EPD 30.

101

HOMEWORK #2 SOLUTIONS
Singapore University of Technology & Design
Engineering Product Development
30.101 Systems & Controls
Homework #2 Solutions

1. Obtain the equivalent spring constant for the system shown below:
x

k2
k1

F
k3

F k1 x , F k2 ( y x) k3 ( y x)
Eliminate x from preceding equations:
F
F
F k 2 ( y ) k3 ( y )
k1
k1
FF

Equivalent spring constant:

k k k
keq 1 2 3
k1 k2 k3

k
k2
F 3 k 2 y k3 y
k1
k1
k y k3 y k1 k2 k3
F 2

y
k2 k3 k1 k2 k3
1
k1 k1

Note: k2 and k3 are in series configuration

and k1 and (k2+k3) are in parallel
configuration

2. For the system below, obtain the equivalent viscous-friction coefficient of the system.
x
b1

z
b3

b2

The same force is transmitted through the damper network

f b3 ( y z ) b1 ( z x) b2 ( z x)
b3 y b3 z b1 z b1 x b2 z b2 x
b b b b

b3b1
b (b b )
f 1 2 3 3
y 3 2 3 x

b y (b2 b3 ) x
b1 b2 b3
b1 b2 b3
b1 b2 b3
z 1
b1 b2 b3
b b b
3 1 2 y x
Substituting this expression in
b1 b2 b3
f b3 ( y z ) :
b b b
b y (b2 b3 ) x
beq 3 1 2
f b3 ( y 1
)
b1 b2 b3
b1 b2 b3
b3 y

b3b1
b (b b )
y 3 2 3 x
b1 b2 b3
b1 b2 b3

Note: b1 and b2 are in series configuration and b3

and (b1+b2) are in parallel configuration

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EPD 30.101

HOMEWORK #2 SOLUTIONS

3. A simple pendulum system is shown below which consists of a sphere of mass m

suspended by a string of length l with negligible mass. Neglecting the elongation of the
string, find the mathematical model of the system. Assume is small. (Remember to
find the moment of inertia J in terms of m and l!)
O

Taking moments about the pivot O, J

Only the tangential component of the gravitational force contributes to the torque and J=ml2:
mgl sin ml 2
g
sin 0
l
g
When is small, sin, Equation of motion (Mathematical Model): 0
l
Note that the EOM/MM is independent of mass!
1
Similarly, you can use the energy method: K .E. J 2 , P.E. mg (l l cos )
2
d
K .E. P.E. ml 2 mgl sin 0
dt
g
sin 0
l
4. Consider the spring-mass-pulley system below. If the mass m is displaced from
equilibrium by a short distance, it will vibrate. (Assume displacement is small and
note that J=MR2/2 [why is that so?])
fk

fk
R
R

fk

m
x

M
T2 T1

T1

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fk

M
T1

T2

EPD 30.101

HOMEWORK #2 SOLUTIONS

a. What are the geometrical relationships between y, x and . (Note that y is

measured from the centre of the disk)
The relationships are: y R , x 2 y 2R
b. Find the mathematical model of the system in terms of x using Newton
Laws
From the FBD,
(Spring element)
f k ky
(Translational motion of pulley)
My T1 T2 f k

J RT1 RT2
mx T1

(Rotational motion of pulley), J=1/2MR2

(Newtons 2nd law on mass)
My T1 T2 ky

T1 mx
J
1
mx MR
R
2
1
mx Mx
4

T2 T1

M
1
x
x mx mx Mx k
2
4
2
1
3

M 2m x kx 0
2
4

c. Find the mathematical model of the system in terms of x using the Energy
Method.
1
1
1
1
1
P.E. ky 2 kx 2
My 2 J 2 mx 2
2
8
2
2
2
1
1
1
1
1
1
Mx 2 MR 2 2 mx 2 Mx 2 Mx 2 mx 2 ,
8
4
2
8
16
2
3
1
Mx 2 mx 2
16
2

K .E.

d
d 3
1
1
K .E. P.E. Mx 2 mx 2 kx 2 0
dt
dt 16
2
8

3
1
Mxx mxx kxx 0
8
4
1
3

M m x kx 0
4
8

d. Results from (b) and (c) should be identical!

Yes they are! (And they should!)
5. In the circuit shown below, assume that for t<0, the switch S is connected to the
voltage source E and the current in coil L is in steady state. At t=0, S disconnects
from the voltage source and simultaneously short circuits the coil.

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EPD 30.101

HOMEWORK #2 SOLUTIONS

S
t<0

t>0

E
L
i(t)

a. Find the mathematical model of the system describing i(t) for t>0.
When switch S is closed: L

di(t )
Ri (t ) 0
dt

b. What are the initial conditions for this system?

Initially the current i(t) has an initial value as the voltage source is present: i(t 0)

E
R

c. Use the mathematical model and Laplace Transforms to solve for i(t) for
t>0.
Using ILT:

di (t )
Ri (t ) 0
dt
L sI ( s ) i (0) RI ( s ) 0
L

i(t )

LE
R
LE
1
E
1
I ( s)

R ( Ls R ) R ( s R L)
d. Sketch the time response of i(t).

( Ls R) I ( s )

E/R

E RL t
e
R

t 0

i(t)

Approaches zero
t

e. What is the characteristic equation of the system?

The characteristic equation is: Ls R 0

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EPD 30.101

HOMEWORK #2 SOLUTIONS

6. The following circuit is a special arrangement called a bridged T network. Use

the complex impedance approach and find the relationship between the output
Eo(s) and input Ei(s). Express this relationship as the transfer function
Eo(s)/Ei(s).

C
R
ei

i2(t)
Z4

Z3
eo

Z2

Z3 Z 4
Z1
I1 ( s)
I1 ( s) , I 3 ( s)
Z1 Z3 Z 4
Z1 Z3 Z 4
Ei ( s ) Z 2 I1 ( s ) Z1 I 2 ( s )

I 2 ( s)

Z 2 I1 ( s ) Z1

Z1

i1(t)

eo

The circuit can be redrawn as:

i3(t)
i1(t)

ei

Z3 Z 4
I1 ( s )
Z1 Z 3 Z 4

Z3 Z 4
Z 2 Z1
I1 ( s )
Z1 Z 3 Z 4

Z ( Z Z 3 Z 4 ) Z1 ( Z 3 Z 4 )
2 1
I1 ( s )
Z1 Z 3 Z 4
Eo ( s) Z 3 I 3 ( s ) Z 2 I1 ( s )
Z3

Z1
I1 ( s ) Z 2 I1 ( s )
Z1 Z 3 Z 4

Z 3 Z1 Z 2 Z1 Z 3 Z 4
Z1 Z 3 Z 4

I1 ( s )

Z 3 Z1 Z 2 Z1 Z 3 Z 4
Eo ( s )
Z1 Z 3 Z 4

Ei ( s ) Z 2 ( Z1 Z 3 Z 4 ) Z1 ( Z 3 Z 4 )
Z1 Z 3 Z 4

Z 3 Z1 Z 2 Z1 Z 3 Z 4

Z 2 ( Z1 Z 3 Z 4 ) Z1 ( Z 3 Z 4 )
1
1
Z1 R, Z 2
, Z3 R, Z 4
Cs
Cs
2 2 2
Eo ( s) R C s 2 RCs 1

Ei ( s) R 2C 2 s 2 3RCs 1

7. Obtain the transfer function Eo(s)/Ei(s) of the op-amp circuit below in terms of
the complex impedances Z1, Z2, Z3 and Z4.

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EPD 30.101

HOMEWORK #2 SOLUTIONS

Z4
_

Z3

Z2
ei

Ei ( s ) E ( s ) E ( s ) Eo ( s )

Z3
Z4

Ei ( s ) E ( s) E ( s) 0

Z2
Z1
Z1 Ei ( s ) Z1E ( s ) Z 2 E ( s ) ,
Z1
E ( s )
Ei ( s )
(Z1 Z 2 )

eo

Z1

Z 4 Ei ( s ) E ( s ) Z 3 E ( s ) Eo ( s )
Z 4 Ei ( s ) Z 3 Eo ( s ) ( Z 4 Z 3 ) E ( s )
E ( s )

E ( s ) E ( s )

Z 4 Ei ( s ) Z 3 Eo ( s )
(Z 4 Z3 )

Z E ( s ) Z 3 Eo ( s )
Z1
Ei ( s ) 4 i
(Z1 Z 2 )
( Z 4 Z3 )
( Z 4 Z 3 ) Z1 Ei ( s ) (Z1 Z 2 ) Z 4 Ei ( s ) (Z1 Z 2 ) Z 3 Eo ( s )

( Z 4 Z3 )Z1 (Z1 Z 2 )Z 4 Ei (s) (Z1 Z 2 )Z3 Eo (s)

Eo ( s ) ( Z 4 Z 3 ) Z1 (Z1 Z 2 ) Z 4 Z1Z 3 Z 4 Z 2

Ei ( s )
(Z1 Z 2 ) Z 3
(Z1 Z 2 ) Z 3

a. If ei(t)= 1 for t>0, what is the characteristic equation for Eo(s)?

Z Z Z4 Z2
Z Z Z4 Z2
1
, Eo ( s) 1 3
Ei ( s) 1 3
s
(Z1 Z 2 ) Z3
(Z1 Z 2 ) Z3 s
Characteristic equation: (Z1 Z2 ) Z3 s 0

Ei ( s)

b. If Ei(s) is a unit-impulse function, what is Eo(s)?

Z1Z3 Z 4 Z 2
since Ei ( s) 1
(Z1 Z 2 ) Z3
8. An automobile suspension system can be expressed in the schematic below. Here
m and k1 represent the mass of the wheel and the tire stiffness respectively. The
vehicle effective mass is M and k2 and b represent the stiffness and viscous
friction of the suspension system. The displacements x (wheel motion) and y (car
motion) are measured from their respective equilibrium positions in absence of
u.

By definition, Eo ( s)

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EPD 30.101

HOMEWORK #2 SOLUTIONS
y

k2

k1
u

Road Surface
a. Find the transfer function Y(s)/X(s).
f k2 k 2 ( y x )
f b b( y x )
My f k2 f b

Substituting:

My k2 ( y x) b( y x)
My by k2 y bx k2 x

Taking LT and all initial conditions are zero:

Ms 2Y ( s) bsY ( s ) k2Y ( s ) bsX (s ) k2 X (s )

bs k2
Y ( s)

X ( s) Ms 2 bs k2
Ms 2 bs k2
Note: X ( s)
Y ( s)
bs k2

b. Find the transfer function Y(s)/U(s).

f k1 k1 ( x u )
mx f k1 f k2 fb

Substituting:

mx k1 ( x u ) k2 ( y x) b( y x)
mx bx k1 k2 x k1u k2 y by

Taking LT and all initial conditions are zero:

ms 2 bs k1 k2 X (s) k1U (s) bsY (s) k2Y (s)

ms 2 bs k1 k2

Ms 2 bs k2
Y ( s ) k1U ( s ) bs k2 Y (s )
bs k2

k1 bs k2
Y ( s)

4
3
U ( s) Mms ( M m)bs k1M (m M )k 2 s 2 k1bs k1k 2
c. Using mechanical-electrical analogy (hint: Use Force-Voltage Analogy),
obtain an electrical analog of the mechanical system. Show both the
analogous electrical equations and circuit diagram.

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EPD 30.101

HOMEWORK #2 SOLUTIONS

The 2 mechanical equations are:

My by k2 y bx k2 x

My b( y x) k2 y x 0

mx bx k1 k2 x k1u k2 y by
mx b x y k2 x y k1 x u 0

Using Force-voltage analogy:

1
y q2 M L2 k2
b R2
C2
x q1

m L1

k1

1
C1

u q0
1
1
1
L1q1 R2 q1 q2 q1 q2 q1 q0 0
q2 q1 0
C2
C2
C1
The two equations constitute the 2 loop-voltage equations of an electrical circuit. With these
2 equations, the analogous electrical circuit is then:
L2 q2 R2 (q2 q1 )

L1

Current
Source

i0(t) C1

R2

i1(t)

i2(t)

L2

C2
,
Homework Checklist:
Understand the goal of system modelling and the trade-offs between complex vs
simple models.
Get acquainted to the 3 basic mechanical elements and their constitutive equations. In
both translational and rotational contexts. Remember it is possible to have a
combination. They are not exclusive.
Recall and apply the steps to model mechanical systems. Newtons 2nd and 3rd law are
your friends.
Use the concept of static equilibrium to simplify your expression for EOM/MM.
In case of conservative systems, conservation of energy can be used to derive
EOM/MM
Definition of the characteristic equation of a system
Electrical systems can be modelled in a similar fashion. There are also 3 basic
electrical elements and their constitutive equations. But now you use Kirchhoffs
voltage and current laws.
Use the complex impedance approach to model circuits and op-amps.
Analogy between electrical and mechanical systems. This analogy is not exhaustive
and extends to thermal and fluid systems
Definition of the transfer function and how to obtain the transfer of a system from its
MM/EOM.
Relationship between impulse response of a system with the transfer function.

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