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Chapter 3
Modeling in the Time Domain
3. Find the state-space representation of
the network shown in Figure P3.3 if the
output is vo(t). [Section: 3.4]
6. Represent the rotational mechanical system shown
in Figure P3.6 in state space, where u1(t) is the
output. [Section: 3.4]
T(t) 1(t)
50 kg-m2
i3(t)
N1 = 30
100 kg-m2
N2 = 100
1F
1H
vi(t) +
1F
i1(t)
100 N-m/rad
i2(t)
100 N-m-s/rad
FIGURE P3.6
vo(t)
7. Represent the system shown in Figure P3.7 in state
space where the output is uL (t). [Section: 3.4]
FIGURE P3.3
4. Represent the system shown in Figure P3.4 in state
space where the output is x3(t). [Section: 3.4]
fv1 = 1 N-s/m
M1 = 2 kg
2 N-m /rad 3 N-m-s /rad
N3 = 10
N2 = 300
N4 = 100
M3 = 1 kg
fv4 = 1 N-s/m
N1 = 30
1 N-m /rad
10
x3(t)
fv3 = 1 N-s/m
T(t)
fv5 = 1 N-s/m
fv2 = 1 N-s/m
L(t)
200 N-m-s /rad
f (t)
M2 = 1 kg
Apago PDF EnhancerFIGURE P3.7
K = 2 N/m
x1(t) Frictionless
x2(t)
FIGURE P3.4
5. Represent the translational mechanical system
shown in Figure P3.5 in state space, where x1(t) is
the output. [Section: 3.4]
x 2 (t)
M3 = 1 kg
K1 = 1 N/m
M2 = 1 kg
x 3 (t)
f v1 = 1 N-s/m
8. Show that the system of Figure 3.7 in the text yields
a fourth-order transfer function if we relate the
displacement of either mass to the applied force,
and a third-order one if we relate the velocity of
either mass to the applied force. [Section: 3.4]
9. Find the state-space representation
in phase-variable form for each of the
systems shown in Figure P3.8.
[Section: 3.5]
R(s)
f v2 = 1 N-s/m
100
s 4 + 20s 3 + 10s 2 + 7s + 100
C(s)
(a)
x 1 (t)
f (t)
K2 = 1 N/m
M1 = 2 kg
30
s5 + 8s4 + 9s3 + 6s2 + s + 30
C(s)
(b)
f v3 = 1 N-s/m
FIGURE P3.5
R(s)
FIGURE P3.8
10. Repeat Problem 9 using MATLAB.
[Section: 3.5]
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Problems
11. For each system shown in Figure P3.9, write the
state equations and the output equation for the
phase-variable representation. [Section: 3.5]
R(s)
C(s)
8s + 10
s4 + 5s3 + s2 + 5s + 13
(a)
R(s)
C(s)
s 4 + 2s 3 + 12s 2 + 7s + 6
s 5 + 9s 4 + 13s 3 + 8s2
(b)
0
6 0
6
a. x_ 6
4 0
7
y 1 3
2
3
6 3
6
6
b. x_ 6 0
6
4 7
6
12. Repeat Problem 11 using MATLAB.
[Section: 3.5]
13. Represent the following transfer function in state
space. Give your answer in vector-matrix form.
[Section: 3.5]
Ts
6
1
5
1
6
0
y 1 2
FIGURE P3.9
s2 3s 8
s 1s2 5s 5
14. Find the transfer function Gs Ys=Rs
for each of the following systems
represented in state space: [Section: 3.6]
3
2 3
0
0
657
07
7
6 7
7x 6 7 r
485
15
3
2
1
5
0
1
0
0
9 2
6 x
0
5
1
3
4
4
2
2
4
3
9 7
3
2 3
2
2
677
1 7
7
6 7
7
7
8 7x 6
687r
7
4
55
05
4
1
6 x
16. Repeat Problem 15 using MATLAB,
the Symbolic Math Toolbox,
and Eq. (3.73). [Section: 3.6]
17. Gyros are used on space vehicles,
aircraft, and ships for inertial navigation. The gyro shown in Figure P3.10 is a rate gyro restrained by springs connected
between the inner gimbal and the outer gimbal (frame)
as shown. A rotational rate about the z-axis causes the
rotating disk to precess about the x-axis. Hence, the
input is a rotational rate about the z-axis, and the output
is an angular displacement about the x-axis. Since the
outer gimbal is secured to the vehicle, the displacement
about the x-axis is a measure of the vehicles angular
rate about the z-axis. The equation of motion is
d2 u x
dux
duz
K x ux Jv
J x 2 Dx
dt
dt
dt
Apago PDF Enhancer
a. x_ 6
4 0
3
y 1
2
7
6 7
1 5x 4 0 5 r
0
2
5
10
b. x_ 6
4 0
3
3
2 3
1
6 7
7
3 5x 4 4 5 r
8
5
5
4
Spring
Bearing
Inner gimbal
J
3
6
c. x_ 4 1
5
8
5
7
6
7
7 5x 4 3 5 r
3
6
4
3 6 x
y 1
0 0 x
2
y 1
x
x
3 x
15. Use MATLAB to find the transfer
function, Gs Ys=Rs, for
each of the following systems
represented in state space: [Section: 3.6]
Bearing
Bearing
Spring
Frame
FIGURE P3.10 Gyro system
Represent the gyro in state space. [Section: 3.4]
