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Homework 01

This document contains the details for Homework 1 assigned in the EE361: Control Systems course. It includes 3 problems related to modeling systems with differential equations. Problem 1 has multiple parts involving sketching quadratic functions, finding roots, and rewriting the function. Problem 2 involves modeling an RC circuit with a differential equation and solving it numerically. Problem 3 involves modeling a spring-mass system with damping and external forces using a differential equation.

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John Li
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34 views

Homework 01

This document contains the details for Homework 1 assigned in the EE361: Control Systems course. It includes 3 problems related to modeling systems with differential equations. Problem 1 has multiple parts involving sketching quadratic functions, finding roots, and rewriting the function. Problem 2 involves modeling an RC circuit with a differential equation and solving it numerically. Problem 3 involves modeling a spring-mass system with damping and external forces using a differential equation.

Uploaded by

John Li
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EE361: Control Systems

Homework 1
Due Fri, Feb 10, 5PM Fall 2017

Note: You may need to review your long forgotten course Differential Equations.

Problem 1
Any quadratic equation with real and constant coefficients

f (x) = ax2 + bx + c,

can be converted to the form


f (x) = a(x k)2 + m,
by completing the square, where (k, m) are coordinates of vertex of the parabola, which is also
its stationary point. Consider the following function

f (x) = x2 10x 2,

(a) Find the coordinates of its vertex by


(i) completing the square,
(ii) using calculus.
(b) Sketch the curve, clearly labeling the coordinates of vertex and y-intercept.
(c) Write down the equation of axis of symmetry of the curve.
(d) On the same plot, sketch the curve g(x), where g(x) = 2f (x).
(e) What is the equation of axis of symmetry of g(x)?
According to Fundamental Theorem of Algebra, the equation f (x) = 0 must have two roots.
(f) Without calculating the roots, find out the
(i) sum of roots,
(ii) product of roots.
(g) Are the roots real or imaginary? Explain.

(h) Now solve the equation f (x) = 0, and express each roots in the form .
(i) What is the shortest distant between each root and the axis of symmetry?
(j) Now express f (x) in the form f (x) = a(x r1 )(x r2 ), where r1 and r2 are the roots.
Recall that the equation of a line in Cartesian Plane has the general form

y = mx + c,

where m is the gradient and c is the y-intercept of the line.


Problem 2
In this question, you will understand and apply concept of modeling of systems with differential
equations.

(a) A RLC circuit can be modeled using following laws,


(1) Kirchhoffs voltage and current laws
(2) V = IR
dvC
(3) iC (t) = C
dt
1R
(4) iL = vL dt
L
Model following circuit for the voltage vc (t) across the capacitor, i.e. write differential
equation of the circuit using Kirchhoffs current law.
Figure 1: Sketch with A simple RC circuit

(b) Solve first order differential equation from earlier part if R1 = R2 = 0.5 , C = 1 F and
Vs = 0 V with initial condition vc (0) = 1 V. When there is no driving force acting on the
system, solution of differential equation is called natural response of the system. (Hint:
This is a first order homogeneous equation.)
(c) Solve above part with initial condition of vc (0) = 0 V.
(d) Sketch the graph of natural response of the system for both part (b) and part (c) for
t 0.
(e) Numerical methods are used to approximate solution of a differential equation. One such
method is called Eulers method that was discussed in class. According to Eulers method,
a first order differential equation like,
dy
= f (t, y)
dt
Solution y(t) can be approximated by,

yn+1 = yn + tf (tn , yn )

where t is called step size.


Approximate the solution of above for t = 0 to t = 3 with step size of 0.5 and initial
condition of vc (0) = 1 A.
(f) As discussed in class, numerical methods approximates the solution. Find error using
exact solution from part (b) and numerical solution form part above.
(g) Solve part (d) with t = 0.1 . What difference does it make?
(h) Find the steady-state (as t ) forced response of the circuit when applied voltage
(source voltage) is Vs (t) = sin(t).
(i) Draw total response of the system using solution of the system. (Hint: Total response of
nonhomogeneous differential equation like above is equal to the sum of natural response
and steady-state forced response.)

Problem 3
Figure 2 shows a simple spring mass system with mass m, stiffness constant k and a damper
with damping coefficient b. At the moment, mass m is at its equilibrium position but it can
be pulled right or left causing an expansion or compression in the spring. We can model this

Figure 2: A simple spring mass system

system with an equation like following (you will learn about modeling in the next class),

d2 x dx
m +b + kx = F (t)
dt2 dt
where F (t) is forced applied on mass. Use m = 2 kg, and k = 8 Nm1 for the following parts.
(a) Suppose that at time zero, mass m was at position 1, i.e. x(0) = 1. Find solution of the
differential equation using b = 10 kgs1 . Also sketch plot of the x(t) for t 0 .
(b) Solve part (a) for b = 8 kgs1 and sketch the graph.
(c) Solve part (a) for b = 4 kgs1 and sketch the graph.
(d) What will happen if we remove the damper of the system? (Hint: Think what happens
to the response of system when there is no damping.)
(e) Solve part (a) for b = 0 kgs1 and sketch the graph.
(f) Find impulse and step response of the system. (Hint: Solve differential equation with
F (t) being impulse and step function.)
(g) Response of the system without applying a force is called natural response of the system.
When we apply external force, response of the system become forced response. Total
response of a system with external force applied is sum of both natural and forced response
if system is linear.
Find the forced response of the system if external applied force is F (t) = 3 cos(t) + sin(t).
Also sketch of forced, natural and total response of the system graph. Take values from
part (a) of the question. (Hint: System is linear.)

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