LINEAR CONTROL SYSTEMS

Modelling and Block reduction

Dr. Roy ABI ZEID DAOU
 OUTLINE
 Laplace Transform / Inverse Laplace Transform

 Transfer function representation

 Modeling of systems
 Mechanical modelling
 Electrical modelling

 State space representation

 Block reduction

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 Laplace Transform
 The study of differential equations is a rich and interesting
subject. Of all the methods available for studying linear
differential equations, one particularly useful tool is provided
by Laplace Transforms.

 Conditions to apply Laplace Transforms:

 System must be linear
 Otherwise, linearize it using, for example,Taylor Series
 Use the first two kernels of Taylor

Around x0 = 0

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Linearized form: y = a*x + b
 Laplace Transform (Cont’)
 General Taylor series formula
around the functional point a

 Back to Laplace Transform

 Go from time domain to frequency domain

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 Laplace Transform (Cont’)
 Special inputs

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 Laplace Transform (Cont’)

y(t-τ) u(t-τ)

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 We calculate the output in time domain taking into consideration the input

Inverse Laplace Transform

For example,
 Partial Fraction Expansion Y(s)/U(s) = 3/(s+1)
And we ask to get the step response
 3 cases are present: ➔Y(s) = 3 / s*(s+1) ➔ y(t)
 Case 1. Roots of the Denominator of F(s) Are Real and Distinct

 Case 2. Roots of the Denominator of F(s) Are Real and

Repeated

 Case 3. Roots of the Denominator of F(s) Are Complex or

Imaginary

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 Exercise

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 Transfer function
 It is a function that algebraically relates a system’s output to
its input

 This function will allow separation of the input, system, and

output into three separate and distinct parts, unlike the
differential equation.

 Advantage: Representation of the ratio without the

determination of the input, which is not the case of the time
domain where the input is needed in order to compute the
output

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 Transfer function (Cont’)
 Conditions to have a real system: The system must be
 Linear
 Time Invariant
 Causal

 Going from characteristic equation to transfer function

L.T.
Initial Conditions = 0

Transfer
Function
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 Transfer function (Cont’)

C(s) G(s)

Yd(s)

H(s)

𝑌(𝑠)
𝐹𝑒𝑒𝑑 𝐹𝑜𝑟𝑤𝑎𝑟𝑑 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛: = 𝐶 𝑠 ∗ 𝐺(𝑠)
𝜀(𝑠)
𝑌𝑑 (𝑠)
𝑂𝑝𝑒𝑛 𝐿𝑜𝑜𝑝 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛: = 𝐶 𝑠 ∗ 𝐺 𝑠 ∗ 𝐻(𝑠)
𝜀(𝑠)
𝑌(𝑠) 𝐶 𝑠 ∗𝐺(𝑠) 𝐹.𝐹.𝑇.𝐹.
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𝐶𝑙𝑜𝑠𝑒𝑑 𝐿𝑜𝑜𝑝 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛: 𝑅(𝑠) = 1+𝐶 = 1+𝑂.𝐿.𝑇.𝐹.
𝑠 ∗𝐺 𝑠 ∗𝐻(𝑠)
 Transfer function (Cont’)
 The transfer function presents the relation between one input
and one output. What if we have multiple inputs?

 If the inputs are dependent, express all the inputs with

respect to one input only ➔ calculate the TF of the system

 If the inputs are independent, calculate the output of each

input alone (all other inputs will be disabled)
➔ If we have two inputs R(s) and L(s),
Y(s) =YR(s)*R(s) +YL(s)*L(s)

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 Transfer function (Cont’)

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 Modelling
 Transform a system into a mathematical representation
showing the relation between the input and the output of the
system.This math. representation can be:

 The time domain characteristic equation

 The frequency domain transfer function

 The time domain state space representation

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 Modelling
Model: Relationship among observed signals.
1- Mental models

2- Graphical models
Model
types
3- Mathematical (analytical) models

4- Software models
• Split up system into subsystems,

1- Modeling • Joined subsystems mathematically,

• Does not necessarily involve any experimentation

on the actual system.
Building
models • It is directly based on experimentation.
2- System identification
• Input and output signals from the
3- Combined system are recorded.
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 Electrical Modelling

Mesh-Current Analysis ➔ Find a link between v(t) and vc(t)

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 • LS.I(S) + R I(S) + 1/CS * I(S) = V(S)
• Vc(S) = 1/CS * I(S) I(S) = C*S*Vc(S)
Electrical Modelling (cont’)
Mesh-Current Analysis ➔ Find a link between v(t) and vc(t)

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• LS.I(S) + R I(S) + 1/CS * I(S) = V(S) (1)
• Vc(S) = 1/CS * I(S) (2) I(S) = C*S*Vc(S)

(1): I(S)(1/CS + LS + R) = V(S)

➔ C*S*Vc(S) (1/CS + LS + R) = V(S)

➔ Vc(S) / V(S) = 1 / (C*S *(1/CS + LS + R) )

➔ Vc(S) / V(S) = 1/ (1 + RCS + LCS2)
 Electrical Modelling (cont’)
Find the transfer function
I2(s) / V(s)

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 Electrical Modelling (cont’)

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 Mechanical Modelling

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)

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 Mechanical Modelling (cont’)
Find the mathematical model of the following system:
1. Relation between y and x
2. Relation between u and x
3. Relation between y and u

Final answer is:

m2 y + by + k 2 y = bx + k 2 x
m1 x + bx + (k1 + k 2 ) x = by + k 2 y + k1u

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 Temperature Modelling

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 Temperature Modelling (cont’)

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 Analogy between elec & Mec

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 State Space Representation
 Main limitation of the Transfer Function:
 Do not know what happened within the system
 Access only to input and output
 Can’t help in troubleshooting

 Characteristics of State Space modelling:

 Time domain modelling
 Get values of the intermediate outputs of the system
 Ability to go from a SS modelling to TF modelling

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 State Space Representation (cont’)
 System variable. Any variable that responds to an input or
initial conditions in a system.

 State variables. The smallest set of linearly independent

system variables such that the values of the members of the
set at time t0 along with known forcing functions completely
determine the value of all system variables for all t > t0.

 State vector. A vector whose elements are the state variables.

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 State Space Representation (cont’)

State Space Model

Procedure:
1. Determine the characteristic equation of the system
2. Determine the number of state variables based on the charac. Equ. Order
3. Calculate the matrix A, the vectors B and C and the constant D

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 State Space Representation (cont’)
 2 cases:
 If the input is function of u(t) only without its derivatives
Will be treated
 If the input u(t) and its derivatives exist

Will not be considered

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 State Space Representation (cont’)

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 State Space Representation (cont’)
 Example: 3ഺ
𝑦 𝑡 + 5𝑦ሷ 𝑡 + 6𝑦ሶ 𝑡 = 7𝑢(𝑡)

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 State Space Representation (cont’)
 One can go from a S.S. model to a T.F. representation using
the following relation:

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 State Space Representation (cont’)

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 Summary between the different
representations

HODE SS
x1 = x 2
c + 5c + 4c = r
x 2 = −4 x1 − 5 x 2 + r
c = x1

SD
TF
1 Mason’s rule
G ( s) =
s 2 + 5s + 4

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 Block reduction

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 Block reduction (cont’)

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 Block reduction (cont’)

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 Block reduction (cont’)

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 Block reduction (cont’)

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 Block reduction (cont’)

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 Block reduction (cont’)

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