Topic 2 Mathematical Modelling V4-Final

FEI4306 Control System
Fourteenth Edition
TOPIC 2
Mathematical Modelling
Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Outline
2.1 Introduction
2.2 Differential Equations of Physical Systems
2.3 Linear Approximations of Physical Systems
2.4 Laplace Transform
2.5 Transfer Function
2.6 Block Diagram Model
2.7 State and State Differential Equations

2.1 Introduction

2.1 Introduction
• Control system design and analysis is part of the
Engineering Design engineering design
• A mathematical model of a dynamic system is defined
as a set of equations that represents the dynamics of
the system accurately, or at least fairly well
Control System • In other words, mathematical modelling describes the
Design and dynamic behaviour of a physical systems
Analysis
• The advantage of mathematical modelling is that
many different variations in system characteristics
and input an be analysed without having to build the
actual physical system (versatile and cheap).
Example:
Solal cell’s equivalent circuit

2.1 Introduction
• The dynamics of physical systems: mechanical, electrical,
thermal, economical, biological and etc. may be described in
terms of Ordinary Differential Equations (ODE).
• Differential equations may be obtained by using physical laws
governing a particular system
• For example; Newton’s Law for mechanical systems,
Kirchhoff’s laws for electrical system, and so many other laws
• But most physical systems are non-linear
• So, one way to study non-linear behaviour of a physical
system is by using Linear Approximations by means of
Laplace Transform
Laplace Transform
Non-linear Linear
system Approximation

2.1 Introduction
• In control system we represent the input-output relationship for components and subsystems in
the form of transfer function
• The transfer function blocks can be organized into block diagrams or signal-flow graphs to
graphically depict the interconnections.
• Block diagrams (and signal-flow graphs) are very convenient and natural tools for designing and
analysing complicated control systems
input H(s) output

2.1 Introduction
The approach to dynamic system modelling can be listed as

follows:
1. Define the system and its components.
2. Formulate the mathematical model and fundamental necessary
assumptions based on basic principles.
3. Obtain the differential equations representing the mathematical
model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, re-analyze or redesign the system.


• The differential equations describing the dynamic

performance of a physical system are obtained
by utilizing the physical laws of the process
• This is an example case of torsional spring-
mass system
• Here we want to measure the torque, Ts (t)
transmitted to the mass, m.
Through variable vs Across variable
Figure 2.1 (a) Torsional spring–mass

system. (b) Spring element
Table 2.1 Summary of Through- and Across-Variables for Physical Systems

Table 2.2 Summary of Governing Differential Equations for Ideal Elements



Nomenclature: Check the textbook

Example: Mechanical System

Figure 2.2 (a) Spring-mass-damper system. (b) Free-body diagram

Example: Electric Circuit

Figure 2.3 RLC circuit

Figure 2.4 Typical voltage response for an RLC circuit



In previous example: i.e, spring-mass damper system
• The equation of the system is subjected to small deflections, y(t)
• If y(t) continually increased, eventually the spring would be overextended and
break

The principle of superposition states that the response produced by the

simultaneous application of two different forcing functions is the sum of the two
individual responses.
Let’s consider an example of Hooke’s law:


• A transform is a change in the mathematical description
of a physical variable to facilitate computation.
• The ability to obtain linear approximation of physical
systems allows considering the use of the Laplace
transformation.
• The Laplace transform method substitutes easily solved
algebraic equations for the more difficult differential
equations.
To obtain the time response solution of a system…what we do?

• Obtain the differential equations
• Obtain the Laplace transformation of the differential equations.
• Solve the resulting algebraic transform of the variable of interest

2.4 Laplace Transform Table 2.3 Important Laplace Transform Pairs

Table 2.3 Important Laplace Transform Pairs

2.4 Laplace Transform Table 2.3 Important Laplace Transform Pairs

Figure 2.7 An s-plane pole and zero plot

Figure 2.12 Response of the spring-mass-damper system



What is the transfer function of

spring-mass damper system with
initial condition (zero)?

Find the transfer function of an RC circuit?
Figure 2.13 An RC network

To deal with transfer
function of Laplace
transform, you will need to
familiar with Partial Fraction
Expansion/Decomposition

Continue…

Further readings:
Refer more examples of different systems in textbook p67

Transfer function of an
OP-Amp Circuit
Figure 2.14 The ideal op-amp
Figure 2.15 An Inverting amplifier operating with ideal conditions

Figure 2.16 Two-mass mechanical system

Figure 2.17 Two-node electric circuit analog C1= M1, C2 = M2, L = 1/k, R1 = 1/b1, R2 = 1/b2

Figure 2.18 A DC motor (a) electrical diagram and (b) sketch

Figure 2.19 Block diagram model of field-controlled DC motor

Figure 2.20 Armature-controlled DC motor

Table 2.4 Transfer Functions of Dynamic Elements and Networks

Table 2.4 Transfer Functions of Dynamic Elements and Networks

Table 2.4 (continued) (1 of 3)

Table 2.4 (continued) (1 of 3)

2.5 Transfer Function Table 2.4 (continued) (2 of 3)



2.6 Block Diagram Models

• To show the functions performed by each component, in control engineering, we commonly use a
diagram called the block diagram

Figure 2.21 Block diagram of a DC motor

Figure 2.22 General block representation
of two-input, two-output system

Figure 2.23 Block diagram of a two-input, two-output

interconnected system

Table 2.5 Block Diagram Transformations



Figure 2.24 Negative feedback control system

Figure 2.25 Multiple-loop feedback control system

Figure 2.26 Block diagram reduction of the system of Figure 2.25

2.7 State Variable and State Differential Equations

State Variables. The state variables of a dynamic system

are the variables making up the smallest set of variables
that determine the state of the dynamic system. If at least
n variables x1, x2 , … , xn are needed to completely
describe the behavior of a dynamic system (so that once
the input is given for t >= t0 and the initial state at t=t0 is
specified, the future state of the system is completely
determined), then such n variables are a set of state
variables.


Figure 3.1 Dynamic system

Figure 3.2 A spring-mass-damper system

Figure 3.3 An RLC circuit






END

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FEI4306 Control System

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

input H(s) output

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The approach to dynamic system modelling can be listed as

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

• The differential equations describing the dynamic

Through variable vs Across variable

Figure 2.1 (a) Torsional spring–mass

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Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Nomenclature: Check the textbook

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Example: Mechanical System

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Example: Electric Circuit

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Figure 2.3 RLC circuit

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Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

The principle of superposition states that the response produced by the

Let’s consider an example of Hooke’s law:

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Copyright © 2022 Pearson Education, Inc. All Rights Reserved

To obtain the time response solution of a system…what we do?

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Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Copyright © 2022 Pearson Education, Inc. All Rights Reserved

Figure 2.7 An s-plane pole and zero plot

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Figure 2.12 Response of the spring-mass-damper system

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Copyright © 2022 Pearson Education, Inc. All Rights Reserved

What is the transfer function of

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Find the transfer function of an RC circuit?

Figure 2.13 An RC network

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Figure 2.14 The ideal op-amp

Figure 2.15 An Inverting amplifier operating with ideal conditions

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Figure 2.16 Two-mass mechanical system

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Figure 2.18 A DC motor (a) electrical diagram and (b) sketch

Figure 2.19 Block diagram model of field-controlled DC motor

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