ME354A: Vibration and Control

Sunday 23rd April, 2023

Quiz 4 Solutions

Figure 1

Solution 1. Using linear momentum balance equation for small element of length dx, we
can write
 2
∂ w(x, t) d2 u(t)

∂V (x, t)
V (x, t) + dx − V (x, t) =ρAdx +
∂x ∂t2 dt2

∂ 2 w(x, t) ∂ 2 u(t)
 
∂V (x, t)
=ρA + (1)
∂x ∂t2 dt2
Using angular momentum balance equation, we can write
 
dx ∂M (x, t) ∂V (x, t) dx
−M (x, t) + V (x, t) + M (x, t) + dx − V (x, t) + dx =0
2 ∂x ∂x 2
∂M (x, t)
V (x, t)dx + dx =0
∂x

∂V (x, t) ∂ 2 M (x, t)
=− (2)
∂x ∂x2

1
 From equations (1) and (2), we can write

∂ 2 M (x, t)
 2
∂ w(x, t) d2 u(t)

− = ρA +
∂x2 ∂t2 dt2
∂ 2 w(x, t)
∵ M (x, t) = EI
∂x2 
4
∂ 2 w(x, t) d2 u(t)

∂ w(x, t)
⇒ −EI = ρA +
∂x4 ∂t2 dt2
∂ 4 w(x, t) ρA ∂ 2 w(x, t) d2 u(t)
 
+ + =0
∂x4 EI ∂t2 dt2

Figure 2

Solution 2. from the free body diagrams, we can write

m1 ẍ1 = − (c + c2 ) (ẋ1 − ẋ2 ) − k (x1 − x2 ) + F (t)

m2 ẍ2 = (c + c1 ) (ẋ1 − ẋ2 ) + k (x1 − x2 ) − c2 x˙2

ẍ1 + 2ẋ1 + x1 − 2ẋ2 − x2 = F (t) (1)

ẍ2 + 3ẋ2 + x2 − 2ẋ1 − x1 = 0 (2)

          
1 0 ẍ1 2 −2 ẋ1 1 −1 x1 F (t)
+ + =
0 1 ẍ2 −2 3 ẋ2 −1 1 x2 0

2
        
1 0 2 −2 1 −1 F (t)
M= C= K= F=
0 1 −2 3 −1 1 0
    
−1 1 1 0 1 −1 1 −1
D=M K= =
1 0 1 −1 1 −1 1
|D − λI| = 0

1 − λ −1
=0
−1 1 − λ
(1 − λ)2 − 1 = 0
λ2 − 2λ + 1 − 1 = 0

λ1 = 0 ⇒ ω12 = 0 ⇒ ω1 = 0
x1 − x2 = λx1
−x1 + x2 = λx2
x1 = x2
 
1
Eigenvector corresponding to λ1 = 0 is v1 =
1
√
λ2 = 0 ⇒ ω22 = 2 ⇒ ω2 = 2
x1 − x2 = 2λx1
−x1 + x2 = 2λx2
x1 = −x2
 
1
Eigenvector corresponding to λ2 = 2 is v2 =
−1
Applying laplace transform on (1) and (2) we get

s2 + 2s + 1 x1 (s) − (2s + 1)x2 (s) = F (s)

− (2s + 1)x1 (s) + s2 + 3s + 1 x2 (s) = 0

using cramers rule

(s2 + 2s + 1) F (s)
−2(s + 1) 0
X2 (s) =
∆
where
s2 + 2s + 1 −(2s + 1)
∆= = s4 + 5s3 + 4s2 + s
−(2s + 1) (s2 + 3s + 1)

3
 (2s + 1)F (s)
X2 (s) =
s4 + 5s3 + 4s2 + s
Transfer function is given by
X2 (s) (2s + 1)
= 4
F (s) s + 5s3 + 4s2 + s

Solution 3. (i) Number of branches are equal to num of poles in open loop transfer
funcition=4. The branches originate each from each pole of open loop transfer fucntion.
In this case, 4 braches orignate from each poles 0, -1, -2, -4.

(ii) Number of open loop poles =4

Number of open loop poles =1
Open loop poles are 0, -1, -2, -4
Open loop zeros are -3

(iii) Let us assume σ be the break away point, then σ is purely real

K(σ + 3)
KG(s) = = −1
σ(σ + 1)(σ + 2)(σ + 4)
−σ(σ + 1)(σ + 2)(σ + 4)
K=
σ+3

−(σ 4 + 7σ 3 + 14σ 2 + 8σ)

K= (1)
σ+3

K increases from 0 to ∞ as closed loop poles move from open loop poles positions to
open loop zeros positions along the root locus
The gain K must be maximum along the real axis at the point where the breakaway
occurs
−(σ 4 + 7σ 3 + 14σ 2 + 8σ)
K=
σ+3
dK −(3σ + 26σ + 77σ 2 + 84σ + 24)
4 3
=
dσ (σ + 3)2
dK
=0
dσ

Alternatively, breakin and breakaway point also satisfy(pi , zi are the poles and zeros of
open loop transfer function)

4
 1 1
Σ =Σ
(σ − zi ) (σ − pi )
1 1 1 1 1
= + + +
σ+3 σ σ+1 σ+2 σ+4
(3σ 4 + 26σ 3 + 77σ 2 + 84σ + 24)
=0
(σ 5 + 10σ 4 + 35σ 3 + 50σ 2 + 24σ)

f (σ) = (3σ 4 + 26σ 3 + 77σ 2 + 84σ + 24) = 0

f (σ) Sign
f (σ = 0.5) +
f (σ = 0) +
f (σ = −1) −
(2)
f (σ = −2) +
f (σ = −3) +
f (σ = −4) +
f (σ = −4.5) +

From the table we observe that function f (σ) changes sign between 0 -1 and -1 2
where roots exist. Hence roots exist between (-1,0) and (-2,-1).
Using Newton Raphson method with initial guess σ = 0
Tip: With the help of rough sketch of root locus we can see that the breakin and
breakaway point will be between 0 and -1. Hence initial guess is choosen as σ0 = 0
f (xn )
xn+1 = xn − ′
f (xn )

(3σn4 + 26σn3 + 77σn2 + 84σn + 24)

σn+1 = σn −
(12σn3 + 78σn2 + 154σn + 84)
σ1 = −0.2857
σ2 = −0.4093
σ3 = −0.4339
σ4 = −0.4349
σ5 = −0.4349

if we take inital guess as σ0 = −2, then we obtain similarly

(3σn4 + 26σn3 + 77σn2 + 84σn + 24)
σn+1 = σn −
(12σn3 + 78σn2 + 154σn + 84)
σ1 = −1.5
σ2 = − − 1.6097
σ2 = −1.6097

5
 We know that σ = −1.0697 is on real axis but number of pole or zeros on the right
hand side of it is 2 (even). Hence σ = −1.0697 is not on root locus.
We know that σ = −0.4349 is on real axis but number of pole or zeros on the right
hand side of it is 1 (odd). Hence σ = −0.4349 is on root locus. Therefore, σ = −0.4349
is the break away point.
Substituting σ = −0.4349 in equation (1) to get corresponding K value
K=0.5346

(vi) Closed loop TF given by

KG(s) K(σ + 3)
H(s) = =
1 + KG(s) (σ + 3)(σ + 1)(σ + 2)(σ + 4)

Chracteristic equation 1 + KG(s) = 0 is given by

s4 + 7s3 + 14s2 + 8s + Ks + 3K = 0

Routh table is given by

s4 1 14 3 0
s3 7 8+K 0 0
90−K
s2 7
3K 0 0
−K 2 − 65K + 720
s 0 0 0
90 − K
s0 3K 0 0 0

Inorder for system to be stabel no sign changes are allowed in the first column of the
Routh table.

90 − K > 0
K < 90
2
K + 65K − 720 < 0
−74.64 < K < 9.64
3K > 0
K>0

Hence for the system to be stable 0 < K < 9.64

(iv) Pole wil cross imaginary plane toward right half of S-Plane for Maximum value of K
at which system is stable.
Hence K = 9.64

6
 (v) at K = 9.64
characteristic equation is given by s4 + 7s3 + 14s2 + 8s + 17.64s + 28.92s = 0
Poles on imaginary axis is of form +jy or −jy where y is positive real number,
Substitute jy in above equation we get

y 4 − 14y 2 + 28.92 + (−7y 3 + 17.64y)j = 0

Set imaginary part=0

−7y 3 + 17.64y = 0
y = +2.52, −2.52, 0

real part =0
f (y) = y 4 − 14y 2 + 28.92 = 0
using Newton Raphson method with initial guess y0 = 1
f (yn )
yn+1 = yn − ′
f (yn )
y1 = 1.663
y2 = 1.586
y3 = 1.587
y4 = 1.587
with the help of assymptotes and rough sketch we know that 0 < y < 2.309.
Hence at y = 1.587, K is maximum for which system is stable.
Therefore at K = 9.64 the Root locus will enter the right half of s-plane at 1.578j and
−1.578j

(vii) if num of open loop zeros=m, num of closed loop zeros=n, then num of asymtotes will
be =n − m=4-1=3
Asymptotes start at point given by

ΣPi − ΣZi 0 − 1 − 2 − 4 − (−3) −4

= =
n−m 3 3

Pi and Zi are poles and zeros of open loop TF respectively.

3 asymptotes will make ϕi angle with real axis

7
 180 + 360(l − 1)
ϕi = ; l = 1, ...n − m
n−m
180 + 360(1 − 1)
ϕ1 = = 60
3−1
180 + 360(2 − 1)
ϕ2 = = 180
3−1
180 + 360(3 − 1)
ϕ3 = = 300
3−1

Figure 3