Engr.

Muhammad Aamir Aman

Lecturer
Department of Electrical Engineering

By: Engr. M. Aamir Aman

 Modeling of C/Systems

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 Modeling of THREE types of control systems
will be studied in this course:
 Electrical/Electronic Systems

 Mechanical Systems

 Biological system

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 Modeling means?
 To describe the system (writing Transfer function)
 Elements
 Resistor
 Inductor
 Capacitor

 Laws
 KVL
 KCL
 Voltage Division Rule
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Make ‘Impedance’ equivalent circuit

Apply KVL/KCL

Rearrange in terms of Transfer Function

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 Elements:
 Mass
 Spring
 Damper

 Mass:
 An element which resists the motion due to
inertia

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 Spring:
 An element which opposes motion in the spring
(if you compress/decompress the spring, it resists)

Where K = Spring constant or

Stiffness of the spring

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 Damper:
 An element which opposes motion due to friction.
If the friction is viscous friction, then the
frictional force is proportional to velocity

Where B = Damping coefficient

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 Damping:
 Although friction opposes motion, sometimes it is
introduced intentionally
 Examples
- Car shocks
- Tower buildings
- Robots

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Analogy exists
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Analogous quantities based on force voltage analogy

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 k10
Infusion rate
u(t)
Rapid peripheral
compartment
(V2) k21
2 x2
Muscle k12 Primary
k1e Effect site ke0
compartment
compartment
(V1)
k 31 Ce
1 x1

Slow peripheral Intravascular blood Brain

compartment k 13
(V3)
3 x3
Fat

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 𝑥1 𝑡 = −𝑘10 𝑥1 𝑡 − 𝑘12 𝑥1 𝑡 − 𝑘13 𝑥1 𝑡 + 𝑘21 𝑥2 𝑡 +
𝑘31 𝑥3 𝑡 + 𝑈(𝑡)
 𝑥2 𝑡 = 𝑘12 𝑥1 (𝑡) − 𝑘21 𝑥2 (𝑡)
 𝑥3 𝑡 = 𝑘13 𝑥1 (𝑡) − 𝑘31 𝑥3 (𝑡)
 𝑥𝑒 𝑡 = 𝑘1𝑒 𝑥1 𝑡 − 𝑘𝑒0 𝑥𝑒 𝑡

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 Modeling of other systems

 Thermal

 Fluid

 Pneumatic

 Hydraulic

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