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EE C128 / ME C134 Spring 2014 HW2 - Solutions

UC Berkeley

Homework 2 - Solutions

1. Transfer Functions of Electrical Networks with Operational Amplifiers


Find the transfer function, G(s) = Vo (s)/Vi (s), for each operational amplifier circuit shown in the
Figures below.
(a) Solution:

Calculating the feedback and feedforward impedances.


Zf eedback (s) = Zf b (s) = 100 103 +

1
2 106 s

Zf eedf orward (s) = Zf f (s) = 500 103 +

1
2 106 s

Since the system is in the inverted amplifier configuration, we know that the gain is given by
Zf b (s)
Vo (s)
105 (2 106 s) + 1
=
=
Vi (s)
Zf f (s)
5 105 (2 106 s) + 1
Vo (s)
0.2s + 1
=
Vi (s)
s+1
(b) Solution:

Rev. 1.0, 02/09/2014

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EE C128 / ME C134 Spring 2014 HW2 - Solutions

UC Berkeley

Calculating the feedback and feedforward impedances.




5
(s + 10)
5
= 105
Zf eedback (s) = Zf b (s) = 10 1 +
s+5
(s + 5)
Zf eedf orward (s) = Zf f (s) = 105

5
+1
s

= 105

(s + 5)
s

Since the system is in the inverted amplifier configuration, we know that the gain is given by
Zf b (s)
s(s + 10)
Vo (s)
=
=
Vi (s)
Zf f (s)
(s + 5)2

2. Transfer Functions of Translational Mechanical Systems


For the system shown below, find the transfer function, G(s) = X1 (s)/F (s).

Solution: Equation of motion (in s-domain) for mass M1 is given by


(s2 + 6s + 9)X1 (s) (3s + 5)X2 (s) = 0

(1)

and equation of motion (in s-domain) for mass M2 is given by


(3s + 5)X1 (s) + (2s2 + 5s + 5)X2 (s) = F (s)

X2 (s) =

F (s) + (3s + 5)X1 (s)


2s2 + 5s + 5

(2)

Plugging Equation (2) in Equation (1) and rearranging yields


X1 (s) =

Rev. 1.0, 02/09/2014

2s4

(3s + 5)F (s)


+ 17s3 + 44s2 + 45s + 20

X1 (s)
3s + 5
= 4
3
F (s)
2s + 17s + 44s2 + 45s + 20

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EE C128 / ME C134 Spring 2014 HW2 - Solutions

UC Berkeley

3. State Space Representation of Electrical Networks


(a) Represent the electrical network shown below in state space, where iR (t) is the output.

Solution: Write the differential equations for each energy storage element.
i2
dv1
=
dt
3
di3
vL
=
dt
2
" #
v1
Therefore the state vector is x =
. Now obtain vL and i2 in terms of the state variables,
i3
vL = v1 v2 = v1 3iR = v1 3(i3 + 4v1 ) = 11v1 3i3
1
1
1
i2 = i1 i3 = (vi v1 ) i3 = v1 i3 + vi
3
3
3
Also, the output is
y = iR = 4v1 + i3
Hence,

19

x =
11
2

13

x +

32
h
i
y= 4 1 x

" #
1
9

vi

(b) Find the state space representation of the network shown below if the output is vo (t).

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EE C128 / ME C134 Spring 2014 HW2 - Solutions

UC Berkeley

Solution: Let C1 be the grounded capacitor and C2 be the other. Now, writing the equations for
the energy storage components yields,
diL
= vi vC1
dt
dvC1
= i1 i2
dt
dvC2
= i2 i3
dt

(3)
(4)
(5)

iL

Thus the state vector is x = vC1 . Now, find the three loop currents in the terms of state variables
v C2
and the input. Writing KVL around Loop 2 yields

vC1 vC2 = i2
Writing KVL around the outer loop yields
i3 = vi i2 = vi vC1 + vC2
Also, i1 i3 = iL . Hence,
i1 = iL + i3 = iL + vi vC1 + vC2
Substituting the loop currents in Equations (3), (4) and (5), yields the results in vector-matrix form,


0 1 0
1


x = 1 2 2 x + 1 vi
0 2 2
1
Since v0 = i2 = vC1 vC2 , the output equation is
h
i
y = 0 1 1 x

4. Transfer Function to Phase Variable Representation


For the system shown below, write the state equations and the output equation for the phase-variable
representation.

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EE C128 / ME C134 Spring 2014 HW2 - Solutions

Solution: Using the standard form

x =
0

0
0
h
c= 6

Rev. 1.0, 02/09/2014

UC Berkeley

derived in the textbook,


1 0
0
0
0


0
0 1
0
0

0 0
1
0 x +
0 r(t)


0 0
0
1
0
0 8 13 9
1
i
7 12 2 1 x

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