FEEDBACK CONTROL SYSTEMS

LECTURE NOTES-2/12
 Electrical Network Modeling

Electric Circuits

Capacitor Resistor Inductor

1 v (t )  Ri (t ) di (t )
v (t ) 
C  i (t )dt v (t )  L
dt
1
dv (t ) i (t )  v (t ) 1
i (t )  C R i (t )   v (t )dt
dt L
V ( s) V ( s)
Z ( s) 
V ( s) 1

Z ( s)  R Z ( s)   Ls
I ( s ) Cs I ( s) I ( s)
Example:

Obtain the transfer function Vc(s)/V(s)

II
I
t
1
C0 i( )d  vc (t )

11
LsI ( s)  RI ( s)  I ( s)  V ( s) 11
I ( s)  Vc ( s)
Cs Cs

11
I ( s)
Vc ( s) Cs Vc ( s) 1
 
 V ( s) CLs 2  RCs  1
V ( s) 1 1
I ( s) Ls  R  
 C s
 Ls R
V(s) 1/Cs

11
I ( s)
Vc ( s) Cs

V ( s)  1 1
I ( s) Ls  R  
 C s
 i1
Example:
i2

Obtain the transfer function I2(s)/V(s)

Ls 1/Cs
V(s)
 Ls 1/Cs
V(s)
(1) (2)

( R1  Ls) I1 ( s )  LsI2 ( s )  V ( s )
 1 
 LsI1 ( s )   Ls  R2   I 2 ( s )  0
 Cs 

I 2 ( s) LCs2
G( s)  
V ( s) ( R1  R2 ) LCs2  ( R1R2C  L) s  R1
Operational Amplifiers (OpAmp)

1. Differential input, V2(t)-V1(t)

2. High input impedance, Zi=inf
vo (t )  A(v2 (t )  v1 (t ))
3. Low output impedance Zo=0
4. High Constant gain amplification A=inf

Inverting OpAmp
Z2(s) I1 ( s )   I 2 ( s )
Z1(s) Vi ( s )
Vi(s) I2(s) I1 ( s ) 
Vo(s) Z1 ( s )
I1(s) V0 ( s )
 I 2 ( s)  
Z 2 ( s)

V0 ( s ) Z ( s)
 2
Vi ( s) Z1 ( s)
 Mechanical System Modeling

Viscous Damper Mass

Spring

dv (t )
f (t )  f v v (t ) f (t )  M
f (t )  K  v (t )dt dt
dx (t )
f (t )  Kx(t ) f (t )  f v d 2 x (t )
dt f (t )  M
F ( s) dt 2
Z ( s)  K F ( s)
Z ( s)   fv s F ( s)
X ( s) X ( s) Z ( s)   Ms 2
X ( s)
Spring

Damper
 Rotational Mechanical System Modeling

Spring Damper Inertia

dw(t )
T (t )  J
T (t )  K  w(t )dt T (t )  Dw(t ) dt
d ( t ) d 2 (t )
T (t )  K (t ) T (t )  D T (t )  J
dt dt 2
T ( s)
Z ( s)  K T ( s) T ( s)
 ( s) Z ( s)   Ds Z ( s)   Js 2
 ( s)  ( s)