Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor

Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

92-321 Control Theory

Summer 2013
Midterm Exam #2
Engineering is a professional faculty, and as a student of engineering, it is expected that you will behave in a
professional manner during your exam, and abide by the following standards of conduct.
1. Unless explicitly allowed, a candidate must not give assistance to, or receive assistance from, or communicate in any manner with any person other than the examiner or proctors. A candidate who is involved
in such activity may be subject to disciplinary procedures of the University.
2. The possession of any telecommunications device is strictly prohibited during an exam, and will be considered as cheating, whether it is used or not. Students found with said devices may be subject to to
disciplinary procedures of the University. If you are in possession of any telecommunications devices,
identify yourself to the proctor and surrender them immediately for the duration of the exam. Please
note that the University is not responsible for lost or stolen items.
3. The possession of any unauthorized aids during an exam will be considered as cheating, whether it is used
or not. Students found with said materials may be subject to disciplinary procedures of the University.
4. Be prepared to hand in your exam to the proctors immediately after time expires. Students who delay
collection of the exams by the proctor (i.e., they must wait for you to finish writing, sign your name,
etc.,) may be subject to downward adjustment of their grade.
5. Remain seated quietly until all the exams have been collected, not just your own. Recognize that other
students are still holding their exams and could be influenced by any discussions. There will be plenty of
opportunity to discuss the exam outside the hall.
6. Each student will be allowed a maximum of three inquiries regarding the exam material; further requests
for clarification will be denied. If you have uncertainties about the exam, make sure you have read
the entire question, state your assumptions, and proceed. Do not waste the examiners time by asking
questions regarding the correctness of your solution.
7. Answer all questions, to the best of your ability.

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

Question 1
Shown in Figure 1 is a model of an engine and engine mount bushing commonly used in the automotive
industry. The rubber compounds in the bushing do not behave like a normal spring-damper, so the model is
modified by adding an additional spring and damper in series. This model is sometimes referred to as frequency
dependent, because at low frequencies, the damper allows the secondary spring to move without compressing,
lowering the total stiffness, but at higher frequencies, the decreased motion of the damper gives an effectively
stiffer mount. Notice that in order to model a mount like this, an additional coordinate (x) is needed to mark
the location of the midpoint of the series spring-damper.
Use the following values in the problem:
Parameter
m
k
c

Value
50 kg
15000 N /m
100 N s/m

Parameter
c2
k2

Value
100 N s/m
5000 N /m

a) Write the equation of motion of the engine mass. Hint: knowing the location of the midpoint (x) allows
the compression in the secondary spring to be found, and therefore the force. Another hint: remember
that all the spring and damper forces rely on the relative motion, i.e., the difference in the motion of each
side, and notice that the base will have motion u(t).
b) Next, consider the series spring-damper. Recognize that the spring and damper force must be equal.
Setting the spring force (a function of x) equal to the damper force (a function of x ) results in a first
order differential equation describing the location of the midpoint. This equation can be combined with
the equation of motion of the engine mass.
Y (s)

c) Find the transmissibility transfer function G(s) = U(s) relating the engine mass motion to the base motion.
Hint: take Laplace and gather your terms before substituting to eliminate x.
d) What is the order of the resulting transfer function? Describe the possible types of unforced motion that
you could encounter with this type of system, assuming feasible physical parameters. Is it hard to give
specifics? Why or why not?
e) If the base motion is a sine wave with amplitude of U0 = 0.1 m and frequency of 1.5916 Hz, write the
equation that describes the engine mass motion as a function of time, after all the transient terms have
vanished.
a)
) + k( y u) + k2 ( y x) = 0
m y + c( y u
+ k2 x
m y + c y + (k + k2 ) y = ku + c u
b)
)
k2 ( y x) = c2 (
x u

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

c) Taking Laplace

ms2 + cs + k + k2 y = (k + cs)u + k2 x
k2 ( y x) = c2 s(x u)
k2 y + c2 su = (k2 + c2 s)x
k2

c2 s

u= x
k2 + c2 s



k2
c2 s
2
ms + cs + k + k2 y = (k + cs)u + k2
y+
u
k2 + c2 s
k2 + c2 s
k2 + c2 s

ms + cs + k + k2

y+

k22

k 2 c2 s

y = k + cs +
u
k2 + c2 s
k2 + c2 s

(k2 + c2 s)(ms2 + cs + k + k2 ) k22 y = (k2 + c2 s)(k + cs) + k2 c2 s u
G(s) =

(k2 + c2 s)(k + cs) + k2 c2 s

(k2 + c2 s)(ms2 + cs + k + k2 ) k22

d) The resulting system is third order. We should expect there will be either one negative real root, and two
complex roots with negative real parts (i.e., underdamped), or three negative real roots (overdamped).
The first case indicates an oscillatory response, the second purely exponential decay. It is hard to give
specifics because the system is third order, and the roots are usually found using numerical methods.
e) Setting s = i, where = 1.5916 2 = 10
G(s) =

G(10i) =

(k2 + c2 s)(k + cs) + k2 c2 s

(k2 + c2 s)(ms2 + cs + k + k2 ) k22

(5000 + 1000i)(15000 + 1000i) + (5000)(1000i)

(5000 + 1000i)(5000 + 1000i + 20000) 25000000
G(10i) = 1.473 0.0910i
|G(10i)| = 1.476
G(10i) = 0.061725
y = 0.147 sin(10t 0.0617)

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

Question 2
Consider the schematic diagram of the water tank shown in Figure 2. The water outlet is closed, and the inlet
is fitted with a valve that adjusts the flow rate of the water entering the tank. The valve is made of a small
piston that slides inside a sleeve. As the piston slides, it uncovers an opening in the sleeve that allows water to
flow into the sleeve and on into the tank. The motion of the piston is restrained by a small spring and damper.
Assume that the volume flow rate of the water into the tank is proportional to the distance that the valve opens:
qi = bx. A force F is applied to the piston to open the valve. Using the following values in the problem:
Parameter
tank area A t
valve mass m
valve stiffness k

Value
2m2
100g
2N /mm

Parameter
valve damping c
valve sensitivity b

Value
20N s/m
1L/s/mm

a) Write the equation of motion for the valve. Assume that any forces on the valve due to the water flow
are negligible.
b) Write the volume flow balance equation for the tank (the water can be treated as incompressible).
c) Relate the height of the water in the tank to the force acting on the valve using the state space form
shown below. Let v be the velocity of the valve. Fill in the ai, j , bi , ci .

h a11
v = a
21
a31
x

a12
a22
a32

h = c1

a13 h
b

1
a23 v + b2 F

a33
x
b3

c2

h
c3
v

x

d) Find the eigenvalues of the state space representation, and describe what they tell you about its behaviour.
Ex: is there any oscillatory behavior? If so, what are the natural frequencies and damping ratios? How
long will the transient behaviour last?
e) Find the eigenvectors of the state space representation, and describe what they tell you about its behaviour. Hint: try h = 1, or v = 1 when solving.
a)
m
v + cv + kx = F
k
c
1
v = x v + F
m
m
m
x = v
4

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

b)
qi qo = V
bx 0 = A t h
h =
c)

h 0 0
c
v =
0 m
x
0 1

b
At

b
0
At h
1
k
m v + m F
0

h
v
h= 1 0 0

x
d)

0 0

c
A=
0 m
0 1

d et[Is A] = 0

b
0
0
0.5
At

mk
= 0 200 20000
0
1
0
0

s
0
0.5

[Is A] = 0 s + 200 20000

0
1
s
det[Is A] = (s)[(s + 200)(s) + 20000] = (s)(s2 + 200s + 20000) = 0
p
200 40000 (4)(20000)
s = 0, s =
= 100 100i
2
One rigid body mode, and one damped oscillatory vibration.
p
n = 1002 + 1002 = 141.4 r ad/s
= 0.707
= 1/(n ) = 0.01 sec
The frequency is quite high, 22.5 Hz, and so is the damping ratio. We expect the motion to decay very
quickly, less than 1/20th of a second.

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

e)
s=0
[Is A]X = 0

0
0
0.5 h

0
200
20000

v = 0
0 1
0
x

h 1
v = 0

x
0
The rigid body mode corresponds entirely to the h entry - the system can be stationary at any value of h,
but not any non-zero value of x or v. The system will come to rest at any value of the water level, but
only with the valve closed.
s = 100 + 100i
[Is A]X = 0

Let v = 1

100 + 100i
0
0

0
100 + 100i
1

0.5
h

20000 v = 0

100 + 100i
x

100 + 100i + 20000x = 0

x = 0.005 0.005i
(100 + 100i)h 0.5(0.005 0.005i) = 0
h = 2.5000 1005 i

05
2.5000

10
i
h

1
v =

0.005 0.005i
x

The oscillatory mode consists of high frequency, high velocity low amplitude motion of the valve, that
has almost zero effect on the height of the water in the tank. Note that the equation for the flow implies
that the flow can be in either direction, which would not be true in reality. However, the sinusoidal
component of the solution would be superimposed on top of flows resulting from non-zero applied forces
at the valve.

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

y(t)

x(t)
k, c

k2 , c2
u(t)

Figure 1: Frequency dependent mount model

qi
m
F (t)

k, c
x(t)

Figure 2: A tank with input flow valve

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

Useful Information
Laplace transforms
F(s)
1

f(t)
(t)

1
s

us (t)

1
s+a

eat

b
s2 +b2

sin bt

s
s2 +b2

cos bt

b
(s+a)2 +b2

eat sin bt

s+a
(s+a)2 +b2

eat cos bt

sF (s) f (0)

df
dt

s2 F (s) s f (0)

df 

d t t=0

d2 f
d t2

For a transfer function of the form

G(s) =

c3 s3 + c2 s2 + c1 s + c0
s4 + d3 s3 + d2 s2 + d1 s + d0

A possible state space representation is

A=

0
1
0
0
0
0
1
0
0
0
0
1
d0 d1 d2 d3

B=

C=

c0

c1

0
0
0
1

c2

c3

BP
c
Minaker PhD 2013

Department of Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue, Windsor
Ontario, Canada N9B 3P4
519-253-3000
www.uwindsor.ca

The equations of motion for translation

F = maG

The equations of motion for rotation for planar problems can be written using A, an arbitrary point as a
reference
A = I A
M
+ rG/A maA
or

A = IG
M
+ rG/A maG

If the point A is chosen as either the centre of mass, G, or a fixed point, O, the equations can be simplified
G = IG
M

or

O = IO
M

The magnitude of a complex number

 p 2

 c + di 
c + d2
= p

 a + bi 
a2 + b2

The angle of a complex number



c + di
a + bi


= t an

 
d
c

t an

 
b
a

The determinant of a matrix A, is computed by choosing any row or column, proceeding along this row or
column, multiplying each entry of the row or column by the determinant of the minor (i.e, the matrix, with
the row and column of the current entry ommitted.) Additionally, the sign of every other entry is reversed.
This relies on the recognition that the determinant of a 2x2 matrix is the product of the main diagonal, less the
product of the off-diagonal. For example, using the first column

a11 a12 a13

A = a21 a22 a23

a31 a32 a33






det[A] = a11 a22 a33 a23 a32 a21 a12 a33 a13 a32 + a31 a12 a23 a13 a22

BP
c
Minaker PhD 2013