Mathematical Modeling

1 of a Control System
Prepared by:
Engr. J.D. Negad
12/17/2018
2 Introduction
Mathematical models of physical system are key
elements in the design and analysis of control system.
Examples of physical systems include electrical,
mechanical, hydraulic and thermal systems.

It is necessary to analyze the relationships between

the system variables and to obtain mathematical
model.

A mathematical model of a dynamic system is

defined as a set of equations that represents the
dynamics of the system accurately.
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3 Introduction
A mathematical model is not quite unique to a given
system. A system may be represented in many different
ways and therefore, may have many different
mathematical models, depending on one’s perspective.

Because systems under consideration are dynamic in

nature, the descriptive equations are usually differential
equations.

Such differential equation may be obtained by using

physical laws governing a particular system – for
example Newton’s laws for mechanical system,
Kirchhoff’s laws for electrical system. 12/17/2018
4 Introduction

Furthermore, if these differential equations can be

linearized, then the Laplace transform can be used to
simplify the method of solution.

Always keep in mind that deriving reasonable

mathematical models is the most important part of the
entire analysis of control systems.

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 Approach to Dynamic System
5
Modelling
In summary the approach to dynamic system modelling can be listed as
follows:

1. Define the system and its components.

2. Formulate the mathematical model and fundamental necessary

assumptions based on basic principles.

3. Obtain the differential equations representing the mathematical

model.

4. Solve the equations for the desired output variables.

5. Examine the solutions and the assumptions.

6. If necessary, reanalyze and redesign the system.

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6 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.

 This approach applies equally well to

mechanical, electrical, fluid and
thermodynamic systems

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7 Differential Equations of Physical
Systems

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8 Differential Equations of Physical
Systems

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9 Differential Equations of Physical
Systems

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10 LINEAR APPROXIMATIONS OF
PHYSICAL SYSTEMS
 a great majority of physical systems are linear within
some range of variables in general, systems ultimately
become nonlinear as the variables are increased
without limit.

 A system is defined as linear in terms of system excitation

and response.

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11 LINEAR APPROXIMATIONS OF
PHYSICAL SYSTEMS
LINEAR SYSTEM - a system that satisfies the
properties of superposition and homogeneity.

 Principle of Superposition – states that the response

produced by the simultaneous application of two
different forcing functions is the sum of two individual
responses.

 Principle of Homogeneity – the magnitude scale factor

must be preserved.

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12 The Transfer Function of
Linear System
 The TRANSFER FUNCTION of a linear, time – variant,
differential equation system is define as the ratio of the
Laplace transform of the output (response function) to
the Laplace transform of the input (driving function)
under the assumption that all initial conditions are zero.

ℒ (𝑂𝑢𝑡𝑝𝑢𝑡) 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑌(𝑠)

 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = 𝐺(𝑠) = ℒ (𝑖𝑛𝑝𝑢𝑡) = =
𝑑𝑟𝑖𝑣𝑖𝑛𝑔 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑋(𝑠)

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13 Transfer Function

The applicability of the concept of transfer function is

limited to linear, time-variant, differential equation
system.

 The transfer function of a system is a mathematical model

that is an operational method of expressing the
differential equation that relates the output variable to
the input variable.
 The transfer function of a system is a property of the
system itself, independent of the magnitude and nature
of the input or driving function.
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14 Transfer Function

 The transfer function includes the units necessary to relate

the input to the output; however, it does not provide any
information concerning the physical structure of the
system. The transfer functions of many physically different
systems can be identical.
 If the transfer function of a system is known, the output or
response can be studied for various forms of inputs with
view toward understanding the nature of the system.
 If the transfer function of a system is unknown, it may be
established experimentally by introducing known inputs
and studying the output of the system. Once established,
a transfer function gives full description of the dynamic
characteristics of the system, as distinct from its physical
description.
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 Mathematical Modeling
15 of Electrical System
Prepared by:
Engr. J.D. Negad
12/17/2018
16 Introduction

Basic laws governing electrical circuits are

Kirchhoff’s current and voltage law.

 Kirchhoff’s Current Law (KCL) or Node Law

 States that the algebraic sum of all currents entering
and leaving the node is zero.

 The sum of currents entering the node is equal to the

sum of the currents leaving the node.

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17 Introduction

 Kirchhoff’s Voltage Law (KVL) or Loop Law

 States that at any given instant the algebraic sum of
the voltages around any loop in an electrical circuit is
zero.

 The sum of the voltage drops is equal to the sum of the

voltage rises around the loop.

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18 Electrical Network Transfer
Functions
Equivalent circuits for the electric networks consist of three passive
linear components: resistors, capacitors, and inductors.

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19 Example # 1

In the figure shown, (a) Find the impedance transfer

function (b) If the capacitor voltage is the output and
the applied voltage is the input. Solve for the transfer
function of the network.

1
𝐴𝑛𝑠. 𝑎 𝑍 𝑠 = 𝐿𝑠 + 𝑅 +
𝐶𝑠
𝑉𝑐(𝑠) 1
𝑏 =
𝑉(𝑠) 𝐿𝑐𝑠 2 +𝑅𝐶𝑠+1

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20 Example # 2

Find the transfer function for the electrical network

shown in the figure below. Express your answer as a
ratio of polynomials.

𝑉𝑜(𝑠) 𝑅
𝐴𝑛𝑠. 𝐺 𝑠 = = 2
𝑉𝑖(𝑠) 𝑠 𝑅𝐿𝐶 + 𝑠𝐿 + 𝑅

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21 Example # 3

Find the transfer function G(s) = I2(s)/ Vi(s) for the

electrical network shown in the figure below. Express
your answer as a ratio of polynomials.

𝐼2 (𝑠) 1
𝐴𝑛𝑠. 𝐺 𝑠 = = 2
𝑉𝑖 (𝑠) 2𝑠 + 6𝑠 + 2

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