Chapter 2 PDF

ECEg3153
Chapter 2
Mathematical Modeling and

Representation of Control systems
5/27/2017 Adigrat University(ECE) 1

ECEg3153
A further classification of control systems can be made
depending on the nature of the systems, namely,
Linear control systems
Non-linear control systems
Linear Control Systems
If a system obeys superposition principle and homogeneity, the
system is said to be a linear system.

ECEg3153
Non-Linear Control Systems :
Any system which does not obey superposition principle is
said to be a non-linear system.
Physical systems are in general non-linear and analysis of
such systems is very complicated.
Hence these systems are usually linearized and well
known linear techniques are used to analyze them.
Time Invariant:
A system is said to be time invariant if a time delay or
time advance of the input signal leads to an identical
time shift in the output signal.

ECEg3153
In general:
A differential equation is linear if the coefficients are
constants or functions only the independent variable.
Dynamic systems that are composed of linear time
invariant lumped parameter components may be
described by linear time invariant (constant coefficient)
differential equations.
Systems that are represented by differential equations
whose coefficients are functions of time are called linear
time varying (LTV) system. Example: spacecraft control
system(the mass of the space craft changes due to fuel
consumption)
A system is non-linear if principle of superposition doesnt
apply
ECEg3153
Linear time invariant system representation:
Continuous-time LTI system
Order-N Ordinary Differential equation
State equation (Finite order-1 differential equations)
Transfer function (Laplace transform)
Discrete-time LTI system
Ordinary Difference equation
Transfer function (Z transform)
State equation (Finite order-1 difference equations)

ECEg3153
Impulse Response
In control theory the impulse response is the response of a
system to a Dirac delta input. This proves useful in the
analysis of dynamic systems:
The Laplace transform of the delta function is 1, so the
impulse response is equivalent to the inverse Laplace
transform of the System's transfer function.
A continuous-time LTI system is usually illustrated like
this:
The impulse that is referred to in the term impulse
response is generally a short-duration time-domain signal.
For continuous-time systems, this is the Dirac delta
function (t), while for discrete-time systems, the
Kronecker delta function [n] is typically used.
ECEg3153
A system's impulse response (often annotated as h(t) for
continuous-time systems or h[n] for discrete-time systems) is
defined as the output signal that results when an impulse is
applied to the system input.
y(t)=x()h(t)d
where, h(t) is the system's impulse response
Mathematical Modeling of Physical Systems
We will use quantitative mathematical models of physical systems
to design and analyze control systems.
The dynamic behavior is generally described by ordinary
differential equations.
We will consider a wide range of systems, including
mechanical, electrical and electromechanical systems.

ECEg3153
Even if most physical systems are nonlinear, we will
consider as they are linear or we will take linearization
approximations, which allow us to use Laplace transform
methods.
We will then proceed to obtain the inputoutput
relationship for components and subsystems in the form
of transfer functions .
The transfer function blocks can be organized into block
diagrams or signal-flow graphs to graphically depict the
interconnections.
Block diagrams (and signal-flow graphs) are very
convenient and natural tools for designing and analyzing
complicated control systems

ECEg3153

ECEg3153
Transfer Function:- In control system differential
equations can describe the relation ship b/n the input
and output of the system.
Generally;
Which relates the output C(t) to the input R(t) by taking

system parameters ai and bi.
Using Laplace transform we transfer this differential
equation into transfer function of the system.

ECEg3153
Taking all initial conditions zero, the Laplace transform
becomes:
Then, the input output ratio becomes;
We call it this ratio of output signal to input signal, G(s),

as the Transfer Function of the system
It can be represented in Block diagram as:

ECEg3153

ECEg3153

ECEg3153
Example: Find the transfer function represented by
Solution
Taking the Laplace transform of the differential at
zero initial condition

ECEg3153
Using transfer function, we can analyze the system
response.
Taking the above example, calculate the System Response
C(t), if the input be unit step r(t)=U(t), which is step
response.
Laplace of r(t), R(s)=1/s, then

ECEg3153
Approaches for solving dynamic system problem
Define the system and its components
Formulate the mathematical model and list the necessary
assumptions
Write the differential equations describing the model
Solve the equations for the desired output variables
Examine the solutions and the assumptions
If necessary, reanalyze or redesign the system
After these steps we have to develop mathematical
models from these schematics of physical systems and we
have two methods:
1. Transfer function (in frequency domain)
2. State equation (in time domain)

ECEg3153
Mathematical Modeling Electrical Networks

ECEg3153
Example: determine the mathematical modeling and the
transfer function for the following electrical system.
Solution:

ECEg3153
Taking the Laplace transform assuming all initial
conditions zero:
Solving the transfer function Vc(s)/V(s)-Output/Input,

we obtain:
Block diagram representation:

ECEg3153
To simplify solving our problem, we can take the Laplace
transform equation of voltage-current relation for all the
three electrical elements as follows(assuming zero
initial conditions):

ECEg3153
Hence, the above problem can be easily solved as:
Calculating voltage across the capacitor in terms of loop

current I:
Then the mathematical modeling of the system in the

form of TF will be:

ECEg3153
(b) Electrical circuits with active elements:
Operational Amplifiers: It is an electronic amplifier used
as a basic building block for implementing transfer
functions:

ECEg3153
Characteristics of operational Amplifier:
Differential input : V2(t) V1(t)
High input impedance : Zi = (ideal)
Low output impedance: Zo = 0 (ideal)
High constant gain amplification A= (ideal)
Hence, the output Vo(t) = A(V2(t) V1(t))

ECEg3153
From the characteristics of operational amplifier, since
the input impedance is high Ia(s)=0 and from KCL:
I1(s) = -I2(s)
Considering the gain A is large V (t)=0, thus
I1(s)=Vi(s)/Z1(s) and
I2(s) = Vo(s)/Z2(s)
Equating the above two equation the transfer function
for an inverting amplifier configured as above becomes:

ECEg3153
Non- Inverting Operational Amplifier:
For large gain A:

ECEg3153
Tip: Transfer function & connection diagram for
integrator and differentiator operational amplifiers:

ECEg3153
(C) Mathematical Modeling for Mechanical Systems
Transitional Mechanical Systems:

ECEg3153
Example: Determine the transfer function for the
mechanical system taking the force on the mass as an
input and the displacement as output.
Solution:
Free body diagram in time and frequency domain

ECEg3153

ECEg3153
Rotational Mechanical Systems:

ECEg3153

ECEg3153

ECEg3153

ECEg3153
Mechanical Systems with Gears:
Most of the systems which are driven by motors are
associated with gear trains for driving the load.
Which provides mechanical advantage for rotational
systems.
An input gear with radius r1 and N1

ECEg3153

ECEg3153

ECEg3153

ECEg3153

ECEg3153
Hence, the transfer function and the block diagram
becomes:
a. System transfer function
b. Block diagram representation

ECEg3153
Mathematical Modeling for Electromechanical Systems:
Most systems in Mechatronics are of the mixed type, e.g.,
electromechanical, hydro mechanical, etc.
Electromechanical systems are systems which have both
electrical and mechanical variable.
It has different application areas: Robot control, Trackers
(ex. Sun & star tracking), Computer tape & Disk drives,
different servo applications.
Motor: is one of the electromechanical system which
yields a displacement output taking voltage as an input:

ECEg3153
Analogous Systems:-systems that have the same
type of equations even though they have different
physical appearance. Mechanical systems, fluid
systems, temperature systems etc. may be governed
by the same types of equations as that of electrical
circuits.

ECEg3153
The analogous electrical and mechanical quantities based on
Force - Current analogy is as follows
Example: Find the Mathematical modeling for DC motor

(Electromechanical system)
so/n ECEg3153

ECEg3153
Power Transformation:
Torque-Current:
Voltage-Speed:
Where Kt: torque constant
Kb: velocity constant For an ideal motor
Combing previous equations results in the following
mathematical model:
Taking Laplace transform of the systems differential

equations with zero initial conditions gives:

ECEg3153

ECEg3153
Example: Find the mathematical modeling in terms of
transfer function taking the angular rotation of the
inertia L(t) as an output while applying an input
voltage ea(t) to the motor. (use torque speed curve to
determine motor constants.

ECEg3153
Solution: Reflecting mechanical constants to the motor

ECEg3153
Reading Assignment-1
Circuit Analogy between Electrical and
Mechanical Systems:
&&&&&
Mathematical Modeling for Thermal and fluid
System
(if u are interested, read about it !!!)

ECEg3153
Block diagram:- is the short hand pictorial representation
of the cause-effect relation ship between the input and output
of physical systems.
Block diagram reduction
Many systems are composed of multiple subsystems and
may have more than one input.
Systems may be single input single output, SISO or
multiple input multiple output, MIMO.
In our discussion the systems are SISO type

ECEg3153
Summing Junction and Pickoff Points

ECEg3153
Cascaded or series blocks
Cascaded systems: one or more subsystem directly
followed by an other subsystem.
Considering that the interconnected subsystem has no
loading effect on the adjacent subsystem, we can combine
cascaded systems as:

ECEg3153
Parallel Blocks: Blocks with their input signals has the
same takeoff point and their output signal sinks at the
same summing junction.

ECEg3153

ECEg3153
Moving Blocks:
Moving blocks before and after a summing points,
pickoff points.
Moving block before a summing point
Moving block ahead a summing point

ECEg3153
Moving block before a pickoff point

ECEg3153
Summary table for Block diagram reduction rules

ECEg3153

ECEg3153
Example 1: Calculate the transfer function for the
following system in terms of subsystems transfer
functions.

ECEg3153
Solution:
Cascading + positive feedback
Cascading + negative feedback

ECEg3153
Example 2: Find the transfer function G(s)= C(s)/R(s)

ECEg3153

ECEg3153
Signals Flow Graphs:
Signal-flow graphs are an alternative to block diagrams.
Unlike block diagrams, which consist of blocks, signals,
summing junctions, and pickoff points,
A signal-flow graph consists only of branches which
represent systems, and nodes which represent signals.
A system is represented by a line with an arrow showing
the direction of signal flow
A signal is a node with the signal's name written
adjacent to the node.

ECEg3153
Terminologies on Signal flow graphs
Node: It is a point representing a variable. Ex. X1 & X2
Branch : A line joining two nodes.
Input Node : Node which has only outgoing branches. X1

is input node.
Output node/ sink node: Only incoming branches, X2 is
output node.
Mixed nodes: Has both incoming and outgoing
branches.
Transmittance : It is the gain between two nodes. It is
generally written on the branch near the arrow i.e. G
ECEg3153
Signal flow graph for Interconnected system

ECEg3153
Block diagrams Signal flow graphs

ECEg3153
Block diagrams can be directly converted to signal flow
graphs.
If a summing point is placed before a take off point in
the direction of signal flow, in such a case point in the
direction of signal flow, in such a case the summing
point and take off point shall be represented by a single
node.
If a summing point is placed after a take off point in the
direction of signal flow, in such a case the summing
point and take off point shall be represented by separate
nodes connected by a branch having transmittance
unity.

ECEg3153
Converting complicated Block diagram to signal flow
graph

ECEg3153
Signal flow graph reduction
It is a technique for reducing signal-flow graphs
to single transfer functions that relate the output
of a system to its input.
To reduce signal flow graphs we will follow
Masons Rule.
Masons Rule:
First lets define terminologies which helps to
evaluate Masons Rule.
Path: It is the traversal of connected branches in
the direction of branch arrows, such that no node
is traversed more than once.
ECEg3153
Forward path : A path which originates from the input
node and terminates at the output node and along which
no node is traversed more than once.
Forward Path gain : It is the product of branch
transmittances of a forward path. transmittances of a forward
path.
Loop : Path that originates and terminates at the same
node and along which no other node is traversed more
than once.
Self loop: Path that originates and terminates at the same
node.
Loop gain: it is the product of branch transmittances of a
loop.

ECEg3153
Non-touching loops: Loops that dont have any
common node or branch

ECEg3153

ECEg3153
Non touching loops:
Non touching loop gain:

The product of loop gains from non-touching loops
taken two, three, four, or more at a time
All three of the non-touching-loop gains taken two at a
time are:-
In our example there are no non-touching-loop gains

taken three at a time since three non-touching loops do
not exist.
ECEg3153
At this point we can drive Masons Equation:
Masons rule:
The Transfer function C(s)/R(s):

ECEg3153
= 1 ( loop gains) + ( non-touching loop gains
taken two at a time) ( non-touching loop gains
taken three at a time)+ so on .
= 1 (loop-gain which does not touch the Kth forward
path
Example: Find the transfer function C(s)/R(s) from the
signal flow graph

ECEg3153

ECEg3153

ECEg3153

ECEg3153
Do you have any

question on the
chapter?

Chapter 2 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 2 PDF

Uploaded by

Copyright:

Available Formats

ECEg3153

Mathematical Modeling and

5/27/2017 Adigrat University(ECE) 1

5/27/2017 Adigrat University(ECE) 2

5/27/2017 Adigrat University(ECE) 3

5/27/2017 Adigrat University(ECE) 5

5/27/2017 Adigrat University(ECE) 7

5/27/2017 Adigrat University(ECE) 8

5/27/2017 Adigrat University(ECE) 9

Which relates the output C(t) to the input R(t) by taking

5/27/2017 Adigrat University(ECE) 10

Then, the input output ratio becomes;

We call it this ratio of output signal to input signal, G(s),

5/27/2017 Adigrat University(ECE) 11

5/27/2017 Adigrat University(ECE) 12

5/27/2017 Adigrat University(ECE) 13

5/27/2017 Adigrat University(ECE) 14

5/27/2017 Adigrat University(ECE) 15

5/27/2017 Adigrat University(ECE) 16

5/27/2017 Adigrat University(ECE) 17

5/27/2017 Adigrat University(ECE) 18

Solving the transfer function Vc(s)/V(s)-Output/Input,

Block diagram representation:

5/27/2017 Adigrat University(ECE) 19

5/27/2017 Adigrat University(ECE) 20

Calculating voltage across the capacitor in terms of loop

Then the mathematical modeling of the system in the

5/27/2017 Adigrat University(ECE) 21

5/27/2017 Adigrat University(ECE) 22

5/27/2017 Adigrat University(ECE) 23

5/27/2017 Adigrat University(ECE) 24

For large gain A:

5/27/2017 Adigrat University(ECE) 25

5/27/2017 Adigrat University(ECE) 26

5/27/2017 Adigrat University(ECE) 27

5/27/2017 Adigrat University(ECE) 28

5/27/2017 Adigrat University(ECE) 29

5/27/2017 Adigrat University(ECE) 30

5/27/2017 Adigrat University(ECE) 31

5/27/2017 Adigrat University(ECE) 32

5/27/2017 Adigrat University(ECE) 33

5/27/2017 Adigrat University(ECE) 34

5/27/2017 Adigrat University(ECE) 35

5/27/2017 Adigrat University(ECE) 36

5/27/2017 Adigrat University(ECE) 37

5/27/2017 Adigrat University(ECE) 38

a. System transfer function

b. Block diagram representation

5/27/2017 Adigrat University(ECE) 39

5/27/2017 Adigrat University(ECE) 40

5/27/2017 Adigrat University(ECE) 41

Example: Find the Mathematical modeling for DC motor

5/27/2017 Adigrat University(ECE) 43

Taking Laplace transform of the systems differential

5/27/2017 Adigrat University(ECE) 44

5/27/2017 Adigrat University(ECE) 45

5/27/2017 Adigrat University(ECE) 46

5/27/2017 Adigrat University(ECE) 47

5/27/2017 Adigrat University(ECE) 48

5/27/2017 Adigrat University(ECE) 49

5/27/2017 Adigrat University(ECE) 50

5/27/2017 Adigrat University(ECE) 51

5/27/2017 Adigrat University(ECE) 52