
algebraic relationship the term in the numerator and the denominator will simplify. But that is not good because
the actual physical system has features that the pole and zero we simplify are supposed to model. So our model is
removing some useful information about the system.
Problem 8. What is the result of the following matrix-vector multiplication?
 
1 −1  
1 3
2 0

solution: Notice that the dimensions of these matrices, respectively, are 2 × 2 and 1 × 2. Therefore we cannot
multiply them!
Problem 9. What is the result of the following matrix-vector multiplication?
  
1 −1 1
2 0 3

solution: Now the dimensions match! The result is:

 
−2
2

Problem 10. Consider the equations below:

ẋ1 (t) = 5x1 (t) + 12x2 (t) + 2u(t)

ẋ2 (t) = −1x1 (t) + 3x2 (t) − 1u(t)
 
x1 (t)
if we define x(t) = , which one of the following are this system in matrix form?
x2 (t)