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# Control Systems

Individual Assignment #1

Name:
Course:
Date:

## Q 1. Consider the spring-loaded double pendulum system as shown. Derive the

equation of motion of the system. Assume the spring forces are zeros when the
pendulum is vertical (θ = 0), negligible friction and small oscillation angle, θ.

a
a
l
θ

mg mg

## Q 2. Consider the spring-loaded pendulum system as shown. Derive the equation of

motion of the system. Assume the spring forces are zeros when the pendulum is
vertical (θ = 0), negligible friction and small oscillation angle, θ.

a
l
θ

k k

mg

For the following models of mechanical system, derive the equations of motion.

x1 x2
Q3 k2
k1 F = sin t
m1 m2
c1 c2 k3
x1 x2 y
Q4
k1 k2
k3
m1 m2

c1 c2

x1 x2
Q5 k1 k2

m1 m2
F c2
c1

Q6 x1 x2
r, θ
F(t) k
m1
m2, J

Q7 r, θ
x(t) k
m, J

Q8 A shaft is fixed at one end and has the larger gear of a pair of gears at the other
end. Find the equation of motion of this system if a torque, T sin t is applied on the
smaller gear. ( is the frequency of the excitation torque, in rad/s)

T(t)
J2
J1
r2, θ2
r1, θ1