CHAPTER 2

MODELING IN
FREQUENCY DOMAIN (Part 2)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 2 (Part 2), the student will be able to:

• find the transfer function for an electrical system.

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 Transfer Function (TF)
• Transfer function: ratio of the output-to-input Laplace transform.
• Consider nth order, linear, time-invariant differential equation
d nc t  d n 1c  t  d mr t  d mr t 
an n
 an 1 n 1
 ....  a0c  t   bm m
 bm 1 m 1
 ....  b0 r  t 
dt dt dt dt
• Taking Laplace transform of both side
an s nC  s   an 1s n 1C  s   ....a0C  s   bm s m R  s   bm 1s m 1R  s   ....b0 R  s 

• Therefore, the transfer function is

𝐶(𝑠) 𝑏𝑚 𝑠 𝑚 + 𝑏𝑚−1 𝑠 𝑚−1 + ⋯ + 𝑏0
=𝐺 𝑠 =
𝑅(𝑠) 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 + ⋯ + 𝑎0

HAFEZ JTKEK FTKEE

 Electrical System TF
• Basic electric networks consist of resistors, capacitors and inductors.
Resistor Inductor Capacitor

di  t  dv  t 
v t   L i t   C
v  t   Ri  t  d t  d t 

Laplace
transform
Laplace
transform
i  0  0 Laplace
transform
 v  0  0
V s V s V s 1
R  sL 
I s I s I  s  sC
HAFEZ JTKEK FTKEE
 Electrical System TF (Cont.)

• From the table above, the differential equations for the circuit can
be written using Kirchoff's laws.
• Then the Laplace transforms of the differential equations is used
and the transfer function is solved.
• Two transform methods can be used:
 loop or mesh analysis – Kirchhoff’s voltage law
 nodal analysis – Kirchhoff’s current law
HAFEZ JTKEK FTKEE
 Electrical System TF (Cont.)
Procedure to find electrical system TF:
1. Decide input and output.
2. Convert to frequency domain.
3. Obtain the relationship between voltage and current (Ohm’s
Law).
4. Obtain transfer function between output and input.

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 1: Decide input and output.

Input:
Supply voltage v(t)

Output:
Capacitor voltage vc(t)

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)
Step 2: Convert to frequency domain.

Time Domain Frequency domain

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current.

1
V ( s)  ( Ls  R  ) I ( s)
Cs

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 4: Obtain transfer function between output and input.

Input  V ( s)
Output  Vc ( s)
1
V ( s)  ( Ls  R  ) I ( s)
Cs
1
Vc ( s)  I ( s)
Cs
1
V ( s)  ( Ls  R  )CsVc ( s)
Cs
V ( s) output 1
G( s)  c  
V ( s) input CLs 2  CRs  1
HAFEZ JTKEK FTKEE
 Electrical System TF (Cont.)

Example 2.8 Find the transfer function for the given circuit.

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 Electrical System TF (Cont.)

Step 1: Decide input and output.

Input: Output:
Supply voltage V(t) Capacitor voltage Vc(t)

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)
Step 2: Convert to frequency domain.
Time Domain

Frequency domain

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current.

Procedure 1: Analyze mesh -> 2 equations

since there are 2 loops

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current. (Cont.)

Loop 1 Loop 2

Procedure 2:
a. Sum impedances around loop
b. Minus impedances share with other
loops

Loop 1: R1 I1  s   LsI1  s   LsI 2  s   V ( s )

1
Loop 2:  LsI1  s   LsI 2  s   R2 I 2  s   I2  s   0
HAFEZ JTKEK FTKEE Cs
 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current. (Cont.)

Loop 1 Loop 2

R1 I1  s   LsI1  s   LsI 2  s   V ( s )
1
 LsI1  s   LsI 2  s   R2 I 2  s   I2  s   0
Cs
 R1  Ls   Ls 
   I1   V  s  
  Ls  1     
 Ls  R    2 
I 0 
HAFEZ JTKEK FTKEE
 
2
Cs  
 Electrical System TF (Cont.)
Step 4: Obtain transfer function between output and input.

Loop 1 Loop 2

Input  V ( s) Need to solve this

simultaneous equations for I2
Output  Vc ( s)
 R1  Ls   Ls 
  I1   V  s  
1
Vc ( s)  I 2 ( s) 
 1     
Cs   Ls  
  Ls R2   2  
I 0 
 Cs 

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)
Step 4: Obtain transfer function between output and input. (Cont.)
 R1  Ls   Ls 
  I1   V  s  
How to solve for I2(s)?

  Ls  1      Use Cramer’s rule with the
 Ls  R    2 
I 0 
 
2
Cs   help of determinants.
 R1  Ls  V s
 Ls 0
I 2 ( s) 
 R1  Ls   Ls
 1 
 Ls  Ls  R2  
 Cs 

I 2 ( s) 
LsV ( s) 1
Vc ( s)  I 2 ( s)
 R1  R2  LCs 2   R1R2C  L  s  R1 Cs
C ( s) VC ( s) L
G( s)   
R( s) V ( s) C  R1  R2  LCs 2   R1R2C  L  s  R1 
HAFEZ JTKEK FTKEE
 Electrical System TF (Cont.)

Example 2.9 Find the transfer function for the given circuit.

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 Electrical System TF (Cont.)
Step 1: Decide input and output.
Step 2: Convert to frequency domain (Already converted).
Output:
Capacitor voltage Vc(s)

Input:
Supply
voltage V(s)

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current.

Procedure 1: Analyze mesh

-> 3 equations since there
are 3 loops

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)
Step 3: Obtain the relationship between voltage and current. (Cont.)

Loop 3
Procedure 2:
a. Sum impedances around loop
b. Minus impedances share with
other loops
Loop 1 Loop 2

Loop 1: (2  2s)I1  (1  2s)I 2  (1)I3  V (s)

Loop 2:  (1  2s)I1  (1  9s)I 2  (4s) I3  0
1
Loop 3:  (1) I1  (4s) I 2  (4s   1) I 3  0
HAFEZ JTKEK FTKEE s
 Electrical System TF (Cont.)

Step 3: Obtain the relationship between voltage and current. (Cont.)

(2  2s)I1  (1  2s)I 2  (1)I3  V (s)
 (1  2s)I1  (1  9s)I 2  (4s) I3  0
1
 (1) I1  (4s) I 2  (4s   1) I 3  0
s

In matrix form:
 
 (2s  2)  (2s  1) 1   I1  V ( s)
 (2s  1) (9s  1)  4s  I    0 
  2   
 1 (4s  s  1)   I 3   0 
2
 4s
 s 

HAFEZ JTKEK FTKEE

 Electrical System TF (Cont.)
Step 4: Obtain transfer function between output and input.
 
 (2s  2)  (2s  1) 1   I1  V ( s) How to solve for I3(s)?
 (2s  1) (9s  1)  4s  I    0 
  2    Use Cramer’s rule with the
 1 (4s  s  1)   I 3   0 
2
 4s help of determinants.
 s 
(2s  2) (2s  1) V ( s)
(2s  1) (9s  1) 0
1 4s 0
I3 ( s) 
(2s  2) (2s  1) 1
(2s  1) (9s  1) 4s
(4s 2  s  1)
1 4s
s

V (8s 2  13s  1) s 1
I 3 ( s) 
 22 s 3  77 s 2  20 s  32 s 4  1
Vc ( s)  I 3 ( s)
s
C ( s) VC ( s) 8s 2  13s  1
G( s)   
R( s) V ( s)  22 s 3  77 s 2  20 s  32 s 4  1
HAFEZ JTKEK FTKEE