Control Systems

Integrated Master in Mechanical Engineering

Bologna Degree in Naval Architecture and Marine Engineering
Exercises for Class 1: dynamical systems
February 19, 2018 — February 23, 2018

Sources: SPDSC Solved Problems in Dynamical Systems and Control; Exam of Flight Control (MSc in Aerospace
Engineering).

Exercise 2.24 SPDSC

Consider the system in Figure 1 comprising a mass M, a damper with viscous friction coefficient B and a spring with
stiffness K . These elements are connected to a fixed pulley of radius r with inertia J. The system is driven by a torque
T.

1. Model the system, writing the equations that describe its dynamics.

2. Obtain the transfer function considering the torque T as input and the mass position x as output.

3. Sketch the system block diagram.

B
M
J
r

Figure 1: Mechanical system.

Exercise 3.30 SPDSC

Consider the mechanical system depicted in Figure 2. For the input force f (t) = 8.9 N, t ≥ 0, the output time response
x(t) (i.e. the displacement) has the evolution shown.

1. Find the values of mass M, viscous friction coefficient B and spring stiffness K .

2. Suppose we want the same steady-state regime and the same settling time, but a maximum overshoot of 0.15%.
What should the values of M, B and K be then?

·10−2
tp = 1, Mp = 9.7%
u(t)
3 y(t)

K B
2

M
x
0

f 0 1 2 3 4
t

Figure 2: Left: mechanical system; right: its time response.

1
Exercise 5.1 SPDSC (adapted)
120 (s + 1)
Plot the Bode diagram of transfer function G(s) = .
s (s + 2)2 (s + 3)
Exercise from an Exam
Consider the Sopwith Camel, a fighter aircraft from World War I, in Figure 3. Its roll angle φ (rotation around the
x-axis) is given by

ṗ = −2p + 12δA (1)

where p = φ̇ and δA is the aileron deflection. All variables are given in SI units.

p
1. Find transfer function Gp = .
δp

φ
2. Find transfer function Gφ = .
δp

3. Sketch p(t) when the ailerons undergo a 1◦ step.

4. What is p(t) when t = 0.5 s?

5. Sketch φ(t) for the same input.

6. Suppose you want φ = 30◦ after 20 s. Without calculating φ(t), find an approximate value for the necessary
aileron deflection.

Figure 3: Sopwith Camel.

Suggested additional exercises from SPDSC: mechanical plant 2.15; liquid level plant 2.30, 2.33; thermal and electrical
plants 2.34; wave energy converter 2.38; time responses 3.24, 3.36; Bode diagrams 5.7, 5.11.