VNU University of Engineering and Technology

Automatic Control Theory

PhD. Tran Cuong Hung

Automatic Control
 VNU University of Engineering and Technology

CHAPTER 2:
MATHEMATICAL MODELS OF SYSTEMS
 VNU University of Engineering and Technology

Automatic Control Theory

Content

❖ The concept of mathematical model

❖ Transfer function
❖ Block diagram algebra
❖ Signal flow diagram
❖ State space equation

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Introduction
Six Step Approach to Dynamic System Problems

❖ Define the system and its components

❖ Formulate the mathematical model and list the necessary assumptions
❖ Write the differential equations describing the model
❖ Solve the equations for the desired output variables
❖ Examine the solutions and the assumptions
❖ If necessary, reanalyze or redesign the system

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Mathematical model
Differential equations of physical systems

❖ The differential equations describing the dynamic performance of a

physical system are obtained by utilizing the physical laws of the process.
❖ Practical control systems are diverse and different in nature.
❖ It is necessary to have a common method for analysis and design of
different type of control systems => Mathematics
❖ The relationship between input and output of a LTI system can be
described by linear constant coefficient equations:
u(t) Linear Time – y(t)
Invariant System

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Example
Car dynamics

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Example
Car suspension

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Example
RLC circuit

u (t ) = u L (t ) + u R (t ) + uC (t )

d 2uC (t ) duC (t )
 u (t ) = LC 2
+ RC + uC (t )
dt dt

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Disadvantages of differential equation model

❖ Difficult to solve differential equation order n (n>2)

❖ System analysis based on differential equation model is difficult
❖ System design based on differential equations is almost impossible in
general cases
❖ In is necessary to have another mathematical model that makes the
analysis and design of control systems easier:
▫ Transfer function
▫ State space equation

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Definition of Laplace transform

❖ The Laplace transform of a function f(t), defined for all real number
t≥0, is the function F(s), defined by:

Where:
- s: complex variable (Laplace variable)
- ℒ: Laplace operator
- F(s): Laplace transform of f(t)
The Laplace transform exists if the integral of f(t) in the interval [0,+∞) is
convergence

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Properties of Laplace transform

❖ Some basic algebraic operations, such as multiplication by exponential

functions or shifts have simple counterparts in the Laplace domain

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Laplace transform of basic functions

❖ Unit step function:

❖ Dirac function:

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Laplace transform of basic functions

❖ Ramp function:

❖ Exponential function:

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Laplace transform of basic functions

❖ Sinusoidal function:

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Laplace transform of basic functions

❖ Sinusoidal function:

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Laplace transform table

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
I. Find the Laplace transforms of the following functions
1. f (t ) = 2t 4 − 3cos 5t
2. f (t ) = 4 (t ) − 6e −2t

3. f (t ) = 3cos(6t + )
3
4. f (t ) = 3tu (t )
5. f (t ) = 3(t − 2)u (t )
6. f (t ) = 3tu (t − 2)

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
I. Find the Laplace transforms of the following functions (solution)

f (t ) = 2t 4 − 3cos 5t 4! s
1. L  f (t ) = 2 − 3
s5 s 2 + 52
1
f (t ) = 4 (t ) − 6e −2t L  f (t ) = 4 − 6
s + 2 s cos  − 6sin 
2.

3. f (t ) = 3cos(6t + ) L  f (t ) = 3 3 3
3 s2 + 6
3
f (t ) = 3tu (t ) L  f (t ) = 2
4. s
3 6
L  f (t ) = 2 −
5. f (t ) = 3(t − 2)u (t ) s s
3 6
L  f (t ) = e −2 s ( 2 + )
6. f (t ) = 3tu (t − 2) s s

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
I. Find the Laplace transforms of the following functions (solution)
4! s
f (t ) = 2t − 3cos 5t
4
L  f (t ) = 2 5 − 3 2 2
s s +5

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Definition of Laplace transform

❖ The Laplace transform of a function f(t), defined for all real number
t≥0, is the function F(s), defined by:

Where:
- s: complex variable (Laplace variable)
- ℒ: Laplace operator
- F(s): Laplace transform of f(t)
The Laplace transform exists if the integral of f(t) in the interval [0,+∞) is
convergence

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
II. Find the inverse Laplace transforms of the following functions
2 3s
1. F (s) = 4 − 2
s s +4
−2 s 2
2. G ( s ) = 4e +
s+3
2
3. H ( s ) =
4s 2 + 1
s2 − 2
4. F ( s ) = 3
s + 3s 2 + 2s
4 s 3 + 16 s 2 + 23s + 13
5. F ( s ) =
( s + 1)3 ( s + 2)

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
II. Find the inverse Laplace transforms of the following functions
(solution)
2 3s
1. F (s) = −
s4 s2 + 4
2
2. G ( s ) = 4e −2 s +
s+3
2
3. H (s) = 2
4s + 1
s2 − 2
4. F ( s ) =
s 3 + 3s 2 + 2s
4 s 3 + 16 s 2 + 23s + 13
5. F ( s ) =
( s + 1)3 ( s + 2)

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
II. Find the inverse Laplace transforms of the following functions
(solution)
2 3s
F (s) = −
s4 s2 + 4

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
III. Using Laplace Transforms to solve Differential Equations

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Exercises
III.

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Definition of transfer function

❖ Consider a system described by the differential equation:

❖ Talking the Laplace transform the two sides of the above equation,
using differentiation property and assuming that the initial condition
are zeros, we have:

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Definition of transfer function

❖ Transfer function

❖ Definition: Transfer function of a system is the ratio between the

Laplace transform of the output signal and the Laplace transform of
the input signal assuming that initial conditions are zeros.

 d n y (t )  n −1 − ( n −1)
L an n  = an s Y ( s ) − s f (0 ) − ... − f
n
(0− )
 dt 

=0 =0
Dr. Tran Cuong Hung
 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

❖ Transfer Function of RLC circuit

1. Write differential equations of the system

u (t ) = u L (t ) + u R (t ) + uC (t ) 1
C
uC (t ) = i (t )dt
di (t ) duC (t )
 u (t ) = L + Ri (t ) + uC (t ) i (t ) = C
dt dt
d 2uC (t ) duC (t ) d 2uC (t )
 u (t ) = LC + RC + uC (t ) di (t )
=C
dt 2 dt dt dt 2

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

u (t ) = u L (t ) + u R (t ) + uC (t )

di (t )
 u (t ) = L + Ri (t ) + uC (t )
dt
d 2uC (t ) duC (t ) 1
C
 u (t ) = LC + RC + uC (t ) uC (t ) = i (t )dt
2
dt dt
duC (t )
i (t ) = C
dt
di (t ) d 2uC (t )
U ( s ) = ( LCs 2 + RCs + 1)U C ( s ) =C
dt dt 2

U C (s) 1
G (s) = =
U ( s ) LCs 2 + RCs + 1
Dr. Tran Cuong Hung
 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

d 2uC (t ) duC (t ) d 2uc (t ) duc (t )

u (t ) = LC 2
+ RC + uC (t ) u(t)
dt dt dt 2 dt
Laplace Laplace Laplace
???
U(s) s 2U C ( s ) sU C ( s )
U ( s ) = ( LCs + RCs + 1)U C ( s )
2

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

Automatic Control Theory

Transfer functions
Procedure to find the transfer function of a component

Dr. Tran Cuong Hung

 VNU University of Engineering and Technology

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