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Mathematical Modeling
Differential LT/LT-1
Transfer
Equation
Function
State Space
Differential Equation
"A differential equation is a relationship between a function
of time & it's derivatives" (Braun - Differential equations and
their applications)
Differential equation is a relationship between input and
output of control system (Norman S.Nise - Control System
engineering)
Example :
dc(t )
+ 2c(t ) = r (t )
dt
Output Input
Transfer function
It can be represented in block diagram.
C ( s)
= H ( s)
R( s)
Where C(s) is output of system
R(s) is input of system
H(s) is elements in the system
Impedance Admittance
Component V-I I-V V-q Z(s) Y(s)
Example 1 :
Find transfer function relating the capacitor Voltage, Vc(s) to the input voltage,
V(s).
Using mesh analysis, the general equations are obtained and shown as below:
sum of impedance sum of impedance common sum of applied voltages
I1 ( s ) − I2 ( s ) = (1)
around mesh 1 to the two meshes around mesh 1
( R1 + Ls ) I1 ( s ) − ( Ls ) I 2 ( s ) = V ( s ) ( 3)
1
− ( Ls ) I1 ( s ) + R2 + Ls + I2 ( s ) = 0 ( 4)
Cs
Nodal Analysis
❖ Fig shows the electrical circuit with passive elements.
❖ Using nodal analysis, the general equations are obtained and shown as below:
sum of admittances sum of admittances common sum of applied currents
V1 ( s ) − V2 ( s ) = (1)
connected to node1 to the two nodes around node 1
1
1
G + + G2 VL ( s ) − ( G2 ) Vc ( s ) = G1V ( s ) ( 3)
Ls
− ( G2 )VL ( s ) + ( G2 + Cs )VC ( s ) = 0 ( 4)
Example 2
I 2 (s )
Find transfer function G(s ) = For the network circuit in Figure
V (s )
above using mesh analysis and nodal analysis. Prove the both
answer are same.
G (s) =
impedance in sharing loop
( impedance in loop1)( impedance in loop2 ) - ( impedance in sharing )
2
Op Amp
Table 3
Types Op Amp Op Amp circuit Transfer Function (TF)
Vo( s) Z ( s)
=− 2
Inverting Op Amp Vi( s) Z1 ( s)
Vo( s) Z 2 ( s) + Z1 ( s)
=
Non Inverting Vi( s) Z1 ( s)
Op Amp
Force-
Translational Displacement
Relationship
F ( s)
TF =
Mechanical X ( s)
System
Torque-
Angular
Rotational Displacement
Relationship
T ( s)
TF =
( s)
Translational Mechanical system
Table 4: Force displacement relationship
Example 3: Find Transfer function , X(s)/F(s) for the system below.
Step :
1) Draw Body Free Diagram (BFD)
2) Place on the mass all forces felt by mass.
- Mass travelling to the right,
applied force point to the right
- spring, viscous damper and
force due to acceleration
point to the left.
3) Write differential equation
4) Solving TF by taking LT
OR
Vo (s )
T .F = = Kp
i (s )
Vo (s )
T .F = = sK f
i (s )
Block Diagram
▪ It is unidirectional, operational blocks that
represent the transfer functions of the elements of
the systems.
▪ Consists of:
➢Lines/Arrows (signals) /
➢Block (system,TF,gain)
• PP Arrangement
Block Diagram(cont.)
• Block Arrangement
• Cascade (serial) blocks
• Parallel block
• Feedback block
Block Diagram(cont.)
• Moving Block diagram over SJ
Moving BD to the left SJ Moving BD to the Right SJ
Block Diagram(cont.)
• Moving Block diagram over PP
Moving BD to the left PP Moving BD to the Right PP
Block Diagram(cont.)
Example:Determine the TF,C(s)/R(s), of the system
by using Block diagram reduction(BDR )method.
Block Diagram(cont.)
Steps of Block Reduction Method :
1 Rearrange all summing junctions (SJ) that have more
then two inputs.
2
Rearrange all pick-off points (PP) that have more that
two outputs.
3
Solve all cascade, parallel and feedback blocks.
4
Repeat step 1,2 and 3 which appropriate until the
simplest block diagram can be obtained.
5
Obtain transfer function of the simplest block diagram
configuration.
Signal Flow Graph
▪ A representation of the interconnection of
subsystem that form a system. It si consists of
nodes representing signals and lines representing
subsystem.
▪ Consists of:
➢ System
➢ Signal
signal
System/
(SFG)
Building Signal Flow Graph (cont.)
▪ Parallel system signal
Block
diagram System/
(SFG)
Building Signal Flow Graph (cont.)
▪ Feedback system nodes
Block
diagram
signal
System/
(SFG)
Building Signal Flow Graph (cont.)
Example
Mason’s rule
i) Mason’s rules is a rule applied to reduce the complex block diagram
ii) The transfer function of a system represented by a signal flow diagram
using the Mason’s rule is given by the expression below;
C(s) k Mk Δk
G(s)= =
R(s) Δ
where; k=number of forward path
Mk =k thforward path gain
Δ=1- LG+ NTL2- NTL3+...
Δk =cofactor = 1- nontouch fwd path gain+ NTL2 non touch fwd path gain
- NTL3nontouchfwdgain+...
Mason’s rule
Example : Determine the TF, C(s)/R(s), of the
system by using Mason’s rule.