ME 375 – Fall 2010

Homework No. 5
Due: Friday, October 1

Problem No. 1 (40%)

x1 x2

A B
f (t ) k k
m m
smooth smooth

A force f ( t ) = f0u ( t ) is applied to block A of the two-DOF system shown above.

Assume all surfaces to be smooth and that the springs are unstretched when x1 = x2 = 0 .
For this system:
a) Derive the EOMs in terms of the coordinates x1 and x2 .
b) Develop the transfer function G ( s ) = X2 ( s ) / U ( s ) corresponding to an output of
x2 ( t ) and an input of u ( t ) .

c) Determine the four poles ( p1, p2 , p3 , p4 ) of the transfer function in b). Plot these
poles in the complex plane. Use m = 1 kg and k = 100N / meter .
d) Based on the poles found in c) above, classify the stability of the system (unstable,
stable or marginally stable).
e) Suppose that we are interested in the forced response of x2 ( t ) for an input of
u ( t ) = ! ( t ) = unit impulse function . With this input, we know that the partial-
fraction expansion of the response x2 ( t ) can be written as:
x2 ( t ) = A1e p1t + A2 e p2 t + A3e p3t + A4 e p4 t . Based on the poles found in c), provide a
qualitative description of these components of this response. Address the following
questions: Are the components growing/decaying in time? Are the components
oscillatory? If oscillatory, what are the frequencies of the oscillations in these
components? [Note that you are not asked to actually solve for x2 ( t ) ; you only
need to describe what you would get if you did.]
Problem No. 2 (40%)
x

3k

c
f (t ) m
k
smooth

The single-DOF system shown above is given an applied force f ( t ) = f0 h ( t ) where

h ( t ) = unit step function , with f0 = 1000N .

Part I:
A plot of the time history of response x ( t ) corresponding to zero initial conditions is
shown on the following page. Based on this plot:
a) Estimate the percent overshoot (%OS), time of peak response ( t p ) and the static
gain.
b) From your results in a), provide estimates for the damping ratio ( ! ), undamped
natural frequency ( ! n ) and 2% settling time ( t s ).
c) From your results above, provide estimates for m, c and k in the model. You will
need the EOM of the system for determining these values. Please include
appropriate units in your answers.
d) Make a sketch of the poles for this system in the complex plane. Add lines of
constant %OS and constant t s to this plot.

Part II:
It is determined that the value of %OS for the system is acceptable; however, the 2%
settling time t s needs to be reduced by a factor of 2. Therefore, it is desired to redesign
the system in terms of m, c and k in a way that the %OS is unchanged and t s is reduced
by a factor of 2.
a) Provide an argument that changing k does not alter the value of t s .
b) Determine new values of m and c (with an unchanged value of k) that will satisfy
the re-design requirements.
c) Add the poles of the redesigned system to your complex plane plot of I d) above.
Provide an argument that this movement of poles in the complex plane as a result
of the design change is consistent with the lines of constant %OS discussed in
lecture.
Problem No. 3 (20%)
10 ( s + 3)
The transformed response of a system is given by: Y ( s ) =
(
s s 2 + 2s + 5 )
a) Determine the response y ( t ) .
b) Identify the transient and steady-state contributions to the response found in a)
above.
c) Apply the Final Value Theorem to the transformed response to verify your result
above for the steady-state response.