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Operational amplifier configured
for transfer function realization

Vo ( s) Z 2 ( s)

Vi ( s) Z1 ( s)

Vo ( s)

 R1C1s  1 R2C2 s  1
Vi ( s) R1C2 s

Vo ( s)

 
R1C1R2C2 s 2   R1C1  R2C2  s  1
Vi ( s) R1C2 s
2
 VC ( s) 1
V(s)
G(s)
VC(s) RC cct  RC
V ( s) s  1 RC
RLC cct
VC ( s) 1
 2 LC

V ( s) s  R L s  1 LC
I 2 ( s) LCs 2
Two loop network G( s)  
V ( s) R1  R2 LCs 2  R1R2C  L s  R1

Op-amp Vo ( s)

 
R1C1R2C2 s 2   R1C1  R2C2  s  1
Vi ( s) R1C2 s

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 College of Electrical and Mechanical
Engineering
Department of Electrical Engineering

EE-371 : Linear Control System

Lecture#04
(Translational Mechanical System Transfer Functions)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise
6th Edition

Instructor: Dr. Sarmad Majeed Malik

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 Components of Mechanical System
Dampers Springs

Mass (M)

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 f  ma ; Newton ' s Law
dv(t )
f (t )  M
Mass (M)
dt
2
d x(t )
f (t )  M 2
dt
x(t) displacement
f(t) applied force
F (s)  Ms X (s)
2

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 f(t)

x2(t) f (t )  K x1 (t ) one displacement

K
f (t )  K  x1 (t )  x2 (t )  two displacements

x1(t) F (s)  K ( X1 (s)  X 2 (s))

f(t)
Spring
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Dampers (Friction) – Shock Absorbers

x(t)
f(t)

dx(t )
f (t )  B One displacement : one side is fixed
dt
F (s)  BsX (s) 8
 f(t) dx1 (t )
f (t )  B one displacement
dt
x2(t) dx1 (t ) dx2 (t )
f (t )  B B two dis..
B dt dt

f (t )  B x1 (t )  x2 (t ) 
d
dt
x1(t)

f(t) F (s)  B S ( X1 (s)  X 2 (s))

Damping (Friction)
(Shock absorber)
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Door Closer
Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement both directions.
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 How many displacements ?? ONE

How many equations ?? ONE

Number of displacements
B K
=
Number of differential equations
Mass (M) d 2 x(t ) dx(t )
f (t )  M 2
B  Kx(t )
dt dt
F ( s)  M s 2 X ( s)  B s X ( s)  K X ( s)
x(t)
f(t)
X ( s) 1
Transfer Function  
F ( s) Ms 2  Bs  K
Example 2.16 Mass, spring, and damper system
Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X (s)  fv sX (s)  KX (s)  F (s)

Block diagram

F ( s)
X ( s) 
Ms 2  f v s  K

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Alternate method

Free-body diagram of mass, Transformed free-body diagram

spring, and damper system

Ms 2 X (s)  fv sX (s)  KX (s)  F (s)

F ( s)
X ( s) 
Ms 2  f v s  K
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Two-degrees-of-freedom translational
mechanical system

Block diagram

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 Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 18
  
M1s 2 X1 ( s)  fv1  fv3 sX1 ( s)   K1  K2  X1 ( s)  K2 X 2 ( s)  fv 3 sX 2 ( s)  F ( s)

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 forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
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  
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

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  
M1s 2 X1 (s)  fv1  fv3 sX1 (s)   K1  K2  X1 (s)  K 2 X 2 (s)  f v3 sX 2 (s)  F (s)

 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

By Rearranging the equations

M s   f
1
2
v1  
 fv1 s  K1  K2  X1 (s)  K2  fv3sX 2 (s)  F (s)

  
 K2  fv3sX1 (s)  M 2 s 2  fv2  fv3 s  K2  K3  X 2 (s)  0 

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Generalized Expressions

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Three-degrees-of-freedom
translational
mechanical system

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Translational
mechanical system

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