Chapter 3 – Solutions to Instructor Reserve

Problems

I-1 Instructor
Add branch currents and node voltages to the schematic and obtain,

2
3

3 3

Write the differential equation for each energy storage element.

Therefore the state vector is

x=
[ ]
v1
i3

Now obtain v L and i 2 , in terms of the state variables,

Also, the output is

y=i R =4 v 1 + i3

Hence,
 2 Chapter 3: Modeling in the Time Domain

3-

I-2 Instructor

Writing the differential equations,

d2 x1 dx 1 dx
+2 +2 x21 −2 2 =0
dt 2 dt dt

d2 x2 dx 2 dx
2 +2 −2 1 =f ( t )
dt 2 dt dt

Defining the state variables to be x1, v1, x2, v2, where v's are velocities,

x1 = v1

x2 = v2

v1 = -2v1-2x12+2v2

v2 = v1-v2+0.5f(t)

Around x1 = 1, x1 = 1+x1, and x1 =  x1 . Also,

dx
1
x2 = x2  + x = 1+2x  x = 1+2x
1 1 dt  1 1 1 1
x=1 x=1 x=1

Therefore, the state and output equations are,

x 1 = v 1

x2 = v2

v1 = -2v1-2(1+2x1)+2v2

v2 = v1-v2+0.5f(t)
 Solutions to Problems 3-3

y = x2

In vector-matrix form,

.
δx1
. 0 0 1 0 δx1 0 0 δx1
x2 0 0 0 1 x2 0 0 1
| . |=| || |+| || | x
−4 0 −2 2 v 1 −2 2 f (t ) y=|0 1 0 0|| 2 |
v1 v1
. 0 0 1 −1 v 0 0 .5
2
v2 ;
v2

where f(t) = 2 + f(t), since force in the nonlinear spring is 2 N and must be balanced by 2 N force on

the damper.

I-3 Instructor

a. We begin by calculating

( )
s+0 . 435 −0. 209 −0 .02
sI− A= −0 . 268 s+0 . 394 0
−0 . 227 0 s+0 .02
and

s+0.394 0 −0.268 0 −0.268 s+0.394

det (sI− A )=( s+0.435)| |+0.209| |−0.02| |
0 s+0.02 −0.227 s+0.02 −0.227 0
=(s+0 . 435 )(s+0 .394 )( s+0 . 02)+0 . 209(−0 .268 )( s+0 . 02)−0 .02(0 . 227 )(s+0 .394 )
=s 3 +0 . 849 s 2 +0 . 188 s+0 .0034−0. 056 s−0 .00112−0 . 00454 s−0. 00179
=s 3 +0 . 849 s 2 +0 . 1278 s+0 .00049=( s+0. 66 )(s+0 .19 )( s+0 . 004 )
 4 Chapter 3: Modeling in the Time Domain

3-

( )
c 11 c21 c 31
Adj( sI−A )= c12 c22 c 32
c13 c 23 c 33

where

s+0.394 0
c 11=| |=(s+0.394)( s+0.02)
0 s+0.02
−0.268 0
c 12=| |=−0.268( s+0.02)
−0.227 s+0.02
−0.268 s+0.394
c 13=| |=−0.227( s+0.394)
−0.227 0
−0.209 −0.02
c 21=| |=−0.209( s+0.02 )
0 s+0.02
s+0. 435 −0.02
c 22=| |=( s+0.435)(s+0.02)−0.00454=s2 +0.455s+0.00416
−0.227 s+0.02
s+0.435 −0.209
c 23=| |=−0.047443
−0.227 0
−0.209 −0.02
c 31=| |=0.02( s+0.394)
s+0.394 0
s+0. 435 −0.02
c 32=| |=−0.00536
−0.268 0
s+0.435 −0.209
c 33=| |=(s+0.435)(s+0.394)−0.268( 0.209)=s 2 +0.829 s+0.1154
−0.268 s+0.394

[ ]
(s +0 .394 )( s+ 0. 02 ) −0 . 209( s+0 . 02) 0 . 02(s +0 . 394 )
2
−0 . 268(s +0 . 02) s +0 . 455 s+0 . 0042 −0 . 0054
2
Adj (sI− A )
−1
−0 .227 (s +0 .394 ) −0 . 0474 s + 0. 829 s+0 . 1154
(sI− A ) = =
det(sI− A ) ( s+ 0. 004 )( s+0 . 19)( s+ 0. 66 )

[( s+0. 394 )( s+0 . 02) −0 . 209( s+0 . 02) 0 . 02( s+0 . 394 ) ]
C (sI− A )−1=
3333 . 33( s+0 . 004 )(s+0 . 19)( s+0 . 66 )
Y (s) ( s+0 . 02)( s+0. 394 )
=C (sI− A )−1 B=
U (s) 3333 . 33(s+0 . 004 )(s+0 .19 )(s+0 . 66)
 Solutions to Problems 3-5

b.

>> A=[-0.435 0.209 0.02; 0.268 -0.394 0; 0.227 0 -0.02]

A=

-0.4350 0.2090 0.0200

0.2680 -0.3940 0

0.2270 0 -0.0200

>> B = [1;0;0]

B=

>> C = [0.0003 0 0]

C=

1.0e-003 *

0.3000 0 0

>> [n,d]=ss2tf(A,B,C,0)
 6 Chapter 3: Modeling in the Time Domain

3-

n=

1.0e-003 *

0 0.3000 0.1242 0.0024

d=

1.0000 0.8490 0.1274 0.0005

>> roots(n)

ans =

-0.3940

-0.0200

>> roots(d)

ans =

-0.6560

-0.1889

-0.0042

I-4 Instructor
 Solutions to Problems 3-7

By direct observation

[ ][ ][ ] [ ]
ẋ 0 a00 0 a02 0 0 x0 1
ẋ 1 a10 a11 a12 0 0 x1 0
ẋ 2 = a20 a 21 a22 a 23 a24 x2 + 0 d0
ẋ 3 0 0 a32 a33 0 x3 0
ẋ 4 0 0 a42 0 a44 x4 0

24. 20

a.

>> A=[-0.038 0.896 0 0.0015; 0.0017 -0.092 0 -0.0056; 1 0 0 -3.086; 0 1 0 0]

A=

-0.0380 0.8960 0 0.0015

0.0017 -0.0920 0 -0.0056

1.0000 0 0 -3.0860

0 1.0000 0 0

>> B = [-0.0075 -0.023; 0.0017 -0.0022; 0 0; 0 0]

B=

-0.0075 -0.0230

0.0017 -0.0022

0 0

0 0
 8 Chapter 3: Modeling in the Time Domain

3-

>> C = [0 0 1 0; 0 0 0 1]

C=

0 0 1 0

0 0 0 1

>> [num,den] = ss2tf(A,B,C,zeros(2),1)

num =

0 0.0000 -0.0075 -0.0044 -0.0002

0 0 0.0017 0.0001 0

den =

1.0000 0.1300 0.0076 0.0002 0

>> [num,den] = ss2tf(A,B,C,zeros(2),2)

num =

0 -0.0000 -0.0230 0.0027 0.0002

0 -0.0000 -0.0022 -0.0001 0

 Solutions to Problems 3-9

den =

1.0000 0.1300 0.0076 0.0002 0

b.

From the MATLAB results

z −(0 . 0075 s 2 +0 . 0044 s+0 . 0002)
( s )= 3
δB s (s + 0. 13 s 2 + 0. 0076 s+0 . 0002)
θ 0 . 0017 s +0 . 0001
( s )= 3
δB s +0. 13 s 2 +0 . 0076 s+0 . 0002
z −0 . 023 s 2 +0 . 0027 s +0 . 0002
( s )= 3
δS s (s + 0. 13 s 2 +0 . 0076 s+0 . 0002)
θ −(0 . 0022 s+ 0 .0001 )
( s )= 3
δS s +0 . 13 s 2 +0 . 0076 s +0 . 0002

I-5 Instructor

The transfer function is divided into two parts:

So we have
W ( s) 1 Y (s )
= 3 =s+c
R( s ) s +(a+ d )s +( b+ad )s+ bd
2
and W ( s)

In time domain

w⃛ +(a+ d ) ẅ+(b+ ad ) ẇ+bdw=r and ẇ +cw= y

Define the state variables as

 10 Chapter 3: Modeling in the Time Domain

3-

x 1=w
x 2 =ẇ= ẋ1
x 3 =ẅ= ẋ 2

So we can write

⃛ ẋ 3 =r−bdx 1−(b+ad )x 2 −(a +d ) x 3 and y=cx 1 + x 2

w=

In matrix form these equations are:

[][ ][ ] [ ]
ẋ1 0 1 0 x1 0
ẋ 2 = 0 0 1 x2 + 0 r
ẋ 3 −bd −( b+ ad ) −( a+d ) x 3 1

[]
x1
y= [ c 1 0 ] x 2
x3