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Basic Control Theory-Dr[1]. Hung Nguyen

# Basic Control Theory-Dr[1]. Hung Nguyen

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05/11/2014

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Lecture Notes
BASIC CONTROL THEORY
Module 1
Modelling of Dynamic Systems
(Linear system modelling, ODEs - continuous-time models, Laplace transform)
AUGUST 2005
Prepared by Dr. Hung Nguyen

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Table of Contents..............................................................................................................................iList of Figures..................................................................................................................................iiList of Tables.................................................................................................................................iiiReferences......................................................................................................................................ivObjectives........................................................................................................................................v1. Mathematical Modelling of Dynamic Systems...........................................................................12. Continuous Time Models – Ordinary Differential Equations.....................................................13. General Modelling Principles......................................................................................................23.1 Mechanical Systems.............................................................................................................2Example 1 A Simple Pendulum..............................................................................................2Example 2 A Mass-Damper System.......................................................................................23.2 Liquid Level Storage Systems..............................................................................................4Example 3 A Liquid Level Storage System...........................................................................43.3 Electrical Systems.................................................................................................................7Example 4 Close-Loop RLC Circuit......................................................................................74. Review of Laplace Transform.....................................................................................................84.1 Laplace Transform................................................................................................................84.2 Laplace Transform Theorems.............................................................................................104.3 Applications of Laplace Transform.....................................................................................13Example 5.............................................................................................................................13Example 6.............................................................................................................................15Example 7.............................................................................................................................16Example 8.............................................................................................................................17Example 9.............................................................................................................................19Example 10...........................................................................................................................19Example 11...........................................................................................................................20Example 12...........................................................................................................................214.4 Partial Fraction Expansion with MATLAB........................................................................23Example 13...........................................................................................................................23Example 14...........................................................................................................................24Summary of Module 1...................................................................................................................26Exercises........................................................................................................................................26Appendix – Numerical Integration Methods.................................................................................30Sample Program in MATLAB..................................................................................................31

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LIST OF FIGURES
Figure 1 ...........................................................................................................................................3Figure 2 ...........................................................................................................................................4Figure 3 ...........................................................................................................................................4Figure 4 ...........................................................................................................................................7Figure 5 .........................................................................................................................................17Figure 6 .........................................................................................................................................20Figure 7 .........................................................................................................................................22Figure 8 .........................................................................................................................................26Figure 9 .........................................................................................................................................26Figure 10........................................................................................................................................27Figure 11........................................................................................................................................27Figure 12........................................................................................................................................28Figure 13........................................................................................................................................28Figure 14........................................................................................................................................28Figure 15........................................................................................................................................29Figure A.1......................................................................................................................................32