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Control Systems

Modeling

Prof. Abdel-Latif Elshafei

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Outline

• Modeling Mechanical

• Modeling Electrical Systems

• Transfer functions

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Mechanical Systems:

• Mass 𝑚𝑥ሷ = σ forces in the acceleration direction

• Spring 𝑓 = 𝐾 × ∆𝑥
where ∆𝑥 is the relative displacement.

• Damper/Friction 𝑓 = 𝑏 × ∆𝑥ሶ
where ∆𝑥ሶ is the relative velocity

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Springs and Dampers

Parallel and series springs

𝐹 = 𝑘2 𝑥 − 𝑘2 𝑦 𝑘1 𝑘2
𝑘2 𝑦 − 𝑥 + 𝑘1 𝑦 = 0 𝐹= 𝑥
𝑘2 𝑘1 + 𝑘2
𝑦= 𝑥
𝑘1 + 𝑘2

Parallel and series dampers

𝑏1 𝑏2
𝑏𝑒𝑞 =
𝑏1 + 𝑏2
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Example

y
𝑘 𝑦−𝑢
m
𝑏 𝑦ሶ − 𝑢ሶ
Free body diagram

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Example

𝑥1
𝑢 𝑏 𝑥ሶ 1 − 𝑥ሶ 2
𝑚1
𝑘1 𝑥1 𝑘2 𝑥1 − 𝑥2

𝑏 𝑥ሶ 2 − 𝑥ሶ 1 𝑥2

𝑚2
𝑘3 𝑥2
𝑘2 𝑥2 − 𝑥1

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Example

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Mechanical Systems:

𝑇 = 𝐾∆𝜃

𝑇 = 𝐷∆𝜃ሶ

𝑇 = 𝐽𝜃ሷ

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Mechanical Systems:

Torque is analogous to voltage in transformers

Rotational angle is analogous to current in transformers

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Example

Rotational system
with gears

Reflection of
Reflection of D,
input torque
K, and J.
𝑁2
𝑇1 − 𝐷𝑒𝑞 𝜃ሶ1 − 𝐾𝑒𝑞 𝜃1 = 𝐽𝑒𝑞 𝜃ሷ1 𝑇1 − 𝐷𝜃ሶ2 − 𝐾𝜃2 = 𝐽𝜃ሷ2
𝑁1

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Electric Circuits

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Electrical Circuits

1
𝐿𝑠 + 𝑅 + 𝐼 = 𝐸𝑖
𝐶𝑠
1
𝐼 = 𝐸𝑜
𝐶𝑠

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Example of a Electro-mechanical System

𝑑𝑖𝑎
𝑒𝑎 = 𝑅𝑎 𝑖𝑎 + 𝐿𝑎 + 𝑣𝑏
𝑑𝑡
𝑇𝑚 = 𝑘𝑚 𝑖𝑎
𝐽𝜃ሷ𝑚 = 𝑇𝑚 − 𝐵𝜃ሶ𝑚
𝑣𝑏 = 𝑘𝑏 𝜃ሶ𝑚

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Transfer Functions

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Transfer Functions

𝑢 𝑡 𝑦 𝑡
Linear Time-invariant System
ℎ 𝑡

The output, 𝑦 𝑡 , is related to the input, 𝑢 𝑡 , and the impulse

response, ℎ 𝑡 , through the convolution relation
𝑡
𝑦 𝑡 = න ℎ 𝑡 − 𝜏 𝑢 𝜏 𝑑𝜏
0

Using the Laplace transform, it is possible to write 𝑌 𝑠 = 𝐻 𝑠 𝑈 𝑠

𝒀 𝒔
The transfer function is defined as 𝑯 𝒔 = .
𝑼 𝒔

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Transfer Functions
𝑁 𝑠
Let 𝐻 𝑠 =
𝐷 𝑠

The roots of the numerator polynomial, 𝑁 𝑠 , are called the zeros

of the system.

The roots of the denominator polynomial, 𝐷 𝑠 , are called the poles

of the system.

The equation 𝐷 𝑠 = 0 is called the characteristic equation of the

system.
𝑠+1
Example: Let H 𝑠 =
𝑠+2 𝑠+3
𝑁 𝑠 =𝑠+1=0 → The zero is at 𝑠 = −1
𝐷 𝑠 = 𝑠 + 2 𝑠 + 3 = 0 → The poles are at 𝑠 = −2 and 𝑠 = −3

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The s-plane
𝑗ℐ𝓂 𝑠
zero
× pole 𝐿. 𝐻. 𝑆 𝑅. 𝐻. 𝑆
ℛℯ 𝑠 𝜎-axis

𝑗𝜔-axis

Systems that have poles in the RHS are called nonminimum phase
systems.

Systems that have poles in the RHS are called unstable systems.

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Inverse Laplace Transform

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