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    Homework: Problem

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    Reinaldy Maslim
    The document provides homework questions on modeling and analyzing a two-degree-of-freedom mass-damper-spring system. It includes deriving the linear equations of motion, writing the system in state space form, solving the system using ODE45 in Matlab, and discussing the stability, observability, and controllability of the system for different parameter values. The solutions provide the linear equations of motion, state space representation, Matlab scripts for solving and analyzing the system, and discussions of stability, observability and controllability.

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    Homework: Problem

    Uploaded by

    Reinaldy Maslim
    469 views2 pages
    The document provides homework questions on modeling and analyzing a two-degree-of-freedom mass-damper-spring system. It includes deriving the linear equations of motion, writing the system in state space form, solving the system using ODE45 in Matlab, and discussing the stability, observability, and controllability of the system for different parameter values. The solutions provide the linear equations of motion, state space representation, Matlab scripts for solving and analyzing the system, and discussions of stability, observability and controllability.

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    The document provides homework questions on modeling and analyzing a two-degree-of-freedom mass-damper-spring system. It includes deriving the linear equations of motion, writing the system in state space form, solving the system using ODE45 in Matlab, and discussing the stability, observability, and controllability of the system for different parameter values. The solutions provide the linear equations of motion, state space representation, Matlab scripts for solving and analyzing the system, and discussions of stability, observability and controllability.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    469 views2 pages

    Homework: Problem

    Uploaded by

    Reinaldy Maslim
    The document provides homework questions on modeling and analyzing a two-degree-of-freedom mass-damper-spring system. It includes deriving the linear equations of motion, writing the system in state space form, solving the system using ODE45 in Matlab, and discussing the stability, observability, and controllability of the system for different parameter values. The solutions provide the linear equations of motion, state space representation, Matlab scripts for solving and analyzing the system, and discussions of stability, observability and controllability.

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    © All Rights Reserved
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    of 2

    Dynamical Systems - Week 3 Part II: Linear dynamical systems

    HOMEWORK ME5701 Week 3

    Homework
    Problem

    q1 q2
    cc1 cc2

    u
    m1 m2

    k1 k2
    Figure 1: Two-degree-of-freedom mass-damper-spring system
    Given the above model of e.g. a suspension system:
    1.Given
    Writethe
    themodel
    linear depicted
    equationsinoffigure 1 of e.g. a suspension system:
    motions
    2.Q1.
    Write the corresponding
    Write linear dynamical
    the linear equations of motionssystem
    3. Solve the linear dynamical system via ODE45 in Matlab
    4.Q2.
    Discuss
    Writethethe
    stability of the system
    corresponding linearfor different damping
    dynamical system parameters c1 and c2
    5. Discuss the observability of the system assuming that you can measure q1 and q2, q1 only and
    q2 only,
    Q3. Solverespectively
    the linear dynamical system via ODE45 in Matlab
    6. Discuss the controllability of the system for different damping parameters c1 and c2
    7.Q4.
    WhatDiscuss
    happens thetostability of the system
    the controllability forsystem
    of the different damping
    if we parameters
    apply the input u oncthe
    1 and
    firstc2mass only?
    8.Q5.
    Write the transfer
    Discuss function of the
    the observability system
    of the andassuming
    system its impulse response
    that you canin measure
    Matlab q and q , q only
    1 2 1
    and q2 only, respectively

    Q6.Mengaldo
    Dr Gianmarco Discuss the controllability
    ME5701:ofMathematics
    the systemforfor different Research
    Engineering damping parameters c1 and c2 115
    Q7. What happens to the controllability of the system if we apply the input u on the first
    mass only?

    Q8. Write the transfer function of the system and its impulse response in Matlab

    Solutions
    Q1. The linear equations of motions are as follows
    (
    m1 q̈1 + (c1 + c2 )q̇1 − c2 q̇2 + (k1 + k2 )q1 − k2 q2 = 0
    (1)
    m2 q̈2 − c2 q̇1 + c2 q̇2 − k2 q1 + k2 q2 = −u.
    HOMEWORK ME5701 Week 3

    Q2. By defining the following state vector


       
    x1 q̇1
     x2   q 1 
    x=
     x3  =  q̇2
      ,

    x4 q2

    the corresponding dynamical system is


          
    x1 −(c1 + c2 )/m1 −(k1 + k2 )/m1 c2 /m1 k2 /m1 x1 0
    d  x
     2 =
      1 0 0 0   x2   0 
      x3 + −1/m2
       u
    dt x3
       c2 /m2 k2 /m2 −c2 /m2 −k2 /m2 
    x4 0 0 0 1 x4 0

    Q3. See attached Matlab script.

    Q4. The system is asymptotically stable for c1 and c2 > 0, stable for c1 and c2 = 0 and unstable
    for c1 and c2 < 0. In addition, (i) for |c1 |  |c2 |, with c1 > 0 and c2 < 0, the system is
    asymptotically stable, and (ii) for |c2 |  |c1 |, with c2 > 0 and c1 < 0, the system is also
    asymptotically stable. Finally, for both (i) and (ii) there exists a combination of values
    of c1 and c2 for which the system is stable.

    Q5. The system is always observable for any of the measurement combinations suggested.
    Matrix A guarantees enough coupling. See also attached Matlab script.

    Q6. The system is always controllable regardless of c1 and c2 . See also attached Matlab script.

    Q7. The system remains controllable. See also attached Matlab script.

    Q8. See the attached Matlab Script.

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