Control Theory

Lecture -3
 Modelling of physical systems

Electric Systems:

1. Writing by KVL

⑨ 1
~
1

CS

Also

Taking Laplace of Transform of these equations:

⑨
Substituting equation 5 in 3:

&

20
⑤
Zi
to
=

Ve
2. Using KCL at node 1
R1
1

Taking Laplace Transform (LT) ↓

C
Cs
R2
Vi Vo

= i E
+
 s- plane

Pole-Zero map of the Lead compensator

↑

-b -a

3. Using voltage division rule

R1
𝑉0 (𝑠) 𝑍0 (𝑠)
=
𝑉𝑖 (𝑠) 𝑍𝑖 (𝑠) 1
&

CS
#
C2
45
1

C1
Vi j
Vo
𝑅1
𝑠𝐶1 1 R2
𝑍𝑖 𝑠 = 1 + 𝑅2 +
𝑅1 +𝑠𝐶 𝐶2 𝑠
a

1
 ~

↑
E1,
~

Pole-Zero map of the Lag-Lead

-compensator
s- plane
&

↑
↑

* ·

-a2 -b1 -a1 -b2

4. Considering the electrical circuit shown in figure. Obtain transfer function

by the use of the block diagram reduction.

In a
capacitor. Vc it
Seidl(=es
[a]
 21 20
↓
↑ &
!
n

-$

S
.
#
C2S
C,5
~

1
Taking Laplace Transform (LT) ep i,
=

-S(i ii) dt e,
↑
=
-

ee i2
=

·eo:t(inds.
 E,

-Ee
-

Ei(s) Ii(s)
"
·

[E,(S) -

EoCs)](Rc ↑

E1(s)
Representing the equation by block diagram 1,ri2
I1(s) E1(s)
-- 1=

~
C1s

I2(s)
E. E.
E1(s) I2(s)
⑧
R2 ⑨

E0(s): 12(s)/cs Eo(s)

①
 I2(s) Eo(s)
C2s

I2(s)
Ei(s) E1(s) Eo(s)
R1 C1s f R2 C2s
I2(s)
E1(s) Eo(s)

E*
o(s) Eo(s)

R1C2s
 Mechanical Systems

Translational systems

1. As per Newton’s Law

x(t)

...
v(t)
↑

f(t)
M
Force balance equation:
B
2. Spring element x(t)

v(t)
f(t)
1 x(t)
K
v(t)

3. Frictional element
f(t)
● Coulomb friction .
● Viscous friction
● Stiction friction v

Linear element of friction B-viscous friction: ⑧

4. Rotational element inertia

5. Torsional spring element

T(t) =

5. Torsional damper element

B
 x ·2

Free body diagram ->

f(t)
-

M
2

Analogous systems
V
1. Force Voltage Analogy

1. Force Current Analogy

i(t)
 Torsional system and its analogous system

K1 K2 K3
J1 ↑*
&
1
J2
①
↑
J3
⑲ .. I

B1 B2 B3

r
↑
⑤

↑ *
↑
 i dq
Torque - Voltage Analogy
=

As
L1 R1 L2 R2 L3 R3
↑ i T2
J1 j B1 J2 B2 J3 B3
T
+
a D K 1
C1
·

0.4 K2 C2
0,6. K3 C3

Torque - Current Analogy

8, Ou Os
K1 K2
2
J K3
Levered Systems

Force transferred in the level arrangement is given by:

Fz
F1
F1a= F2b a b
↑ y
Assuming the rotation about the lever is small
↑

↓ o
x

(or)

Timing Belts
N2
N1, N2 = Number of teeths in the respective wheels N1

Basic equation is:

Gear Trains

Writing the torque balance equation TM T1

T2 Load

-
↑

I
 Examples
1. Write the governing equation of the mechanical system shown.

The force balance equation are given by:

6 5

10
2
x1
4 3

15
*

·
1
x2

(a) 3(x, x)
10k, 6x, 4(x, x)
-

5x.
- +
+
+
+

0
=
2. Write the system equations shown here.
Radius R J2
K

B2

M3 f, x3

Lifting torque:
K3 B3

=,5,x
&
3. Write the differential equation for the system shown in figure. The force produced
by the solenoid when the coil is carrying current i is F = Ki.
l1 l2 f2, x2
f1, x1

V
M3
M.

B1 K3 B3
Also

=Ki