Chapter 2 Mathematical Modeling Freq Domain

Chapter 2: Mathematical Modeling
in Frequency Domain
Ts. Dr. Herman Wahid
Control & Mechatronics Engineering Department (CMED)
Faculty of Electrical Engineering
Universiti Teknologi Malaysia
81310 UTM Johor, Malaysia
SEEE 3133 – System Modelling and Analysis

www.utm.my
Dr. Herman SEEE 3133 Innovating Solutions
Content
2.1 • Introduction to Laplace Transform and Transfer Function
• Modeling of Electrical Systems

2.2 • Equivalent circuit
• Cramer’s Rule
• Modeling of Mechanical Systems

• 2.3.1 Translational system
2.3 • 2.3.2 Rotational system
• 2.3.3 Rotational system with gears
2.4 • Modeling of Electromechanical Systems
2.5 • Modeling of simple liquid level system
Dr. Herman SEEE 3133 Innovating Solutions 2

Modeling of Control System Plants
3 Transfer function
We will cover this
C–T G(s)
Frequency
Domain
D–T G(z-1)
Plant
Model x (t ) = A x(t ) + Bu (t )
C–T
y (t ) = C x(t ) + Du (t )
Time
Domain
x (k + 1) = A x(k ) + Bu (k )
D–T
y ( k ) = C x ( k ) + Du ( k )
State-space
equation
2.1
Introduction to
Laplace Transform and
Transfer Function
The Need for a Mathematical Model
Mathematical modeling Mathematical model of a

(of the plant to be dynamical system:
controlled)  May be obtained from the
schematics of the physical
systems,
 Based on physical laws of
engineering
 Newton’s Laws of motion
 Kirchhoff's Laws of
electrical network
 Ohm’s Law
Design of controller

LAPLACE TRANSFORM
Time-domain Frequency-domain signals

signals
Equations:
Laplace Transform:
Inverse Laplace Transform:

Laplace Transform Table
n!
s n +1
Given f (t), what is F(s)?

Laplace Transform Theorem

Example 1:
• Find the Laplace Transform of y(t), assuming zero

initial condition
where u(t) is a unit step.

• Solution:

Example 2:
• Find the Laplace Transform of Hint – use:

• ‘Frequency Shift Theorem’ &
• ‘Integration by parts’
• Solution:
syms t;
f=t*exp(-5*t);
laplace(f)

Inverse Laplace Transform
• Recall:
• Therefore, for Inverse Laplace Transform,

Given F(s), what is f (t)?
• Refer to Laplace Transform Table on p8.

INVERSE LAPLACE TRANSFORM
numerator
denominator
• 3 situations:
i. Roots of D(s) are real & distinct, e.g.
ii. Roots of D(s) are real & repeated, e.g.
iii. Roots of D(s) are complex, e.g.
• Hint: Use ‘Partial Fraction Expansion’

Example 3:
• Find the inverse Laplace Transform of
• Solution:

TRY IT #1!
• Find the inverse Laplace Transform of
syms s;
1. g=32/(s*(s^2+12*s+32));
ilaplace(g)
2
F ( s) =
2. ( s + 1)( s + 2) 2
3
F (s) =
3. s ( s 2 + 2 s + 5)

2.1.2
Transfer Function

2.1.2 Transfer Function, G(s)
• Definition:

• Differential equation model:
• Laplace transform both sides (‘Differentiation

Theorem’ from pg. 8) – assume zero initial
condition:
Transfer
function

Example 4:
• Find the transfer function represented by:
• Use MATLAB to create the above transfer function.
• Find the response, c(t), to an input r(t) = u(t), a unit

step input, assuming zero initial condition.

Transfer Function (continued)
Important Terms/Definitions
G(s) = s2 + 4s + 3 order
------------------------
s5 + 8s4 + 20s3 +16s2
Zeros (-1, -3)
 = (s+1)(s+3)
------------------------
( s2)(s + 2)2(s+4)
Poles (0, 0, -2, -2, -4)

• Stability of a system depends on the pole location of a system
 All the poles on the left hand side of an s-plane of a bode plot,
yields a stable system
Imaginary
Axis
real-axis
S-plane
Example:
 G(s) = (s+1)(s+3)
------------------------  Poles = 0,0,-2,-2,-4
( s2)(s + 2)2(s+4)
Hence, STABLE
G(s) = (s+1)(s+3)
------------------------  Poles =0,0,2,2,-4
( s2)(s - 2)2(s+4)
Hence, UNSTABLE

2.2
Modeling of
Electrical System

Review on Electrical Circuit Analysis
• Ohm’s Law
• Kirchoff’s Voltage Law
• Kirchoff’s Current Law
• Mesh & Nodal Analysis
Kirchoff’s Current Law

Ohm’s Law

Basic Electrical Laws
Basic Laws of electrical circuits
• Kirchoffs Current Law (KCL)
– Sum of currents entering a node is equal to the sum of
currents leaving the same node
 Algebraic sum of all currents entering a node is equal and
leaving a node is zero
• Kirchoffs Voltage Law (KVL)

– Sum of voltage drops is equal to the sum of voltage rises
around a loop
At any given instant, the algebraic sum of the voltages
Dr. Herman around any loop in an3133
SEEE electrical circuit is zero
Innovating Solutions 24
Scope
• Passive linear components
i. Capacitor (C) – store energy
ii. Resistor (R) – dissipate energy
iii. Inductor (L) – store energy
• Relationships:

Example 5: Single-loop network
• Find the transfer function of the circuit using

– Differential Equation Method
– Mesh Analysis (Laplace)
– Nodal Analysis (Laplace) Kirchoff’s Law
input output

Solution
1. Using differential equation

di (t ) 1 t
KVL L + Ri (t ) + ∫ i (t )dt = v(t )
dt C 0
dq(t )
Current to charge i(t ) =
dt
d 2 q(t ) dq(t ) 1
L 2 +R + q(t ) = v(t )
dt dt c
From table q(t ) = Cvc (t )
d 2 vc (t ) dvc (t )
TRANSFER FUNCTION LC 2
+ RC + vc (t ) = v(t )
dt dt
Laplace transform
VC ( s )
=
1 (LCs 2
)
+ RCs + 1 Vc ( s ) = V ( s )
V ( s ) LCs 2 + RCs + 1
27
2. Solving in Laplace domain
Time domain Laplace domain
VR ( s ), VL ( s ), VC ( s ) = ?
1
KVL: RI ( s ) + LsI ( s ) + I (s) = V (s)
Cs
I (s) VC ( s )
=? =?
V (s) V (s)
Example 6: Multiple-loop network
• Find the transfer function of the circuit using

– Differential Equation Method
– Mesh Analysis
– Nodal Analysis

Solution
Find the transfer function, Using Mesh analysis.
I 2 (s)
At loopV𝐼𝐼1( s: )
𝑉𝑉 𝑠𝑠 = 𝑉𝑉𝑅𝑅𝑅 + 𝑉𝑉𝐿𝐿
V𝑉𝑉 𝑠𝑠 = 𝐼𝐼1 𝑠𝑠 𝑅𝑅1 + (𝐼𝐼1 𝑠𝑠 − 𝐼𝐼2 (𝑠𝑠))𝐿𝐿𝐿𝐿
C (s)
At loop 𝐼𝐼2 : =?
V (s)
0 = 𝑉𝑉𝐿𝐿 + 𝑉𝑉𝑅𝑅𝑅 + 𝑉𝑉𝑐𝑐
1
0 = 𝐼𝐼2 𝑠𝑠 − 𝐼𝐼1 𝑠𝑠 𝐿𝐿𝐿𝐿 + 𝐼𝐼2 𝑠𝑠 𝑅𝑅2 + 𝐼𝐼2 𝑠𝑠
𝐶𝐶𝐶𝐶
Rearrange the simultaneous equations into a matrix

form,
𝐿𝐿𝐿𝐿 + 𝑅𝑅1 𝑉𝑉 𝑠𝑠 𝐼𝐼1 𝑉𝑉 𝑠𝑠

=
−𝐿𝐿𝐿𝐿 0 𝐼𝐼2 0
1 1
G1 = ; G2 =
R1 𝐿𝐿𝐿𝐿 + 𝑅𝑅R12 𝑉𝑉 𝑠𝑠
𝐼𝐼2 𝑠𝑠 = −𝐿𝐿𝐿𝐿 0
1 2
𝐿𝐿𝐿𝐿 + 𝑅𝑅1 𝐿𝐿𝐿𝐿 + 𝑅𝑅2 + + −𝐿𝐿𝐿𝐿
𝐶𝐶𝐶𝐶
𝑉𝑉 𝑠𝑠 𝐿𝐿𝐿𝐿
𝐼𝐼2 𝑠𝑠 =
1 2
𝐿𝐿𝐿𝐿 + 𝑅𝑅1 𝐿𝐿𝐿𝐿 + 𝑅𝑅2 + + 𝐿𝐿𝐿𝐿
𝐶𝐶𝐶𝐶

1
𝑉𝑉𝑐𝑐 (𝑠𝑠) = 𝐼𝐼2 𝑠𝑠
𝐶𝐶𝐶𝐶
Then,
𝐼𝐼2 (𝑠𝑠) = 𝑉𝑉𝑐𝑐 𝐶𝐶𝐶𝐶
Subtitite into 𝐼𝐼2 𝑠𝑠
𝑉𝑉𝑐𝑐 𝑠𝑠 𝐿𝐿𝐿𝐿
=
𝑉𝑉(𝑠𝑠) 𝐿𝐿𝐿𝐿 𝑅𝑅1 + 𝑅𝑅2 𝑠𝑠 2 + 𝐿𝐿 + 𝑅𝑅1 𝑅𝑅2 𝐶𝐶 𝑠𝑠 + 𝑅𝑅1

TRY IT #2!
1 C
Vo ( s ) RCs
=
vi (t ) R v o (t ) Vi ( s ) RCs + 1
R1
3
L2
2 R1 vi (t ) v o (t )
C2
R2 R2
vi (t ) v o (t )
 L2  s + 1
 
Vo ( s )
=  R 2
Vi ( s) L2 L  R +R
Vo ( s )
=
R2 Cs + 1 R1C 2 s 2 +  2 + R1C 2  s + 1 2
Vi ( s ) ( R1 + R2 )Cs + 1 R2  R2  R2
Generic equations – Electrical System
• Depending on number of loops in the circuit, use the following rule to

obtain simultaneous equations 
Sum of
Sum of impedances Sum of applied
impedances I1(s) - common to = voltage around
around Mesh I2(s) Mesh 1 and Mesh 1
1 Mesh 2
Sum of
Sum of
impedances Sum of applied
impedances
- common to I1(s) + I2(s) = voltage around
around
Mesh 1 and Mesh 2
Mesh 2
mesh 2

2.3
Modeling of
Mechanical System
Translational
Rotational
Rotational with Gears

2.3.1 Mechanical - Translational
• Newton’s Laws of Motion:

i. First law: The velocity of a body remains constant
unless the body is acted upon by an external force.
ii. Second law: The acceleration a of a body is parallel
and directly proportional to the net force F and
inversely proportional to the mass m, i.e., F = ma.
iii. Third law: The mutual forces of action and reaction
between two bodies are equal, opposite and collinear.

Translational
 3 passive and linear components in mechanical system:

• Spring - energy storage element inductor
• Mass - energy storage element capacitor
• Viscous damper - energy-dissipative element resistor

Spring, Mass & Damper in action
 Applied force f(t) points to the right

 Mass is traveling toward the right
 All other forces impede the motion and act to opposite
direction
 Single input single output (SISO) system

Example 7:
• Find the transfer function X(s)/F(s), for the following

mechanical system.

Find the transfer function X(s)/F(s)
# Equation of motion: → positive direction to the right Free body diagram
Differential
d 2 x(t ) dx(t )
M 2
+ f v + Kx(t ) = f (t ) equation of
dt d (t ) motion
In Laplace form:
Ms 2 X ( s ) + f v sX ( s ) + KX ( s ) = F ( s ) Laplace
equation of
motion

Example 8:
The external force f(t) is the
input to the system, and the K f(t)
displacement y(t) of the
mass is the output. The M
displacement y(t) is y(t)
measured from the fv(t)
equilibrium position in the
absence of external force. 2
d y (t ) dy (t )
Find Y(s)/F(s). M 2
+ fv + Ky (t ) = f (t )
dt dt
(Assume that the system isY ( s)
=?
linear and all initial F (s)
Dr. Herman conditions = 0). SEEE 3133 Innovating Solutions 41
Example 9:
• Find the transfer function X2(s)/F(s), for the following

mechanical system.

Force on M1 due only to
motion of M1 at x1 Force on M1 due only to
motion of M2 at x2
+
Sum of applied force at x1
Sum Sum
impedances impedances
connected to connected
motion x1 between x1
and x2
[M s
1
2
]
+ ( f v1 + f v 3 ) s + ( K 1 + K 2 ) X 1 ( s ) − [ f v 3 s + K 2 ]X 2 ( s ) = F ( s )
Force on M2 44
due
Force on M2 due only only to motion of
to motion of M2 at x2 M1 at x1
+
Sum of applied force at x 2
Sum Sum
impedances impedances
connected connected to
between x1 motion x2
and x2
[ ]
− [ f v 3 s + K 2 ]X 1 ( s ) + M 2 s 2 + ( f v 2 + f v 3 ) s + ( K 2 + K 3 ) X 2 ( s ) = 0
• From (1) and (2) of total forces acting on M1 and M2, we obtain the
transfer function
X 2 ( s ) ( fV 3 s + K 2 )
G ( s) = =
F ( s) ∆
where
[ M 1s 2 + ( fV 1 + fV 3 ) s + ( K1 + K 2 )] − ( fV 3 s + K 2 )
∆=
− ( fV 3 s + K 2 ) [ M 2 s 2 + ( fV 2 + fV 3 ) s + ( K 2 + K 3 )]

Generic equations – Translational system
Sum of
impedances Sum of Sum of
connected to X1(s) - impedances X2(s) = applied
the motion at between x1 forces at
x1 and x2 x1
Sum of
Sum of Sum of
impedances
impedances applied
- X1(s) + connected to X2(s) =
between x1 forces at
the motion at
and x2 x2
x2

TRY IT #3!
X 1 (s)
1. Find the transfer function: G ( s) =
F (s)
X 2 (s)
2. Find the transfer functionF (s)
G ( s ) = [Hint: Place
a zero mass at x1]

2.3.2 Mechanical - Rotational

Example 10:
Find the transfer function θ1(s) / T1(s).

1
1
Differential equation:
Use LT table:

Example 11:
Find the transfer function θ2(s) / T(s).
The rod is supported by bearing and at either end is
undergoing torsion. A torque is applied at the left and the
displacement is measured at the right.
Physical system

Solution:
 Obtain the schematic from the physical system
 Assume:
o The torsion acts like a spring, concentrated
at one particular point in the rod
o Inertia J1 to the left and J2 to the right
o The damping inside the flexible shaft is
negligible
d 2θ 1 dθ 1
J1 2
+ D1 + K (θ 1 − θ 2 ) = T (t ) (1)
dt dt
d 2θ 2 dθ 2 (2)
J2 2
+ D2 + K (θ 2 − θ 1 ) = 0
dt dt
Torques on J1 if J2 held still Torques on J1 when J2 is in motion
Final free body

diagram for J1
Equation of motion
( J1s 2 + D1s + K )θ1 ( s) − Kθ 2 ( s) = T ( s)

Torques on J2 if J2 in motion Torques on J2 if J1 in motion
Final free
body diagram
for J2
Equation of motion
− Kθ1 ( s ) + ( J 2 s 2 + D2 s + K) θ 2 ( s ) = 0
• Equations of motions:
( J 1s 2 + D1s + K )θ1 ( s ) − Kθ 2 ( s ) = T ( s )
− Kθ1 ( s ) + ( J 2 s 2 + D2 s + K )θ 2 ( s ) = 0
• Hence giving the transfer function

θ 2 ( s) K
=
T ( s) ∆
( J1s 2 + D1s + K ) −K
where ∆=
−K ( J 2 s 2 + D2 s + K )
• giving the block diagram
T(s) K θ 2 (s)
∆
Generic equations – Rotational system
Sum of
Sum of Sum of
impedances
impedances applied
connected to -
between θ1
θ2 (s) =
θ1 (s)
the motion at torques at
and θ2 θ1
θ1
Sum of
Sum of Sum of
impedances
impedances applied
connected to
- between θ1 θ1 (s) + the motion at
θ2(s) torques at
= θ2
and θ2 θ2

TRY IT #4!
Write the motion equations:
1

3

2.3.3 Rotational with gears
• Gears
o Used with rotational systems
(esp. those driven by motors).
o Match driving systems with
loads.
o E.g. Bicycles with gearing
systems
- Uphill: shift gear for
more torque & less
speed
- Level road: shift gear for
more speed & less
Dr. Herman
torque SEEE 3133 Innovating Solutions 58
Input gear with radius r1
and N1 teeth rotated
through angle θ1(t) due to
torque T1(t)
Output gear with radius

r2 and N2 teeth responds
through angle θ2(t) and
delivering a torque T2(t)
ratio number of teeth ∝ ratio of radius
1
ratio angular disp ∝
ratio of number of teeth
Just like translational motion, energy = force x disp.
T1θ1 = T2θ 2 T2 θ1 N
= = 2
T1 θ 2 N1 59
θ 2 N1
=
θ1 N 2
Equivalent system at θ1
at input N1
Equivalent system at θ2
at output N2
2 2 2
N  N  N 
T1 = J  1  s 2θ1 ( s ) + D 1  sθ1 ( s ) + K  1  θ1 ( s )
 N2   N2   N2 
N2
T1 = Js 2θ 2 ( s ) + Dsθ 2 ( s ) + Kθ 2 ( s )
N1
• Generalizing the result 
– We can say that the rotational mechanical
impedances can be reflected through gear trains by
multiplying the mechanical impedance by the ratio
2
 Number of teeth of gear 
 
 on destination shaft 
 Number of teeth of gear 
 
 on source shaft 
 

Example 12:
Find the transfer function θ2(s)/T1(s)

TRY IT #5!
• Find the transfer function θ2(s) / T(s).

2.4
Modeling of
Electromechanical System

Electromechanical System
• Electromechanical system: electrical +

mechanical components that generates a
mechanical output by an electrical input
(motor)
rotor
stator
Schematic diagram
Develop magnetic field B by
stationary permanent magnet
Armature circuit with ia(t),
passes through magnetic field
and produces a force F-
(Fleming's left-hand rule )
The resulting torque turns the

rotor (rotating member of motor)

Since the current-carrying armature is rotating in a magnetic field, its voltage vb
(back electromagnetic force emf) is proportional to angular velocity.
dθ m (t )
vb (t ) = K b (1)
dt
Taking the L.T: Vb ( s ) = K b sθ m ( s ) (2)
KVL around the armature circuit
Ra I a ( s) + La sI a ( s) + Vb ( s) = E a ( s ) (3)
Torque developed by the motor (Tm ) is proportional to the armature current
(ia).
1
Tm ( s ) = K t I a ( s ) or I a ( s ) = Tm ( s )
Kt (4)
Substitute (2) and (4) into (3)
( Ra + La s )Tm ( s )
+ K b sθ m ( s ) = E a ( s ) (5)
Kt
Equivalent mechanical loading on motor
Tm ( s ) = ( J m s 2 + Dm s )θ m ( s ) (6)
Substitute (6) into (5) yields
( Ra + La s )( J m s 2 + Dm s )θ m ( s )
+ K b sθ m ( s ) = E a ( s ) (7)
Kt
Assume La <<<Ra , then (7) becomes
Kt
θ m (s) Ra J m K
= ⇒
E a (s)  1  K K  s(s + α ) (8)
s s +  Dm + b t  

 Jm  Ra 
DC motor driving a rotational mechanical load
2 2
 N1   N1 
J m ( s ) = J a + J L   ; Dm ( s ) = Da + DL  
 N2   N2 
( Ra + La s )Tm ( s )
From (5), with La = 0 + K b sθ m ( s ) = E a ( s )
Kt
taking inverse Laplace transform
Ra Tm (t ) dθ m (t )
+ Kb = ea (t )
Kt dt
K b K t dθ m (t ) K t Kb Kt Kt
Tm (t ) = − + ea (t ) = − ωm + ea (t )
Ra dt Ra Ra Ra
Kb Kt K
At steady state: Tm = − ω m + t ea
Ra Ra
Kt Electrical constants
ω = 0 ⇒ Tm = ea
Ra
Kt T
ea = stall
T =0 ⇒ ω= Ra ea
Kb
ea
Kb =
ωno −load
70
Example 13:
θ L (s)
Find
E a (s)
θ L (s) 0.0417
Answer: =
Ea ( s ) s ( s + 1.667)
Solution
1) Find Mechanical Constants Jm and Dm

a. Total Inertia at the armature
2
 N1 
2
1

Jm = Ja + JL 
 = 5 + 700  = 12 (1)
 N2   10 
b. Total damping at the armature
2
 N1 
2
1

Dm = Da + DL  
 = 2 + 800  = 10 (2)
 N2   10 

Kt Kb
2) Find the electrical constants and
Ra
From the Torque - speed curve
Tstall = 500
ωno −load = 50
ea = 100
∴ Electrical constants
K t Tstall 500
= = =5 (3)
Ra ea 100
ea 100
Kb = = =2 (4)
ωno −load 50

3) Substitute (1), (2), (3) and (4) into :
θm(s) Kτ /( Ra J m ) 0.417
= =
Ea ( s )  1 Kτ K b  s ( s + 1.667)
s s + ( Dm + )
 Jm Ra 
4) Findθ L (s) by establishing theθ ratio

(s)
of m
Ea ( s ) θ L (s)
θ m ( s ) N 2 1000
= = = 10
θ L ( s ) N1 100
i.e. θ m ( s ) = 10 θ L ( s )
θ L ( s) 0.417 / 10 0.0417
∴ = =
Ea ( s ) s ( s + 1.667) s ( s + 1.667)

TRY IT #6!
For question like this, you need equations
1) Amature circuit on:
2) Motor & Loading
θ L (s)
Find
E a (s)
3) Tm – wm charateristic

END OF CHAPTER 2

Chapter 2 Mathematical Modeling Freq Domain

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Chapter 2 Mathematical Modeling Freq Domain

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Chapter 2: Mathematical Modeling

SEEE 3133 – System Modelling and Analysis

• Modeling of Electrical Systems

• Modeling of Mechanical Systems

2.4 • Modeling of Electromechanical Systems

2.5 • Modeling of simple liquid level system

Dr. Herman SEEE 3133 Innovating Solutions 2

Mathematical modeling Mathematical model of a

Dr. Herman SEEE 3133 Innovating Solutions 5

Time-domain Frequency-domain signals

Inverse Laplace Transform:

Dr. Herman SEEE 3133 Innovating Solutions 6

Given f (t), what is F(s)?

Dr. Herman SEEE 3133 Innovating Solutions 8

• Find the Laplace Transform of y(t), assuming zero

where u(t) is a unit step.

Dr. Herman SEEE 3133 Innovating Solutions 9

• Find the Laplace Transform of Hint – use:

Dr. Herman SEEE 3133 Innovating Solutions 10

• Therefore, for Inverse Laplace Transform,

• Refer to Laplace Transform Table on p8.

ii. Roots of D(s) are real & repeated, e.g.

iii. Roots of D(s) are complex, e.g.

• Hint: Use ‘Partial Fraction Expansion’

Dr. Herman SEEE 3133 Innovating Solutions 12

• Find the inverse Laplace Transform of

Dr. Herman SEEE 3133 Innovating Solutions 13

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• Laplace transform both sides (‘Differentiation

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• Find the transfer function represented by:

• Use MATLAB to create the above transfer function.

• Find the response, c(t), to an input r(t) = u(t), a unit

Dr. Herman SEEE 3133 Innovating Solutions 18

Poles (0, 0, -2, -2, -4)

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Kirchoff’s Current Law

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• Kirchoffs Voltage Law (KVL)

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• Find the transfer function of the circuit using

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1. Using differential equation

Time domain Laplace domain

• Find the transfer function of the circuit using

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Rearrange the simultaneous equations into a matrix

𝐿𝐿𝐿𝐿 + 𝑅𝑅1 𝑉𝑉 𝑠𝑠 𝐼𝐼1 𝑉𝑉 𝑠𝑠

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• Depending on number of loops in the circuit, use the following rule to

Dr. Herman SEEE 3133 Innovating Solutions

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• Newton’s Laws of Motion:

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 3 passive and linear components in mechanical system:

• Mass - energy storage element capacitor

• Viscous damper - energy-dissipative element resistor

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 Applied force f(t) points to the right