Clase 02

Modelado de Sistemas de Control

Luis Snchez

How to analyze and design a control system?

Sistema de Control de posicin acimutal de antena

Concepto del Sistema

How to analyze and design a control system?

Sistema de Control de posicin acimutal de antena

Distribucin detallada

Diagrama de Bloques

One of the most important thing is to

establish system model (mathematical model)
Simplified description
control system

of

Introduction on mathematical
models

System model
Definition
Mathematical expression of dynamic relationship between input
and output of a control system.
Mathematical model is foundation to analyze and design
automatic control systems
No mathematical model of a physical system is exact. We
generally strive to develop a model that is adequate for the
problem at hand but without making the model overly complex.

Modeling methods
1. Analytic method
According to
A. Newtons Law of Motion
B. Law of Kirchhoff
C. System structure and parameters

the mathematical expression of system input and

output can be derived.
Thus, we build the mathematical model ( suitable
for simple systems).

Analytic method: Models

Differential equation
Transfer function
Space state
Frequency characteristic
Study
time-domain
response
Transfer
function

Linear system
LTI

study
frequency-domain
response

Differential
Frequency
Laplace equation Fourier characteristic
transform
transform

Modeling methods
2. System identification method
Building the system model based on the system inputoutput
signal
This method is usually applied when there are little information
available for the system.
Input

Black box

Output

Black box: the system is totally unknown.

Grey box: the system is partially known.

Why Focus on Linear Time-Invariant (LTI)

System
What is linear system?
-A system is called linear if the principle of
superposition applies

u1 (t )
u2 (t )

system
system

y1 (t )
y2 (t )

system
1 y1 2 y2
1u1 (t ) 2u2 (t )

1. Establishment of differential equation

Differential equation of LTI System

Linear ordinary differential equations
--- A wide range of systems in engineering are
modeled mathematically by differential equations
--- In general, the differential equation of an n-th
order system is written
a0 c ( n ) (t ) a1c ( n 1) (t )

an 1c (1) (t ) c(t )
b0 r ( m ) (t )

Time-domain model

bm1r (1) (t ) bm r (t )
a0, a1, an, b0, b1,
bm: Constantes

How to establish ODE of a control system

--- list differential equations according to the
physical rules of each component;
--- obtain the differential equation sets by
eliminating intermediate variables;

--- get the overall input-output differential

equation of control system.

Examples-1 RLC circuit

R
u(t)

L
i(t)

Input
u(t)

uc(t)

Output

system

Defining the input and output according to which

cause-effect relationship you are interested in.

uc(t)

According to Law of
Kirchhoff in electricity

C
i(t)

u(t)

uc(t)

di (t )
u(t ) Ri (t ) L
uc (t ) (1)
dt
1
uC (t )
C

i(t )dt (2)

duC (t )
i (t ) C
dt

duC (t )
d 2uC (t )
u (t ) RC
LC
uC (t )
2
dt
dt

 It is re-written as in standard form

LCuC (t ) RCuC (t ) uC (t ) u (t )
Generallywe set
the output on the left side of the equation
the input on the right side
the input is arranged from the highest order to the
lowest order

Examples-2 Mass-spring-friction system

Gravity is
neglected.

F1 kx (t )

Spring

We are interested in the

relationship between
external force F(t) and
mass displacement x(t)
Define: inputF(t); output---x(t)

F(t)

m
F2 fv (t )
friction
f

Displacement
x(t)

F ma
ma F F1 F2
2

dx(t )
d x (t )
v
, a
dt
dt

By eliminating intermediate variables, we obtain the

overall input-output differential equation of the massspring-friction system.

mx(t ) f x(t ) kx(t ) F (t )

Recall the RLC circuit system

LCuc (t ) RCuc (t ) uc (t ) u(t )

These formulas are similar, that is, we can use the same
mathematical model to describe a class of systems that
are physically absolutely different but share the same
Motion Law.

2.Transfer function

Transfer function
Input
u(t)

LTI
system

Output
y(t)

Consider a linear system described by differential equation

y ( n) (t ) an1 y ( n1) (t )

a0 y(t ) bmu ( m) (t ) bm1u ( m1) (t )

bu (1) (t ) b0u(t )

Assume all initial conditions are zero, we get the transfer

function(TF) of the system as

TF G ( s )

L output y (t )
L input u (t )

zero initial condition

Y ( s ) bm s m bm 1s m 1 ... b1s b0

n
U (s)
s an 1s n 1 ... a1s a0

L: Trasformada
de Laplace

WHY need LAPLACE transform?

Time-domain
ODE problems

Laplace

s-domain
algebra problems

Transform
(LT)

Difficult

Solutions of timedomain problems

Easy

Inverse

LT

Solutions of algebra
problems

Laplace Transform
The Laplace transform of a
function f(t) is defined as

F ( s ) L f (t )

f (t )e dt
st

Laplace, Pierre-Simon
1749-1827

where s j is a complex variable.

Examples
Step signal: f(t)=A

F ( s ) f (t )e dt Ae dt A e st
0
0
s
st

Exponential signal f(t)=

F ( s)

st

at

1
1 ( as )t

e
e e dt
sa
sa
0
at st

Laplace transform table

f(t)

(t)

1(t)

1
s

1
s2
1
sa

at

f(t)

F(s)

sin wt

cos wt
at

e sin wt
at

e cos wt

F(s)
w
s 2 w2

s
s 2 w2
w
( s a) 2 w 2
sa
( s a) 2 w 2

Properties of Laplace Transform

(1) Linearity
L[af1 (t ) bf 2 (t )] aL[ f1 (t )] bL[ f 2 (t )]

(2) Differentiation
df (t )
L
sF (s ) f (0)
dt

Using Integration
By Parts method
to prove

where f(0) is the initial value of f(t).

d nf (t ) n
n 1
n 2 (1)
L
s F (s ) s f (0) s f (0)
n
dt

f (n 1) (0)

(3) Integration
t
F (s )

L f ( )d
0

Using Integration
By Parts method
to prove

4Final-value Theorem

lim
f
(
t
)

lim
sF
(
s
)
t
s0
(5) Initial-value Theorem

lim f (t ) lim sF ( s )
t 0

The final-value theorem

relates the steady-state
behavior of f(t) to the
behavior of sF(s) in the
neighborhood of s=0

(6)Shifting Theorem
a. shift in time (real domain)
s
e
F (s)
L[ f (t )]

b. shift in complex domain

L[e f (t )] F ( s a )
at

Inverse Laplace transform

DefinitionInverse Laplace transform, denoted by
is given by L1[ F ( s)]
C j

1
1
st
f (t ) L [ F ( s)]
F
(
s
)
e
ds(t 0)

2 j C j

where C is a real constant

Note: The inverse Laplace transform operation involving
rational functions can be carried out using Laplace transform
table and partial-fraction expansion.

Partial-Fraction Expansion method for finding

Inverse Laplace Transform
N ( s) b0 s m b1s m1 bm1s bm
F ( s)
n
( m n)
n 1
D( s )
s a1s an 1s an

If F(s) is broken up into components

F ( s ) F1 ( s ) F2 ( s )

Fn ( s )

If the inverse Laplace transforms of components are

readily available, then
L1 F ( s) L1 F1 ( s) L1 F2 ( s)

f1 (t ) f 2 (t ) ... f n (t )

L1 Fn ( s)

Poles and zeros

Poles
A complex number s0 is said to be a pole of a
complex variable function F(s) if F(s0)=.
Zeros
A complex number s0 is said to be a zero of a complex
variable function F(s) if F(s0)=0.
Examples:
(s 1)(s 2)
(s 3)(s 4)
s 1
s 2 2s 2

poles: -3, -4;

poles: -1+j, -1-j;

zeros: 1, -2

zeros: -1

Case 1: F(s) has simple real poles

N ( s) b0 s m b1s m1 bm 1s bm
F (s)
n
D( s )
s a1s n 1 an 1s an
Partial-Fraction Expansion

c1
c2

s p1 s p2

cn

s pn

where pi (i 1, 2, , n) are eigenvalues of D( s ) 0, and

N (s)

ci
( s pi )
D( s)
s pi

f (t )

c1e

p1t

c2 e

p2t

... cn e

Inverse LT

pnt

Parameters pk give shape and numbers ck give magnitudes.

Example 1

1
F ( s)
( s 1)( s 2)( s 3)

Partial-Fraction Expansion

c3
c1
c2

s 1 s 2 s 3

1
1
c1
( s 1)

6
( s 1)( s 2)( s 3)
s 1

1
1
c2
( s 2)
( s 1)( s 2)( s 3)
s 2 15

1
1
c3
( s 3)

( s 1)( s 2)( s 3)
s 3 10

1 1
1
1
1
1
F (s)


6 s 1 15 s 2 10 s 3
1 t 1 2t 1 3t
f (t ) e e e
6
15
10

Case 2: F(s) has simple complex-conjugate poles

Example 2
Laplace transform

Applying initial conditions

s5
Y ( s ) 2
s 4s 5
Partial-Fraction Expansion

s23
s5

2
2
( s 2) 1
( s 2) 1
s2
3

2
( s 2) 1 ( s 2) 2 1

Inverse Laplace transform

y (t ) e

2 t

cos t 3e

2t

sin t

Case 3: F(s) has multiple-order poles

N ( s)
N ( s)
F ( s)

D( s) ( s p1 )( s p2 ) ( s pn r )( s pi )l
c1

s p1

cnl
bl
bl 1

l
l 1
s pn l (s pi ) (s pi )

Simple poles

The coefficients c1 ,

b1

s pi

Multi-order poles

, cn l of simple poles can be calculated as Case 1;

The coefficients corresponding to the multi-order poles are determined as

d
l
l

b l F ( s) ( s pi )
, bl 1 F ( s ) ( s pi )
,
s p1
ds
s pi
bl m

1 dm

m ! ds

N ( s)
1 d l 1 N ( s)
l
l
, b1
( s pi )

D( s) ( s pi )

(l 1)! ds D( s)

s p1
s pi

Example 3
Laplace transform:

s 3Y ( s) s 2 y (0) sy (0) y (0) 3s 2Y ( s) 3sy (0) 3 y (0)

1
3sY ( s) 3 y (0) Y ( s)
s
Applying initial conditions:

1
Y ( s)
s ( s 1)3

s= -1 is a 3-order
pole

Partial-Fraction Expansion

b3
c1
b2
b1
Y (s)

3
2
s ( s 1) ( s 1)
s 1

Determining coefficients:

b3 [

1
3
(
s

1)
]s 1 1
3
s( s 1)

1
c1
s 1
3
s ( s 1) s 0
1
b1 (2 s 3 )
1
2!
s 1

d
1
d 1
3
2
b2 [
(
s

1)
]

[
(
)]

s
)
1

s 1
3
s

1
ds s
ds s ( s 1)
s 1

1
1
1
1
Y ( s )

3
2
s ( s 1) ( s 1) s 1
Inverse Laplace transform:

1 2 t
y (t ) 1 t e te t e t
2

Find the transfer function of the RLC

R
Input u(t)

L
i(t)

uc(t) Output

Solution:
1) Writing the differential equation of the system according to physical
law:

LCuC (t ) RCuC (t ) uC (t ) u (t )

2) Assuming all initial conditions are zero and applying Laplace

transform
2

LCs Uc (s) RCsUc (s) Uc (s) U (s)

3) Calculating the transfer functionG(s) as

U c (s)
1
G ( s)

U ( s ) LCs 2 RCs 1

Properties of transfer function

The transfer function is defined only for a
linear time-invariant system, not for nonlinear
system.
All initial conditions of the system are set to
zero.
The transfer function is independent of the
input of the system.
The transfer function G(s) is the Laplace
transform of the unit impulse response g(t).

Review questions
What is the definition of transfer function?
When defining the transfer function, what
happens to initial conditions of the system?
Does a nonlinear system have a transfer
function?
How does a transfer function of a LTI system
relate to its impulse response?
Define the characteristic equation of a linear
system in terms of the transfer function.