CHAPTER 2

SYSTEM MODELING
Introduction
•The first step in the analysis and design of control systems
is the development of suitable mathematical model for
physical control systems.
•Depending on the operating condition, the mathematical
equation describing the system may be linear or nonlinear,
time varying or time-invariant.
•In order to establish a class of applicable design tools for
control systems, assumptions and approximations are
made so that the physical system may be studied using
linear system theory.
• In this course, we will study the control of linear time-
invariant systems.
Chapter 2A 1
Impulse Response and Transfer
Function
• Impulse Response, g(t) (t)

Consider a LTI system with input u(t) and output

y(t). The impulse response g(t) is defined as the
output of the system when the input is the unit-
impulse function (t). Once the impulse
response of a linear system is known, the output
of the system, y(t) with any input u(t), can be
found by using the transfer function. t

U(s) G(s)
Y(s)

Chapter 2A 2
Transfer function:
The ratio of Laplace transform of output variable to
the Laplace transform of Input variable, with zero
initial conditions. Y ( s)
G( s) =
U ( s)
where all the initial conditions set to zero, and Y(s)
and U(s) are the Laplace transform of y(t) and
u(t) respectively.
Let us consider nth-order differential equation with
constant
n
real coefficients:
n −1
d y (t ) d y (t ) d y (t )
n
+ an −1 n −1
+ ...... + a1 + a0 y (t )
dt dt dt
d m u (t ) d m −1u(t ) d u (t )
= bm m
+ bm −1 m −1
..... + b1 + b0u(t )
dt dt dt
Chapter 2A 3
Take Laplace transform on both sides and assume zero
initial conditions, the result is
(s n
+ an −1s n −1
) (
+  a1s + a0 Y ( s) = bm s + bm −1s
m m −1
)
+ b1s + b0 U ( s)

Therefore transfer function between u(t) and y(t) is

Y ( s) bm s m + .............. + b1s + b0
G( s) = = n
U ( s ) s + an −1s n −1 + ...... + a1s + a0

Thus, the characteristic equation of the system

described from the above equation
n −1
s + an −1s +  + a1s + a0 = 0
n

Chapter 2A 4
Example: Consider the differential equation

d 2y dy
2
+4 + 3 y = 2r (t )
dt dt

( s + 4s + 3)Y ( s) = 2 R( s)
2

Y ( s) 2
= 2
R( s) s + 4s + 3

Chapter 1 5
Comments Related to Transfer
Function (TF)
1. TF is a mathematical model (an operational method of expressing the
differential equation) that relates the output variable to the input variable.
2. TF is a property of a system itself, independent of the magnitude and
nature of the input or driving function.
3. TF includes the units necessary to relate the input to the output;
however, it does not provide any information concerning the physical
structure of the system. (The transfer functions of many physically
different systems can be identical.)
4. If TF of a system is known, the output or response can be studied for
various forms of inputs with a view toward understanding the nature of
the system.
5. If TF of a system is unknown, it may be established experimentally by
introducing known inputs and studying the output of the system.

Chapter 2A 6
Transfer Function (Multivariable Systems)

Using transfer function relations we can write the

simultaneous equations for the output variables
as Y 1 (s ) = G11 (s )R1 (s ) + G12 (s )R 2 (s )
Y 2 (s ) = G 21 (s )R1 (s ) + G 22 (s )R 2 (s )
where Gij(s) is the transfer function relating the ith
output to the jth input variable. Thus
Y i (s )
G ij =
R j (s )
Chapter 2A 7
 Level control system
(Block diagram) val ve

Gear +
assembl y f l oat

Wat er pool
mot or -
M

ampl i f i er

resistance comparator
Actuator Actual
Desired
water level
water level Water
amplifier Motor Gearing Valve
Input Error tank
Output
controller Process

Float
Feedback signal
measurement (Sensor)

Chapter 1 8
Block Diagram:
Block diagram is used to describe the composition
and interconnection of a system. Or it can be
used, together with the transfer functions, to
describe the cause-and-effect relationships
throughout the system.
Components of Block Diagram:

Chapter 2A 9
Block Diagram of feedback control system

R(s), r(t) = reference input ( command)

C(s), c(t) or Y(s), y(t) = output ( controlled variable)
B(s), b(t) = feedback signal
E(s), e(t) = actuating signal = error signal
H(s) = feedback transfer function
G(s)H(s) = L(s) = (open) loop transfer function
G(s) = forward-path transfer function
M(s) = C(s)/R(s) = closed-loop transfer function or
system transfer function.
Chapter 2A 10
From the above Block Diagram
C ( s) = G( s) E ( s)
B( s ) = H ( s )C ( s )
The error signal is E(s) = R(s) – B(s)
Thus C(s) = G(s)R(s) – G(s)H(s)C(s)
Therefore, Transfer function is
C (s) G( s) G ( s)
=
R( s) 1 + G ( s) H ( s) 1 + G ( s) H ( s)

Chapter 2A 11
Block Diagram Reduction Techniques

Chapter 2A 12
7. Combining Parallel Blocks

Chapter 2A 13
Example: Find the transfer function using block
diagram Reduction techniques for the figure
shown below

Chapter 2A 14
Solution:

Chapter 2A 15
Check your understanding: Determine the transfer
function of the system shown.

Chapter 2A 16