Chapter 1
P1.1. Introduction
1
2
P1.6.
3
Chapter 2
Mathematical Background
P2.2.
P2.3
.
4
P2.4.
5
Chapter 3
Mathematical Models of Physical Systems&
State Space
P3.1
6
P3.2.
P3.3. A complete spring mass system is shown in Fig.. The masses and
springs re assumed to be equal
a- Obtain the differential equations describing the system
b- Draw the corresponding block diagram
c- Draw an analogous electrical circuit based on the force current
analogy
7
P3.4. A complete spring mass system is shown in Fig.. The masses and
springs re assumed to be equal
a- Obtain the differential equations describing the system
b- Draw the corresponding block diagram
P3.5. An electrical system is shown in Fig..
c- Obtain the differential equations describing the system
d- Draw the corresponding block diagram
8
P3.6. An electro-mechanical system is shown in Fig..
a- Obtain the equations describing the system
b- Draw the corresponding block diagram to find the transfer
function Ө(S)/Vf(S)
P3.7. Consider the electrical circuits shown in figure.
a- Find the equation describing the system
b- Put the system in state space form
9
P 3.8.
10
Chapter 4
Modeling of Fluid Power and Thermal
Systems
P4.1. A hydraulic servomechanism with mechanical feedback is shown
in fig.
a- Obtain the equations describing the system
b- Draw the corresponding block diagram to find the transfer
function Y(S)/X(S)
11
P.4.2. A paper tension control system is shown in fig.
c- Obtain the equations describing the system
d- Draw the corresponding block diagram to find the transfer
function
12
P4.3.
13
P 4.4.
14
P 4.5.
15
P 4.6.
16
P 4.7.
17
P 4.8.
18
P 4.9.
19
P 4.10.
20
P 4.11.
21
P 4.12.
22
P 4.13.
23
P4.14.
24
P4.15 Explain the operation of the speed control system shown in figure, hence obtain
the physical equation of the system nd draw the corresponding block diagram
25
P4.16
26
P4.17
27
Chapter 5
Block Diagrams and Signal Flow Graphs
P5.1
28
P5.2.
29
P5.4.
30
P.5.5.
31
P.5.6.
32
P.5.7
33
P.5.8. Find the transfer function for the shown SFG
34
P.5.9.
35
Chapter 6
Time Domain analysis
P6.1.
36
P6.2.
37
P6.3.
38
P6.4.
39
P.6.5
40
P.6.6.
41
P.6.7.
P.6.8
42
P.6.9.
43
P6.10
44
P.6.11
45
P.6.12
46
P6.13.
47
Chapter 7
Stability Analysis
P7.1
Hence find the sustained frequency
P7.2
and obtain the sustained oscillation
48
P7.3.
P7.4.
49
Chapter 8
Root locus Techniques
P8.1
50
P8.2.
51
P8.3.
52
P8.4.
53
P8.5.
54
Chapter 9
Frequency Domain Analysis
(Bode Plot and Nyquist crirerion )
P9.1.
55
P9.2.
P9.3.
56
P.9.4
57
P9.5
58
P9.6.
P.9.7
59
Chapter 10
PID controllers
P10.1. Draw the hardwired diagram for series P, PI, PD, and PID controller
P10.2 Draw the hardwired diagram for parallel P, PI, PD, and PID controller
60
P10.3. Sketch step response for P, PI, PD, and PID controller
P10.4 What are the effects of P, D, and I terms on maximum overshoot, rise time and
steady state errors
61
[Link] a matlab code to draw the unit step response for the following system.
R(S) C(S)
Ki 10
K+
S S + 20S + 10
2
P10.6. Consider the following system. Draw Bode diagram of the open loop
transfer
function G(S), hence determine phase margin and gain margin
25
G(S ) =
S ( S + 1)(S + 10)
c. Sketch the root locus plot, hence determine the value of PID tuning parameters
based on Zeigler Nichol's method.
62
P10.7. During a step function calibration, a first order instrument is exposed to a step
change of 150 units. If after 1.8 s the instrument indicats 80 units, estimate the instrument
time constant. Estimate the error in the indicated value after 1.5 s. Unity gain ).
63
P10.8
64