DEPARTMENT OF MECHANICAL ENGINEERING

MOTILAL NEHRU NATIONAL INSTITUTE OF TECHNOLOGY ALLAHABAD

Automatic Control (ME503)
Faculty: Dr. Samir Saraswati and Dr. Praveen Kumar Agarwal (Course Coordinator)

Tutorial Sheet - 1

1. For the systems shown in figure 1(a) and (b):
a) Find the order of the system.
b) Obtain the state space representation if, input is force F(t) and outputs of interest are
1
x : displacement and
2
x : velocity. Indicate the A, B, C and D matrices.

2. The figure 2 represents an armature controlled DC motor with a fixed field being used to drive a
rotational inertial load. The motor armature circuit is being driven by a voltage source, V. The torque
generated by the motor is proportional to the armature current:
T = K.i
The back electromotive force voltage, V
a
, is proportional to the motor speed:
V
a
= K
m

Derive the state equations assuming that all elements in the system are linear and ideal. Take the system
input as source voltage V
in
and output as rotor speed
j.

3. Consider the mechanical system illustrated in figure 3. The mass of disk is M
d
and it is uniformly
distributed. There is no friction between the cart and the ground. There is also no friction between the
disk and the cart. We are interested in horizontal motion only and assume that the rotational angle of the
disk is very small. The outputs that we are interested in are the spring force caused by spring K
2
and the
damping force caused by damper B
3
. Choosing the appropriate set of state variables, represent system
model in state space equation. Make sure that output equation is also presented,

4. For the system shown in figure 4, obtain the state space representation, if the input is Q
in
and the outputs
of interest are Q
out
, H
1
and H
2
. Indicate the A, B, C and D matrices.

5. The figure 5 illustrates two masses (carts) connected via spring, moving at a surface with no friction.
Derive a state space model for this system, assuming that the force F is considered as input, and the
position
1
x is considered as output.















































Fig 4



Fig 5
Fig 3
B
2
M
K
1
K
2
X
1 X
2
F(t)
Fig 1(b)
Fig 1(a)
Fig 2
Q
out
L L
H
1
H
2
a
represents
fluid
resistance
Density
A
1
A
2
Q
in
a
L
R