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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]