TECHNOLOGICAL UNIVERSITY OF PANAMA

REGIONAL HEADQUARTERS OF CHIRIQUÍ

SCHOOL OF ELECTRICAL ENGINEERING

ELECTROMECHANICAL ENGINEERING

SUBJECT:

CONTROL THEORY I

MEMBERS:

ALFREDO GUERRA 4-774-629

GILBERTO CASTILLO 4-782-901

OLIVER BATISTA 4-776-405

PEDRO GUERRA 4-770-369

ANTHONY AIZPURÚA 4-798-1337

GROUP: 2IE141

PROFESSOR:

DR. OMAR AIZPURÚA

DELIVERY DATE:

25 de octubre de 2018
MECHANICAL SYSTEMS
Automatic Control Systems (Kuo Benjamin II edition)

Band or chain

PROBLEM-176 Considering a load that has an inertia of 0.05 oz-in

- s 2 and a Coulomb friction pair of 2 oz-in, determine the inertia and the
friction pair that is reflected through a gear train of 1:5 (N1/N2 = 1/5
with N2 is the side of the charge).

Solution:

The inertia reflected on the N1 side is given by the following equation:

2
N 1
Reflected inertia for N1=( ) ∗I
N2
2
Reflected inertia for N1= ()
1
5
∗0.05=0.002 oz− worm−s2

2
Coulomb friction reflection is= ()
1
5
=0.4oz− bug.

2. Damped Mass-Spring System

PROBLEM-179

Solution:

Force equation of the system

2
( )
I don't understand ( ) t
Body
f ( t=) + + The ( you
)
dt 2 dt
With X 1= yX
; 2 =dy/ dt the equation is transformed into

dx1 ( t )
dt =x 2 ( t )
dx2 ( t ) −K B 1
= x1 ( t )− x 2 ( t ) + f(t)
dt M M M

The Mass-Spring system can be represented by a free body diagram.

Finally, the following expressions are obtained from the equations of state:

Mdv ( t )
=−Bv ( t )−fk ( t )+ f ( t )
dt

1
df ( t )
K k
=v ( t )
dt

PROBLEM 180

Now another Spring Mass system with a different configuration is presented.

Due to the force f(t), the spring deforms and two displacements are assigned,
being y 1 ;y2 .

f ( t )=K [y 1 (t )− y 2 ( t ) ]

2
M d y2t ( ) Bd y2(t )
K [ y1 ( t )− y 2 ( t ) ] = +
dt2 dt

Converting the previous system into a body diagram we have:

With this diagram we can model the system with the state variables:

dx2 ( t ) −B 1
= x (t)+ f (t )
dt M 2 M

dv ( t ) −B 1
= v ( t ) + fk (t )
dt M M

Finally, when it is necessary to determine the displacement y1(t) at the point

of force application, the relationship used is:
t
fkt( ) f (t )
y 1( t )=
K +y 2
( t )=
K 0
+∫v ( τ ) dτ+ y 2(0)
PROBLEM 182

The Newton's force equations of the shown system are sought.

continuation.

f ( t )=
M1d2y ( t )
dt2
+B 1
dt (
dy ( t ) dy2 ( t )
−
dt )
+ K 1 [ y( t )− y2 ( t ) ]

0=−B
[ dt
−
dt ]
dy ( t ) dy2 ( t )
−K1y( ( t )− y2 (t ) ] +
M2d2y ( t ) B 2 d y 2( t )
dt2
+
dt
+ K2y2 ( t )

The equations come from the free body diagrams of the system.
Finally, they are sought based on the state variables.
 dv1
M1 =−B 1v1 +B1v 2−fk1 +f
dt

dv2
M2 ( B1 v+f−f
=B 1v−1 B+ 2) 2 k1 k2
dt

d f k1
=To 1 ( v−v
1 2)
dt

d f k2
=K 1v 2
dt

Modern Control Engineering (Ogata 4th edition)

PROBLEM 81. Mass- Spring- Damper.

Consider the mass-spring-damper system shown in a car with mass.

despicable as shown in figure 1. A shock absorber is a device
that provides viscous damping, consists of a piston inside a cylinder
full of oil. Any relative movement between the piston and the cylinder presents
an opposition since the oil flows around the piston from one side of it
until the other. The shock absorber essentially absorbs energy, this energy
absorbed is dissipated in the form of heat and the damper does not store any
type of energy. Obtain the mathematical model of this system assuming that the
car and the spring mass system has no displacement for t< 0 In this
system u(t) it is the movement of the cart and it is the input of the system. For
a time t=0 the car moves at a constant speed ú ( t ) =constant .
The displacement y (t) the mass is the output. In the system m represents the
mass, b the viscous damping coefficient, and k the spring constant.

Newton's second law states that:

m∙a= ∑ F

Applying this law to the system we have

d 2y
m
dt2
=−b ( ready
−
dt dt )
−k ( y−u)

Rearranging the equation

d 2y dy you
m +b+ ky=b+ku
dt 2 dt dt

Applying Laplace

(
m s+bs+k)Y s=( ) bs+k
2
(
U(s)
)

Clearing to find the transfer function

Y( s ) bs+k
G ( s )= =
U ( s ) ms2+ bs+k

We found the state space representation of the system using the

equations that govern the dynamics of this.
 b k b k
ý + ý+ y = ú + u
m m m m

We assign the state variables

x 1= y

b
x 2=x́ 1− u
m

[ ( )]
2
−k b k b
x́ 2= x1 − x 2 + − u
m m m m

We found the variable vector and the output vector.

][ ] [ ]
b

[ ][
0 1
x́ 1 x1 m
= −k−b + 2 u
x́ 2
m m
x2 k
( )
−
m m
b

y= [ 1 0 ]
[]x1
x2

Block diagram of the system

X 1( s )
PROBLEM 86. Find the transfer function , of the system
U ( s)
mechanic shown in the figure.
Making a summation of force for each of the systems

x́2
´´
x́1 −¿+u
mx́=−k
1 1 x−k 2( 1 ¿ 2)
1 1 x−x−b

x́ 1
´´
x́ 2−¿+u
m2x́=−k
2 x−k 2 ( 2 ¿ 1)
3 2 x−x−b

Rearranging and factoring we have

mx́+
1 1bx´ + ( k1 x=bx´
1 k+ 2) 1 + k2 x+u
2 2

mx́+bx´
2 2 ( 2 x=bx´
+2 k+k 3) 2 + k1 x 2 1

Applying Laplace

[m s+bs+ k+k
1
2
( 1 X) ]
2 ( ) bs+k
s=
1 ( 2( )
X2 ) s+U(s)

[m s+bs+ k+( k
2
2
2 X) ]
3 ( ) bs+k
s=
2 ( 1 ( ) s)
X2 ) s+U(

We clear for X 2( s )

( bs+k2 ) X1 ( s )+U( s)
X 2( s )=
[m2 s2 +bs+ (k+k 2 3)]
Replacing in the equation in terms of s of the first mass.

[m s +bs+ k+k+m ] (s )
=(m s2 +bs+ k+k)U(s)
2 2 2
1 ( 1 ) s +bs+ k+k( − bs+k
2 2 2 ) (
3 X 2 ) 1 ( 2) 2 3

Reordering to find the transfer function of each mass

X 1 (s) m2s 2+bs+k 2 + k 3

=
U(s) [m1s2+bs+ k+k+m
( 1 2 ) s2 +bs+
2 ( 2bs+k
k+ k− 3) ( 2 )
2
]

X 1 (s) bs+k 2
=
U(s) [m1s +bs+ k+k+m
2 2
( 1 2 ) s +bs+
2 ( 2bs+k
k+ k− 3) ( 2 )
2
]

Inverted pendulum

PROBLEM 87. An inverted pendulum mounted on a cart driven by a

motor appears in Figure 3.20(a).

This is a model of the position control of a primary space propulsor for

takeoffs. (The objective of the position control problem is to maintain the
primary space thruster in a vertical position.

The inverted pendulum is unstable because it can rotate at any moment and in
any direction, unless a convenient control force is applied.
Here only a two-dimensional problem is considered, in which the pendulum
It only moves in the plane of the page. The control force u is applied to the cart.
Assume that the center of gravity of the pendulum rod is at its center.
Geometric. Obtain a mathematical model for this system.

Sea θ the angle of the bar with respect to the vertical line. Let also the
coordinates (x, y) of the center of gravity of the pendulum bar x Ga,ndG¿ . From
this way
x G=x +lsinθ
y G=lcosθ
 a b

To obtain the equations of motion for the system, consider the

diagram that appears in Figure 3.20(b). The rotational movement of the bar
the pendulum around its center of gravity is described by

´
Iθ=Vlsinθ−Hlcosθ

Where I is the moment of inertia of the bar around its center of gravity.

The horizontal movement of the center of gravity of the pendulum bar is obtained
by means of

d2
m ( x +lsinθ=H
)
dt2

The vertical movement of the center of gravity of the pendulum bar is

d2
m ( lcosθ=V
) −mg
dt2

The horizontal movement of the cart is described by

d2
m =u−H
dt2

How to keep the inverted pendulum in a vertical position, it can be

suponer que θ(t ) y θ́ ( t ) they are small, deformed sine theta=0 , cosθ=1 y
θ θ´ =0 Then, the equations are linearized in the following way:
2

´
Iθ=Vlθ−Hl
´
m( x́+ lθ)=H

0=V −mg

Based on these equations, it is obtained

´
( M + m) x́ +mlθ=u

Moreover

´
Iθ=mglθ−Hl
 ´
Iθ=mglθ−l( mx́ +mlθ) ´

I+ml θ+ml
( ) ´ x=mglθ
2
´

These equations describe the motion of the inverted pendulum system.

the car, They constitute a mathematical model of the system.

PROBLEM 88. Consider the inverted pendulum system shown in the

Figure 3.21. As in this system, the mass is concentrated at the top of the rod, the
the center of gravity is the center of the pendulum ball. For this case, the
the moment of inertia of the pendulum with respect to its center of gravity is small, and
It is assumed that I=0. Therefore, the mathematical model for this system is the
next

´
( M + m) x́ +mlθ=u
2´
mlθ+ml ´
x=mglθ

These equations can be modified as

´ ( M+m ) gθ−u
Mlθ=

Mx́=u−mgθ

The equationMlθ=´ ( M+m ) gθ−uIt was obtained by eliminating x́ of the equations

´
( M + m) x́ +mlθ=u y 2 ´ x=mglθ
mlθ+ml ´ The equation Mx́=u−mgθ himself
obtained by eliminating θ́ of the equations ´
( M +m) x́ +mlθ=u y
2´
´
mlθ+ml x=mglθ
From the equation Mlθ=´ ( M+m ) gθ−obtains that the transfer function of
the plant is

ϑ (s) 1 1
= =

( √ MMl+m g)(s− √ M+m

−U( s) Mls −( M + m ) g
Ml )
2
Ml s+ g

The inverted pendulum plant has a pole on the negative real axis.

[s=−
( √ M+m
√ Ml )
√ g] [s=
and another on the positive real axis
( √ √MMl+ m) √g] . Therefore, the
The plant is unstable in open loop.

Let the state variables be x 1 ,x2 ,x3yx4next:

x 1=θ

x 2=θ´

x 3=x

x 4=x́

Note that the angle θ indicate the rotation of the pendulum rod in relation to the
pointP, you are the position of the car. If θyx is considered as the outputs of the
system, then

y=
[ ][][ ]
y1 θ x
= = 1
y2 x x3

(Note that both θ Comoxson easily measurable quantities.) Then,

from the definition of state variables, we obtain:

x́ 1=x 2

M+m 1
x́ 2= gx1− u
Ml Ml

x́ 3=x 4

−m 1
x´4= gx + u
M 1 Ml

In terms of vector equations, it is given

 ¿

[]
0 100 0
M+m −1
g000
Ml Ml
0 000 + u
0
¿ 1
−m
g000 Ml
M

[]
x́1
x́2
=¿
x́3
x´4

[]
x1

[ ][
y 1 1 000
=
y 2 0 010 ] x2
x3
x4

These equations provide a state space representation of the system.

of the inverted pendulum. (Note that the representation in the state space of
The system is not unique. There are infinite representations for this system.

PROBLEM PAGE 196 (Biomechanics):

Model for the vertical jump with fixed upper limbs. m1+ m2 Dough
body components. Ground reaction force. Force generator.
of strength. τ Neuromuscular time constant, and vertical coordinate. y0
initial vertical coordinate. y´, ý First and second derivatives. C1 y
C2 Generator force parameters. phases of movement. A Standing, B
Descenso,Cextensión,Daerotransportado.

PeriodA:t<t( 1 )
m2g−F=0

m1g+ F−R=0

y= y 0; ý 0

(1
Period B:t<t<t 2 )
m2g+m2 ý−F=0

m1g+ F−R=0

´ F=C 1 ( y 0− y )
τF+

( 2t
PeriodC:t<t< 3 )
m2g+m2 ý−F=0

m1g+ F−R=0

C
τF+´ F=C 2 ( y 0− y ) ; ¿ ), o R=R (is2 )constant;( ∆y≠0)
¿
¿

Moment3
 +¿¿
t3
¿
−¿
t 3¿
¿
ý ¿

Period D:t> (t 3 )

( m+mý
1 2)+ m( +m 2)
1 g=0

F=0

R=0

PROBLEM A-4-7 (SYSTEMS DYNAMICS-OGATA "FIRST EDITION").

Consider the liquid level system shown in figure 4.34. The reason for
flow Q through the hole is equal to √
c A02gH=K H√ where A 0 it is the
area of the hole c it is the discharge coefficient, g it is the constant of
acceleration of gravity H it is the height above the center of the hole and
√
K=c A 02g The capacitance of the tank is constant and is equal to C .
Let's suppose that in t=0 the height is H 0 a H 1 (0<H 1 <H 0 ) , both heights
measurements from the center of the hole.

Solution:
Suppose that the flow rate Q está medida en metros cúbicos por
second, the capacitance in square meters and the height in meters. Then, the
liquid discharged from the hole in dt seconds is What time
, which is equal
to the reduction in the volume in the tank during the same dt seconds. By
so much,

Q dt=−C dH

And so;

−C −C
dt= dH= dH
Q K√H

Let's suppose that H=H 1 in t=t 1 It is inferred that:

t1 H1 H1

[ ]
H
−C −C dH−C −2 C
t= ∫
1 dt= ∫ K H√ dH= K ∫ √ H = 1

K
√
2H=
H0 K
( √ H−0 H√ 1 )
0 H
0 H 0

Thus, the time needed to bring down the height of H0 meters of H1

meters is

t= ( 2KC )∗( √H− H √seconds

0 ) 1

PROBLEM A-4-8 (SYSTEM DYNAMICS-OGATA 'FIRST EDITION').

In the liquid level system of Fig. 4-35, suppose that the flow rate...
m3
outgoing ( ) through the outlet valve is related to the height
s
Hpor

√
Q=KH=0.01H √
It is also assumed that when the inflow rate Qi is 0.015

( )m3
s
, the height remains constant. In t=0 the flow inlet valve
it closes and, therefore there is no input flow for t ≥ 0 Find yourself the time
necessary to empty the tank to half of its original height. The capacitance of
the tank is 2 m2
 Figure 4-35 Liquid level system.
Solution: When the height is stationary, the rate of inflow is equal to
the reason for the outflow. Thus, the heightH o in t=0 it is obtained from:

0.015=0.01H√ o

H o=2.25m

The equation of the system for t> 0 is

−C∗dH=Q∗dt

dH−Q−0.01H
= = √
dt C 2

dH
=−0.005∗dt
√H

We assume that H=1.125m en t=t 1 Integrating both sides of this last one
equation, we have:

−(¿ 0.005)dt=−0.005t1
1.125 t1
dH
∫ =∫ ¿
√H 0
2.25

2 √1.125−2 2.25=−0.005t
√ 1

Or well t 1 =176 seconds

PROBLEM A-4-15. (MODERN CONTROL ENGINEERING "THIRD
EDITING

Consider the liquid level control system in the figure. A controller

Hydraulic integral controls the input valve. Assume that the input flow
in steady state is Q́ and that the output flow in steady state also Q́ ,
that the height in steady state is H́ that the pilot valve displacement
in steady state it is X́ =0 , and that the valve position in steady state is
Ý We assume that the adjustment point Ŕ corresponds to the height in state
stable H́ The adjustment point is fixed. Also assume that the input flow
of disturbance q d , which is a small amount, applies to the water tank
in t=0 This disturbance causes the height to change from H́ a H́+h .
This change causes a change in the output flow by q 0 Through the
hydraulic controller, the change in height causes a modification in the flow
of entry from Q́ a Q́+qI The integral controller tends to maintain the height
as constant as possible in the presence of disturbances). We assume that all
the changes are of small amounts. Assuming the following values
numerical for the system, obtain the answer h(t) when the input of
perturbation q d it is a unit step function.

seg
C=2 m 2R=0.5 k v =1 m 2 /seg
m2

a=0.25b=0.75mk1=4seg−1

Solution. Given that the increase of water in the tank during dt seconds is
equal to the net inflow into the tank during the same dt seconds,
we have to;
 C d h = (q−q
i +q
0 )
ddt

Where;

h
q 0=
R

For the feedback lever mechanism, we have to:

a
x= h
a+b

We assume that the speed of the power piston (the valve) is proportional to l
displacement of the pilot valve x , or well,

dy
=K 1x
dt

Where K 1 it is a positive constant. We also assume that the change in

the input flow qI it is negatively proportional to the change in the opening of
the valve and, or else,

qi =−K vy

Where K v it is a positive constant.

Now we determine the equations for the system in the following way. From
from the equations we obtain;

dh h
C=−K vy− +qd
dt R

From the equations, we have that;

dy K 1a
= h
dt a+b

By substituting the determined numerical values into the equations, we obtain;

dh
2=−y−2h+qd
dt

dy
=h
dt

If we take the Laplace transform of the 2 previous equations and

assuming initial conditions of zero, we obtain;
 2sH ( s )=−Y ( s )−2H ( s ) +Qd (s)

sY ( s )=H(s)

Deleting Y(s) from the last two equations and considering that the input
In disturbances, it is a unit step function or what Qd ( s )=1 /s we obtain;

s+0.5¿ 2+0.52
¿
s 1 0.5
H ( s )= 2 =
2 s +2 s +1 s ¿

The inverse Laplace transform of H(s) give the answer on time

h(t) .

h ( t=1−e
) −0.5t
sen0.5t

THERMAL PROBLEM.

Air heater (Ogata Katsuhiko page 122):

Considering small deviations from the
steady state operation, draw a diagram
of the air heating system blocks in
the figure Suppose that the heat losses in the
environment and the heat capacity of the
The metal parts of the heater are insignificant.
H́ e l l o steady state temperature of incoming air, °C
´ = steady state temperature of outlet air, °C
Tₒ
G = mass flow of air through the heating chamber, Kg/sec
M = mass of the air contained in the heating chamber, kg
c = specific heat of air, kcal/kg °C
R = thermal resistance, °C sec/kcal
C = thermal capacitance of the air contained in the heating chamber =
Mc, kcal/°C
H́ = steady state heat input, kcallseg
Let's suppose that the heat flow suddenly changes from H´ aH+h
´ and what
the incoming air temperature suddenly changes from ´ ´
ÖiaÖi+Hello. In
in this case, the outlet air temperature will change from ´ sun+Өₒ.
The ´
The equation that describes the behavior of the system is
C d ₒ = h+Gc
[ ( Oh−e ) ] dt
C dӨₒ =h+Gc(Hello−Өₒ)
dt
1
Gc=
R
 C dӨₒ =h+ (Hi−Өₒ)
1
dt R
RC dӨₒ +Өₒ=Rh+Oh
dt
R 1
Өₒ ( 0 )=0 , we obtain Ө o ( s )= H ( s )+ Oh(s)
RCs+1 RCs+1

The figure illustrates a thermal system consisting of two compartments, one of the
What does a heater contain? If the temperature of the compartment that contains
the heater is T₁, the temperature of the other compartment is T₂ and the temperature
around the behaviors is T₃develop the equations that describe
how will temperatures T vary over time₁ y T₂All the walls of the
containers have the same resistance and the capacitance is negligible. The
Two containers have the same capacitance C.

For T1

dT1
q−q 1−q2 =C
dt
 T 1−T 3
q1 =
R

T 1−T 2
q 2=
R

1 dT1
q+ ( −T+T−T+T=C
1 3 1 2)
R dt

dT1
Rq+( −T+T−T+T=R
1 3 1 C2 )
dt

RQ(s)−2T 1 (s)+ T 3 (s)+T 2 (s)=RCsT 1 (s )

For T2

dT2
q 2−q3 =C
dt

T 1−T 2
q 2=
R

T 2−T 3
q3 =
R

dT2
T 1 +2 T 2−T 3 =RC
dt

T 1 ( s )−2 T 2 ( s ) +T 3 ( s )=R C s T 2 (s)

PROBLEM 3.10

Consider the pendulum system with spring load from figure 3-57. Suppose
that the spring force acting on the pendulum is zero when the pendulum
it is vertical θ=0. Also assume that the friction involved is insignificant and
that the angle of oscillation θ is small. Obtain a mathematical model of the
system.

´
Jθ=T

T =−2kθ a2−mglθ

J =ml2
 2´ 2
ml θ=−2 k θ a −mglθ

θ́+
( 2k a 2g
ml2 )
+ θ=0
l

PROBLEM 3.4

Consider the conical water tank system in Figure 3-61. The flow through
the valve is turbulent and is related to the height H by

Q=0.005H√

m3
Where Q is the measured flow in and H is in meters. Suppose that the height
s
Is 2 m at t = 0. What will be the height at t = 60s?

2
H
CdH=−Qdt , H=3 r , C=r 2π =( π)
3
2
H
( πdH=−0.005H
) dt√
3
 3
9
(H) 2dH=−0.005dt
π
x 3 60
9
∫ (H) 2dH=−0.005 ∫ dt
π 0
2

5 5
2 2 2
( x −2 )=−0.014324( 60−0)
5
5
x 2 −(1.4145 ) =−2.1486
5
x 2 =5.6568−2.1486=3.5082

5
logx=log10 3.5082
2 10

x=1.6521m

Figure 4P-16 shows the schematic diagram of a control system.

suspension of steel pellets. The steel pellets are suspended in the
air through an electromagnetic force generated by the electromagnet. The
The control objective consists of keeping the metal pellet suspended in a
nominal equilibrium position, controlling the current in the magnet with respect to the
voltage e (t) The resistance of the spring is R, so the inductance is

L
L( y ) =
y

where L is a constant. The applied voltage e (t) it is a constant with a

amplitude E.

a) Suppose that Eec it is the nominal value of E. Determine the values

nominal ofyyýin balance.
b) Define the state variables as
x 1=i , x 2= y , x 3= ý
Determine the nonlinear state equations in the form
x́=f ( x,e)
c) Linearize the equations of state with respect to the equilibrium point and
express yourselves as
δ x́= Adx+ Bδe
 The force generated by the electromagnet is What2 / y, 2where K is a constant of
proportionality and the gravitational force on the steel bullet is Mg.

Solution

a) Equations of equilibrium of the System

wshtai 2 ( ) of ( t )
Mg−
y (t2
)
=0 ; e ( t )=Ri ( t ) + L
dt

b) State Variables

x 1(t)=i(t ) x 2,(t)= y (t) , x 3 (t)= y´ (t) , y 1 (t)= y (t)

Nonlinear state equations

dx1 ( t )
x 2( t )=
dt =y(t)
dx1 ( t ) −R e (t )
= x1 ( t ) +
dt L L
2 2
d x3t ( ) k x1(t )
=
dt2 mg

c) δ x́= Adx+ Bδe

Linearization of the system

( ) ( )
0 1 0 0
A ¿ = g0−k / M B= 0
0 0−1/L 1/ L

)( ) ( )
0

()(
x´1 0 1 0 x1
0
x́ 2 = g0−k / M x2 + e(t)
1
x´3 0 0 −1 /L x3 L

PROBLEM 4.19 (Benjamín, Kuo)

Fig. 4P-18 shows the schematic diagram of a control system with

suspension of pellets. The steel pellet is suspended in the air by means of
an electromagnetic force generated by an electromagnet. The objective of the control
it consists of keeping the metal pellet suspended in a nominal position,
controlling the current of the electromagnet. When the system is at its point of
stable equilibrium, any small disturbance of the position of the balls with
Regarding its floating equilibrium position, it will cause the control to return to the ball.
to the equilibrium position.

Figure 4P-18

First, a free body diagram of the system is created:

Where:

M 1 mass of the electromagnet = 2

M 2=¿ masa del balín de acero = 1

B=¿ coefficient of viscous friction of air.

K=¿ proportionality constant of the electromagnet = 1

g=¿ acceleration due to gravity = 32.2

a) Knowing Y 1=1, determine sY

 Equilibrium equations:
1
y 2− y 1
(1) ¿
¿
M 1g+ Ki2 ¿
1
y2 − y 1
(2) ¿
¿
M 2g=Bý 2 ++K i2¿

b) Define the state variables as

x 1= y 1
x 2= ý 1
x 3= y 2
x 4= ý 2

Write the nonlinear state equations of the system in the form of

x́=f( x,i)

) ( )
1 2 AI2 M1
K
x 1=¿ I 2
B ( x 3−x 1
−
B x 12
+
B
g

´¿

2
M
K
x 3=¿ I 2
B ( 1
x 3−x 1) + 2g
B
´¿

PROBLEM 89 (OGATA)

Consider the inverted pendulum system shown in figure 3-21. As in

In this system, the mass is concentrated at the top of the bar, the center.
the center of the pendulum ball is gravity. For this case, the moment of
the inertia of the pendulum with respect to the center of gravity is small, and we assume
l=0 in equation 3-56. Then the mathematical model for this system is the
next

´
( M+ m) x́ +mlθ=u equation 3-57
2´ x=mglθ
mlθ+ml ´ equation 3-58
Equations 3-57 and 3-58 can be modified to:

´ ( M+m ) gθ−u
Mlθ= equation 3-59

Mx́=u−mgθ equation 3-60

Equation 3-59 was obtained by eliminating x́ from equations 3-57 and 3-58.
Equation 3-60 was obtained by eliminating θ́ from equations 3-57 and 3-58. From the
From equation 3-59, we obtain the transfer function that is given as

Θ( s) 1
=
−U( s) Mls − M + m ) g
2 (

1
¿

( √ M+m
Mls+
Ml )( √ Ml )
g s−
M+m
g

The root of the inverted pendulum has a pole on the negative axis. s=−
[ √ M+m
Ml
g
]
[ √
and another on the positive axis s= M+m
Ml
g
] Therefore, the root is of open loop

unstable

We define the state variables

x 1=θ
 x 2=θ´

x 3=x

x 4=x́

Note that the angle indicates the rotation of the pendulum bar with respect to the
point P, and x is the location in the plane. If we consider y x like the outputs of
system then,

y=
[ ][][ ]
y1 θ x
= = 1
y2 x x2

Then from the definition of state variables and equations 3-59 and 3-60,
we obtain

x́ 1=x 2

M+m 1
x́ 2= gx1− u
Ml Ml

x́ 3=x 4

−m 1
x´4= gx + u
M 1 M

[ ][ ][ ] [ ]
0 1 0 0 0
x́1 M+m x 1 −1
g0 0 0
x́ 2 Ml x 2 Ml
= + u
x́3 0 0 0 1 x3 0
−m 1
x´4 g 0 0 0 x4
M M

[]
x1

[]
y1 1 0 0 0 x2
=[ ]
y2 0 0 1 0 x3
x4
 Mathematical Modeling of Systems
Type of Book Name of the edition Page Figure/Prob
System Author book n
Mechanic What Systems second 172,173,174 Trains of
Benjamin automatics of Gears
Control

Gear train

Illustration 1 Gear Train

ϴ1,ϴ 2=angular displacements
T 1, T 2 =pairs developed by the gears
N 1, N 2=number of teeth
 The number of teeth of the gears is proportional to the radii. r1 y
r2 .
r 1N 1
r 1N 2=r 2N1 → =
r 2N 2
Distance traveled along the surface of the gears.
r 1 ϴ 1=r 2ϴ2
The work done by one gear is equal to that done by the other.
losses)
T 1ϴ 1=T 2 ϴ 2
If the angular velocities are respectively ω1, ω 2
T 1 ϴ 2N 1r 1ω2
= = ==
T 2ϴ 1N 2r 2ω1
Blockdiagrambasedonthenumberofteethofthegears

Illustration 2 taking angular displacement 1 as input

Illustration 3 taking the Torque pair 1 as input

Illustration 4 taking angular velocity 1 as input

Ingenieria de Control Moderna, Ogata K., IV Ed. (96-98)

Inverting Amplifier. Considering the operational amplifier shown in the

figure, obtain the output voltage e0

Equations obtained from the circuit

 ei−e' e ' −e 0
i 1= , i 2=
R1 R2

Equalizing i 1=i 2

ei−e' e' −e0

=
R1 R2

e i−e 0
=
R 1R2

−R 2
e 0= e
R1 i

( )
R1
e 0=K ei− e0
R1 +R2

( )
R1 1
e i= + eo
R1 +R2K

Being K>>1, if R1/(R1+R2>>1/K

( )
R
e o= 2+1ei
R1

Applying Laplace

E 0 (s ) R2
= +1
E I (s ) R1

Ei ( s) s
E¿
1
R2
R1

Example 3-11. The circuit shows an operational amplifier. Obtain the

output voltage
 We define the following equations

ei−e' d (e ' −e 0 ) e' −e 0

i 1= , i 2=C , i 3=
R1 dt R2

By summing the currents we obtain

i 1=i 2+i 3

Replacing:

ei−e' d (e ' −e 0 ) e' −e0

=C +
R1 dt R2

If e' = 0, we will have

eI d (e0 ) e0
=−C −
R1 dt R2

Applying the Laplace Transform

E I(s) −R 2 Cs+1
= E0 (s)
R1 R2

E 0 (s ) −R2 1
=
E i (s ) R1R 2 Cs+1

Ei ( s) s
E¿
1 1
R1 R2
 −Cs
Table 3.1 Circuits with Operational Amplifiers used as
compensators

Control E0 ( s) Operational Amplifier Circuits

action G(S )=
E I( s)

1 P R4
∗R 2
R3
R1

2 I R4
∗1
R3
R 1 C 2s

3 PD R4
∗R
R3 2 *( R1 C 1s+1 ¿
R1

4 PI R4
∗R R 2 C 2s+1
R3 2 *
R2 C 2s
R1

5 PID R4
∗R 2
R3 *
R1
R
(¿ ¿ 2 C2s +1 )
(R1 C 1 s+ 1)
R2 C 2s
¿
6 Lead or
R4
∗R R 1 C 1s+1
lag R3 2 *
R 2 C 2s+1
R1

R6
7 Lag- ∗R 4
R5 *
lead
R3
R
(¿ ¿ 1C 1s+1 )[ ( R+ 2 R 4 )(C 2 s+1)

[( R+1 R 3 )(C 1 s+ 1](R

) 2Cs+1)2
¿
Problem #1

R4
∗R2
E0 ( s) R 3
G(S )= =
E I( s) R1

EI ( s) s
E¿
R4 R2
R3 R1

Problem #2

R4
∗1
E0 ( s) R3
G(S )= =
E I( s) R 1 C 2s

Ei ( s) s
E¿
R4 1 1
R3 R1 C 2s

Problem #3
 R
(¿ ¿ 1 C1s +1 )
R4
∗R2
E0 (s) R 3
G(S )= = ∗¿
E I(s) R1

Ei ( s) s
R2 E¿
R4
R1 R1 C 1s
R3

1
Problem #4

R4
∗R 2
R3
∗R 2 C 2s+1
E0 ( s) R1
G(S )= =
E I( s) R2C2s

R4 R2 1
R 2 C 2s R2 C 2s s
Ei ( s) R3 R1
E¿

Problem #5
 R
(¿ ¿ 2 C2s +1 )
(R1 C 1s+ 1)
R2 C 2s
R4
∗R 2
E 0 (s ) R3
G(S) = = ∗¿
EI(s) R1

Ei (s)
R4
∗R2 R2 C 2s
R3 R1 C 1s
∗1 E0 (s)
R1

1 1

Problem #6

R4
∗R 2
R3
∗R 1 C 1s+1
E0 ( s) R1
G(S )= =
E I( s) R 2 C 2s+1

EI (s)
E0 (s)
R4 R2
R 3R1 R1 C 1s

C 2s
1
 Problem #7

R
(¿ ¿1C 1s+1 )[( R+2 R 4 ) (C 2 s+1]
)
R6
∗R4
R5
∗[(R+R1 3 )C
( 1 s+1](R
) C2 s+1)
2
E0 ( s) R3
G(S )= =
E I( s) ¿

1 one
Ei(s)
R1 R1 1
R6 E0 (s)
R5

C1s
C 1s

1
R3 1
R3

Ogata problem first edition, from figure 2.53.

Problem 2.6. Consider the mass-spring-pulley system in Fig. 2.53. If the

A mass is pulled down a short distance and then released, it will vibrate.
Obtain the natural frequency of the system applying the law of conservation of
energy.
 k

R
M
y

Solution

First, an equivalent of the system will be made. Then, the total energy is defined.
kinetics of the system how and this is equal to the sum of the kinetic energy of
all the components of the system that moves. It is important to note that first
we must establish the relationships of with y, which are the following:
(due to the pulley movement and the rope that goes through the pulley) and
due to the rotational movement is a function of

displacement of the pulley, what is it Y

The potential energy of the soil is accumulated by the spring, so the energy
total potential is:
Adding the energies y :

By deriving both sides of the equation with respect to:

The natural frequency is equal to the square root of the term that accompanies
when presented in the form above, therefore: