Lecture Notes

BASIC CONTROL THEORY

Module 1

Modelling of Dynamic Systems

(Linear system modelling, ODEs - continuous-time models, Laplace transform)

AUGUST 2005

Prepared by Dr. Hung Nguyen

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TABLE OF CONTENTS

Table of Contents..............................................................................................................................i List of Figures..................................................................................................................................ii List of Tables................................................................................................................................. iii References......................................................................................................................................iv Objectives........................................................................................................................................v

1. Mathematical Modelling of Dynamic Systems...........................................................................1
2. Continuous Time Models \u2013 Ordinary Differential Equations.....................................................1
3. General Modelling Principles......................................................................................................2
3.1 Mechanical Systems.............................................................................................................2

Example 1 A Simple Pendulum..............................................................................................2

Example 2 A Mass-Damper System.......................................................................................2

3.2 Liquid Level Storage Systems..............................................................................................4

Example 3 A Liquid Level Storage System...........................................................................4
3.3 Electrical Systems.................................................................................................................7
Example 4 Close-Loop RLC Circuit......................................................................................7
4. Review of Laplace Transform.....................................................................................................8
4.1 Laplace Transform................................................................................................................8
4.2 Laplace Transform Theorems.............................................................................................10
4.3 Applications of Laplace Transform.....................................................................................13
Example 5.............................................................................................................................13
Example 6.............................................................................................................................15
Example 7.............................................................................................................................16
Example 8.............................................................................................................................17
Example 9.............................................................................................................................19
Example 10...........................................................................................................................19
Example 11...........................................................................................................................20
Example 12...........................................................................................................................21
4.4 Partial Fraction Expansion with MATLAB........................................................................23
Example 13...........................................................................................................................23
Example 14...........................................................................................................................24
Summary of Module 1...................................................................................................................26
Exercises........................................................................................................................................26
Appendix \u2013 Numerical Integration Methods.................................................................................30
Sample Program in MATLAB..................................................................................................31

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LIST OF FIGURES

Figure 1... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... .3 Figure 2... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... .4 Figure 3... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... .4 Figure 4... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... .7 Figure 5... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..17 Figure 6... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..20 Figure 7... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..22 Figure 8... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..26 Figure 9... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..26 Figure 10........................................................................................................................................27 Figure 11........................................................................................................................................27 Figure 12........................................................................................................................................28 Figure 13........................................................................................................................................28 Figure 14........................................................................................................................................28 Figure 15........................................................................................................................................29 Figure A.1......................................................................................................................................32