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Problem Sheet 2

This document is a problem sheet for EE 302: Control Systems, authored by Prof. Debasattam Pal at IIT Bombay. It contains various problems related to transfer functions, equations of motion for mechanical systems, and analogies between mechanical and electrical systems. The problems require derivations, schematic drawings, and the application of Newton's laws and Laplace transforms.

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Parth Sonawane
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12 views4 pages

Problem Sheet 2

This document is a problem sheet for EE 302: Control Systems, authored by Prof. Debasattam Pal at IIT Bombay. It contains various problems related to transfer functions, equations of motion for mechanical systems, and analogies between mechanical and electrical systems. The problems require derivations, schematic drawings, and the application of Newton's laws and Laplace transforms.

Uploaded by

Parth Sonawane
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

EE 302: Control Systems

Problem Sheet 2
Instructor: Prof. Debasattam Pal
Date: 27th January 2026
Indian Institute of Technology Bombay, Mumbai – 400076, India

1. The motor whose torque-speed characteristics are shown in Figure 1, drives the load
shown in the diagram. Some of the gears have inertia. Find the transfer function,
G(s) = Eθ2a(s)
(s)
.

Figure 1: Electro-Mechanical System

X2 (s)
2. Find the transfer function, G(s) = F (s)
for the translational mechanical system
shown in Figure 2

Figure 2: Translational Mechanical System


3. Consider a simple translational mechanical system consisting of a mass M , and a
damper B, and a spring K, all connected in series to a wall, with an external force
F (t) applied to the mass. The displacement of the mass is x(t).
(a) Draw the physical schematic of the described mechanical system. And Write
the differential equation of motion for this system using Newton’s Second Law.
(b) Using the Force-Voltage analogy, determine the equivalent electrical compo-
nents and system configuration.
(c) Draw the analogous electrical circuit diagram.
(d) Write the mesh equation for the electrical circuit and verify that its form
matches the mechanical system’s differential equation.

4. Consider the combined translational and rotational mechanical system shown in


Figure 3. The input to the system is the applied torque T (t), and the output is the
linear displacement x(t) of the mass.

Figure 3: Combined translational and rotational mechanical system.

(a) Derive the equations of motion governing the rotational and translational com-
ponents of the system. Indicate all torque–balance and force–balance relations
used in your derivation.
(b) Using appropriate gear ratios and kinematic relationships, reduce the model to
a single equivalent equation that relates the input torque T (t) to the output
displacement x(t).
(c) Taking the Laplace transform of the reduced equation (assuming zero initial
conditions), obtain the transfer function

X(s)
G(s) = .
T (s)

Express your final answer in simplified form.


X3 (s)
5. Find the transfer function, G(s) = F (s)
for the translational mechanical system
shown in Figure 4

Figure 4: Translational Mechanical System

6. Write the equations of motion for the translational mechanical system shown in
Figure 5. Clearly define all displacement variables and parameters, and state any
assumptions made in modelling the system.

Figure 5: Translational mechanical system

7. Every mechanical system can be converted into an analogous electrical system, but
not every electrical system can be converted into an analogous mechanical system.
In light of the above statement:
(a) Exemplify three mechanical systems that can be converted into an analo-
gous electrical system.
(b) Exemplify three electrical systems that can be converted into an analogous
mechanical system.
(c) Exemplify three electrical systems that cannot be converted into an anal-
ogous mechanical system and clearly state the reasons for each case.
8. A mechanical translational system consists of two masses connected in series. The
description is as follows:
• Mass M1 = 1 kg rests on a frictionless surface and has an external force f (t)
applied to it.
• Mass M1 is connected to mass M2 through a spring K1 = 50 N/m and damper
B1 = 5 N-s/m placed in parallel to each other.
• Mass M2 = 2 kg also rests on the same frictionless surface.
• Mass M2 is connected to a fixed rigid wall through a spring K2 = 100 N/m.
• All displacements x1 (t) and x2 (t) are measured from the equilibrium position.

In simple terms: Force f (t) → M1 → (K1 ∥ B1 ) → M2 → K2 → Wall

Using the Force-Current analogy, describe the equivalent electrical circuit. Spec-
ify what each mechanical element (M1 , M2 , K1 , K2 , B1 , f (t)) corresponds to in the
electrical domain.

Common questions

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The "Force-Voltage analogy" is a concept that allows the conversion of mechanical systems into equivalent electrical systems. In this analogy, force is analogous to voltage, mass is analogous to inductance, damping is analogous to resistance, and compliance or flexibility (reciprocal of stiffness) is analogous to capacitance. Through this analogy, complex mechanical systems can be analyzed and simulated using electrical circuits. This approach simplifies the analysis and provides insights into the system behavior by using well-established electrical engineering techniques .

In a translational mechanical system, springs provide restoring forces that cause oscillatory behavior with natural frequencies linked to system stiffness. Dampers introduce resistive forces proportional to velocity, dissipating energy, and therefore modulating oscillations, preventing perpetual motion. Mass relates to system inertia, influencing both responsiveness and stability. The interplay between these elements determines natural frequencies, damping ratios, and system stability, crucial for understanding vibrations and stability under dynamic loads .

To derive the equations of motion, apply Newton's Second Law for each mass independently. For the first mass, consider the external force, spring, and damper effects. For the second mass, account for interactions through the spring and additional load-bearing effects. Set up the equilibrium equations based on these interactions, considering displacement and velocity for each mass. This results in a set of coupled differential equations representing the system dynamics .

When modeling a translational mechanical system, consider factors such as mass distribution, damping characteristics, elastic effects of springs, friction, load dynamics, and external force inputs. Assumptions such as linearity, system constraints, initial conditions, and boundary conditions must be clearly defined and validated. The model should also account for energy dissipation and conversion to ensure accurate simulation of real dynamics .

Defining clear displacement variables and parameters is crucial for several reasons: it ensures clarity and precision in communicating the system's behavior, allows for consistent mathematical representation, facilitates the analysis of system interactions, and aids in validating assumptions and constraints. This clarity supports accurate numerical simulations and theoretical evaluations of the system's performance .

Mechanical systems can always be analogized with electrical ones due to their representation via differential equations and the principles of conservation laws (energy, momentum). For example, mechanical elements like springs, dampers, and masses have direct electrical counterparts in capacitors, resistors, and inductors, respectively. However, electrical systems involving non-linear elements, semiconductor devices, or non-classical fields cannot be converted into mechanical systems due to lacking mechanical counterparts or governing mechanical principles. For instance, a transistor circuit involves active components that do not have a mechanical equivalent .

Kinematic relationships link rotational and translational movements, converting between angular velocities and linear displacements. Gear ratios relate angular speeds and torques, simplifying interconnected mechanical elements by scaling motion and forces. By utilizing these, a complex mechanical system can be reduced to a single, simplified model, facilitating easier analysis and providing clearer insights into the system's control characteristics .

The Force-Current analogy benefits system analysis by providing a straightforward method to translate mechanical into electrical systems. This simplifies complex mechanical systems into familiar electrical circuits, enabling the use of circuit analysis techniques. It aids in visualizing energy flow and interactions, allows for simulation using electrical components, and supports the design of control systems by leveraging electrical circuit principles .

Assuming zero initial conditions simplifies the mathematical complexity involved in the Laplace transform, making it possible to focus solely on system dynamics without accounting for initial transients. This assumption provides a direct pathway from time-domain differential equations to frequency-domain representations, crucial for control system analysis and design. It ensures that only the system's transfer function reflects its intrinsic dynamics and control response characteristics .

The fundamental steps include: (1) Deriving equations of motion for both rotational and translational components using torque-balance and force-balance relations, (2) Utilizing gear ratios and kinematic relationships to interrelate the components, (3) Combining these interrelations into a single equation that directly relates the input (torque) to the output (displacement), and (4) Taking the Laplace transform of this reduced equation to obtain the transfer function in the frequency domain .

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