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ASE 383 Homework 3

The document provides instructions for a homework assignment on system dynamics. It includes 3 questions - the first asks to derive and represent the state-space form of a 2D mechanical system, the second deals with converting a transfer function to state-space form and simulating the response, and the third applies the Routh stability criterion to determine the parameter values that ensure stability in a feedback control system.

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21 views

ASE 383 Homework 3

The document provides instructions for a homework assignment on system dynamics. It includes 3 questions - the first asks to derive and represent the state-space form of a 2D mechanical system, the second deals with converting a transfer function to state-space form and simulating the response, and the third applies the Routh stability criterion to determine the parameter values that ensure stability in a feedback control system.

Uploaded by

Nazlı Kendirli
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Middle East Technical University Aerospace Engineering Program

Northern Cyprus Campus ASE 383, Fall 2022

ASE 383 System Dynamics


Homework 3
Due: December 29, 12:30
Submission type: 1 PDF File upload to ODTUClass + hard copy of the report

Question 1. Consider a mechanical system shown in the figure below, where 𝐹" (𝑡) and 𝐹& (𝑡)
are the inputs.

The equations of motion are derived as follows,

𝑚" 𝑥" + 𝑘" 𝑥" − 𝑘& 𝑥& − 𝑥" − 𝑏 𝑥& − 𝑥" = 𝐹" (𝑡)

𝑚& 𝑥& + 𝑘& 𝑥& − 𝑥" + 𝑏 𝑥& − 𝑥" = 𝐹& (𝑡)

a) Obtain the state-space form to represent this system. For the output equations, assume
that the variables of interest (outputs) are 𝑥" and 𝑥& .

b) Re-write the state-space model obtained in Part a in the matrix-vector form, that is
𝑥 = 𝐴𝑥 + 𝐵𝑢, 𝑦 = 𝐶𝑥 + 𝐷𝑢
Clearly show the state vector, input vector, output vector, and the state, input, output and
transition matrices.

Question 2. Consider a dynamic system given by its transfer function


𝛩(𝑠) 1
𝐺 𝑠 = = ; &
𝑈(𝑠) 𝑠 + 2𝑠 + 2𝑠 + 1
a) Obtain the input-output equation for this system.

b) Using the input-output equation from Part a), find the state-space model to represent this
system, assuming that the (measured) outputs are 𝜃 and 𝜃. In the state-space model,
clearly show the definitions of the state variables, state equations, and output equations.
c) Re-write the state-space model obtained in Part b in the matrix-vector form, that is
𝑥 = 𝐴𝑥 + 𝐵𝑢, 𝑦 = 𝐶𝑥 + 𝐷𝑢
Clearly show the state vector, input vector, output vector, and the state, input, output and
transition matrices.

d) Use step function in MATLAB to simulate the response of the system to a unit step input.
First you will need to define the matrices A, B, C, D, then use ss function to obtain the state
space model, and then find the response to a unit step input.

1
Middle East Technical University Aerospace Engineering Program
Northern Cyprus Campus ASE 383, Fall 2022

Note that you will have 2 output variables, and therefore 2 responses will appear in the Figure.
In the Figure, show the response characteristics (peak response and settling time) for each
output variable, and fill out the table:

Response Characteristic Output 𝒚𝟏 Output 𝒚𝟐

Overshoot (%)

Settling time (s)

e) Use MATLAB ss2tf function to convert the state space model to a transfer function. Does
the result agree with the original transfer function given?

Note: State space model derivations (parts a) and b) in the questions) can be written by hand.
For Part d) and e) in Question 2 insert your code as a part of the solution.

Question 3. Consider a control system shown in the Figure below, where 𝐾 is constant parameter.
Use Routh Criterion to determine the values of the parameter 𝐾 for which the closed-loop system
is stable.

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