EE 361: Feedback Control Systems

Problem Set 2
Due date: Mon, Feb 22, 2016, 5pm.

Spring 2016

Problem 1 [10 Points]

Find the transfer function, H(s), of the system shown in Figure 1, using block diagram
reduction technique, where,
() =

()
.
()

Figure 1: Problem 1

Problem 2 [10 Points]

Find the transfer function, from R to Y, of the system shown in Figure 2, using the block
diagram reduction technique.

Figure 2: Problem 2

 Problem 3 [20 Points]

Figure 3: Problem 3
For the mechanical system shown in Figure 3, find the following two transfer functions,
H1(s) and H2(s), where,
1 () =

1 ()
,
()

2 () =

2 ()
.
()

Problem 4 [20 Points]

Consider the motion of a thrust aircraft. This aircraft is capable of vertical takeo by
redirecting its thrust downward and through the use of smaller maneuvering thrusters
located on its wings. A simplied model is shown in Figure 4, where we focus on the motion
of the vehicle in a vertical plane through the wings of the aircraft (Note that the ground is
along x-axis and height from the ground is along y-axis). The net thrust on the aircraft can
be decomposed into a horizontal force F1 and a vertical force F2 acting at a distance r from
the center of mass.

Figure 4: Problem 4

(x, y, ) denote the position and orientation of the center of mass.

m is the mass of the vehicle.
J is the moment of inertia.
g is the gravitational constant.
c is the damping coecient.

a) [10 Points] Write the coupled dierential equations to model this system.

b) [8 Points] Use Laplace transform to nd X(s), Y(s) and (s) in terms of input forcing
functions, F1(s) and F2(s). [Hint: Assume << 1 and use linearization.]
c) [02 Points] Determine the order of the overall system.
Problem 5 [25 Points]

Figure 5: Problem 5
a) [10 Points] For the system in Figure 5, find the following transfer functions
1 () =

+ ()
()

2 () =

()
()

b) [05 Points] Construct the block diagram of the circuit.

c) [05 Points] Rearrange the block diagram to convert it into unity feedback form.
d) [05 Points] What is the overall transfer function, H(s), where,
() =

()
.
()

Problem 6 [25 Points]

Figure 6: Problem 6
Refer to the schematic in Figure 6, for a steel rolling process industry. The objective is to
produce steel sheets of a desired thickness T. The steel sheets are fed through a pair of

rollers at a constant speed of Z meters per second. The instantaneous roller thickness
coming out of the rollers is y(t). The thickness is measured at a distance d meters from
the rollers. The thickness sensor is modelled by H(s). The measured thickness is compared
against the reference T. The error e(t) processed by a controller, amplified by a gain K and
fed into a motor with parameters indicated in the schematic. The rotary motion (t) is
geared up and converted into linear motion by a linear actuator. The actuators move the
rollers up and down to regulate the thickness y(t) = N(t), where N is a constant in
meters/radians. The moment of inertia and friction on motor shaft movement are given by
J and b. The electrical and mechanical constants of the motor are Ke and Kt respectively.
a) [15 Points] Draw a signals and systems block diagram of for the steel rolling
process. Clearly identify, reference, control, output and other standard terms in a
control system.
b) [10 Points] Assume a perfect sensor and a unity gain controller (i.e. D(s)=1). Derive
the closed loop transfer function,
() =

()
.
()