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Foundations of Cyber-Physical Systems
Assignment- Week 4
TYPE OF QUESTION: MCQ/MSQ/Numerical
Number of questions: 10 Total mark: 10 X 3 = 30
Question 1
Consider a spring-mass system with damper. 𝑓(𝑡) is the force exerted on the mass M that faces a
displacement of 𝑦(𝑡) due to the force. K and B are the spring constant and damping co-efficient.
𝐾𝑦(𝑡)
𝑑𝑦(𝑡)
B 𝑑𝑡
𝑑𝑦(𝑡) 𝑑2 𝑦(𝑡)
Equating the forces along x axis we get 𝑓(𝑡) = 𝐵 + 𝐾𝑦(𝑡) + 𝑀
𝑑𝑡 𝑑𝑡2
What is/are state variables for this system?
a. Displacement of the mass
b. Displacement, Acceleration, Speed of the mass
c. Speed, Acceleration of the mass
d. Displacement, Speed of the mass
Correct Answer: d. Displacement, Speed of the mass
Detailed Explanation: In dynamic system equation we express the change in state variables. Here the
̇ , i.e. it expresses the change in displacement and
force equation has the derivative of 𝒚(𝒕) 𝒂𝒏𝒅 𝒚(𝒕)
the speed of the mass. Therefore, displacement and the speed of the mass are the 2 state variables for
this system.
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Question 2
What is the state transition matrix and input-to-state-transition matrix for the spring-mass-damper
system given in question 1 considering the exerted force as input to the system?
0 1 0
a. state transition matrix [ ] and input to state transition matrix [ ]
−𝐾/𝑀 −𝐵/𝑀 1/𝑀
−𝐵/𝑀 −𝐾/𝑀 1/𝑀
b. state transition matrix [ ] and input to state transition matrix [ ]
1 0 0
−𝐾/𝑀 −𝐵/𝑀 1/𝑀
c. state transition matrix [ ] and input to state transition matrix [ ]
0 1 0
0 −𝐾/𝑀 −1
d. state transition matrix [ ] and input to state transition matrix [ ]
1 −𝐵/𝑀 1/𝑀
Correct Answer: both a and b
0 1 0
a. state transition matrix [ ] and input to state transition matrix [ ]
−𝐾/𝑀 −𝐵/𝑀 1/𝑀
−𝐵/𝑀 −𝐾/𝑀 1/𝑀
b. And state transition matrix [ ] and input to state transition matrix [ ]
1 0 0
𝑑𝑦(𝑡) 𝑑2 𝑦(𝑡)
Detailed Explanation: 𝑓(𝑡) = 𝐵 + 𝐾𝑦(𝑡) + 𝑀
𝑑𝑡 𝑑𝑡2
𝑑𝑦(𝑡) −𝐾 −𝐵 1 𝑥̇ 1 0 1 𝑥1 0
𝑥1 = 𝑦(𝑡), 𝑥2 = ⇒ 𝑥1̇ = 𝑥2 𝑎𝑛𝑑 𝑥̇ 2 = 𝑥1 + 𝑥 2 + 𝑀 𝑓 (𝑡 ) ⇒ [ ]=[ ] [𝑥 ]+[ ] [𝑓] (a)
𝑑𝑡 𝑀 𝑀 𝑥2̇ −𝐾/𝑀 −𝐵/𝑀 2 1/𝑀
𝑥̇ −𝐵/𝑀 −𝐾/𝑀 𝑥2 1/𝑀
Or [ 2 ] = [ ] [𝑥 ]+[ ] [𝑓] (b)
𝑥1̇ 1 0 1 0
Question 3
The following block diagram represents the spring-mass-damper system given in question 1 in s
domain (i.e. after Laplace transformation). Identify the blocks labeled with 1,2,3.
a. (1) 1/s2, (2) B, (3) K
b. (1) 1/s, (2) B, (3) K
c. (1) 1/s, (2) M, (3) B
d. (1) K, (2) 1/s, (3) 1/s
Correct Answer: b. (1) 1/s, (2) B, (3) K
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𝑑𝑦(𝑡) 𝑑2 𝑦(𝑡)
Detailed Explanation: 𝑓(𝑡) = 𝐵 + 𝐾𝑦(𝑡) + 𝑀
𝑑𝑡 𝑑𝑡2
1
After Laplace transformation, in s domain the equation becomes:𝑌 (𝑠)(𝑀𝑠 2 + 𝐵𝑠 + 𝐾 ) = 𝐹 (𝑠) ⇒ 𝑀 (𝐹(𝑠) −
𝐵𝑠𝑌(𝑠) − 𝐾𝑌 (𝑠)) = 𝑠 2 𝑌(𝑠) . Therefore,
Question 4
What is the natural frequency 𝜔𝑛 and damping ratio 𝜁 of the spring-mass-damper system given in
question 1?
Hint: express the denominator of transfer function in this form 𝑠2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛
1 𝑩
a. 𝝎𝒏 = √ , 𝜻 =
𝑀 𝟐√𝑴
𝑀 𝑲
b. 𝝎𝒏 = √ , 𝜻 =
𝐾 𝟐√𝑩𝑴
𝐾 𝑩
c. 𝝎𝒏 = √ , 𝜻 =
𝑀 𝟐√𝑲𝑴
𝐾 𝑩
d. 𝝎𝒏 = √ , 𝜻 =
𝑀 𝟐𝑴
𝐾 𝑩
Correct Answer: c. 𝝎𝒏 = √ , 𝜻 =
𝑀 𝟐√𝑲𝑴
𝑑𝑦(𝑡) 𝑑2 𝑦(𝑡)
Detailed Explanation: 𝑓(𝑡) = 𝐵 + 𝐾𝑦(𝑡) + 𝑀
𝑑𝑡 𝑑𝑡2
After Laplace transformation, in s domain the equation becomes:𝑌 (𝑠)(𝑀𝑠 2 + 𝐵𝑠 + 𝐾 ) = 𝐹(𝑠)
2
𝐾
1/𝐾 (√𝑀)
𝑌(𝑠) 1 1/𝑀 1/𝑀
= 2
= 2 = 2 = 2
𝐹(𝑠) 𝑀𝑠 + 𝐵𝑠 + 𝐾 𝑠 + (𝐵/𝑀)𝑠 + 𝐾/𝑀 𝐾 𝐾 𝐾
𝑠2 + (𝐵/𝑀)𝑠 + (√𝑀) 𝑠 2 + 2(𝐵/2√𝐾𝑀)(√𝑀)𝑠 + (√𝑀)
2
𝐵 𝐾 𝐾 𝐵 𝐾
Hence, 𝑠2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 = 𝑠2 + 2 ( ) (√ ) 𝑠 + (√ ) ⇒ 𝜁 = ( ) 𝑎𝑛𝑑 𝜔𝑛 = √
2√𝐾𝑀 𝑀 𝑀 2√𝐾𝑀 𝑀
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Question 5
Is the system given in question 1 stable in open loop for the following values: M=1kg, B=1N/m/s
K=1N/m?
a. Yes
b. no
Correct Answer: a. yes
𝑑𝑦(𝑡) 𝑑2 𝑦(𝑡)
Detailed Explanation: 𝑓(𝑡) = 𝐵 + 𝐾𝑦(𝑡) + 𝑀
𝑑𝑡 𝑑𝑡2
After Laplace transformation, in s domain the equation becomes:𝑌 (𝑠)(𝑀𝑠 2 + 𝐵𝑠 + 𝐾 ) = 𝐹(𝑠)
𝑌(𝑠) 1
Transfer function 𝐹(𝑠) = 𝑀𝑠 2+𝐵𝑠+𝐾
The roots of the denominator of transfer function for the given values are poles of the system
−1 ± √1 − 4 𝑗 √3
𝑠2 + 𝑠 + 1 = 0 ⇒ 𝑠 = = −0.5 ±
2 2
Since the real parts of the poles are negative, the system is stable.
Question 6
Match the following for the open-loop system for the dynamics given in question 1
1. B=0 A. Oscillation frequency increases
2. K is increased B. The mass keeps oscillating
3. M is decreased C. Oscillation decays more slowly
a. A=2, B=1, C=3
b. A=1, B=2, C=3
c. A=3, B=1, C=2
d. A=2, B=3, C=1
Correct Answer: a. A=2, B=1, C=3
−𝐵±√𝐵 2 −4𝑀𝐾
Detailed Explanation: Open-loop characteristic equation 𝑀𝑠 2 + 𝐵𝑠 + 𝐾 = 0 makes the root = 2𝑀
Therefore, if B=0 the real part of the root becomes zero and the system is critically damped i.e. keeps
oscillating
If K is increased the imaginary part of the root increase denoting an increase in natural frequency
If M is decreased the real part of root i.e. -B/M decreases. So, the system decays more slowly.
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Question 7
Find out the settling time in seconds (to settle within 2% of the steady state response) for the given
open loop system in Question 1. Consider M=1kg, B=1N/m/s, K=1N/m.
Correct Answer: 8
Detailed Explanation:
4 4
Settling time to settle within 2% of the steady state response = = = 8 (values taken from the
𝜁𝜔𝑛 0.5∗1
1 1
derivation in Q4, = , 𝜔𝑛 =√ )
2√1∗1 1
Question 8
Find out using which Matlab function among the followings you can calculate time constant of the
spring-mass-damper system for the following value: M=1kg, B=1N/m/s K=1N/m.
Hint: use system = tf(<coefficients of numerator>,<coefficients of denominator>) function to build the
transfer function of the second order system in order to use it as an input. Then check for the
descriptions of the following functions with help <function name> command and run them using the
transfer function object system as input.
a. pole()
b. damp()
c. step()
d. zpk()
Correct Answer: b. damp()
Detailed Explanation: The objective here is to teach you functionalities of each functions
system=tf(<coefficients of numerator>,<coefficients of denominator>),
pole(system) gives system poles
damp(system) gives natural frequency, damping ratio, poles and time constant
step(system) shows you system response for step input
zpk(system) gives you pole-zero-gain format of the system
Question 9
Find out the steady state response value of the system using Matlab for a unit step input to the open
loop system for M=1kg, B=1N/m/s K=1N/m.
Correct Answer: 1
Detailed Explanation:
Run the following commands in Matlab
system = tf ([1], [1,1,1]);
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step(system) or stepinfo(system)
Question 10
Find out H(A) for the open loop spring-mass-damper system given in Question 1 when we are using
Ackerman’s method to place system poles at [-0.9, -0.9]. Use the state transition matrix A
1/𝑀
corresponding to the input to state transition matrix is given as [ ]. Consider M=1kg, B=1N/m/s
0
K=1N/m. (Hint: Refer to Ackerman’s method)
−0.99 −0.8
Correct Answer: [ ]
0.8 −0.19
Detailed Explanation:
−𝐵/𝑀 −𝐾/𝑀
The state transition matrix is 𝐴 = [ ], since input to state transition matrix is given as
1 0
1/𝑀
[ ].
0
In Ackerman’s method 𝐻(𝐴) = (𝐴 − 𝜆1 𝐼)(𝐴 − 𝜆2 𝐼)
−0.99 −0.8
Here 𝜆1 = 𝜆2 = −0.9 Hence 𝐻(𝐴) = (𝐴 + 0.9𝐼)2 = [ ]
0.8 −0.19
