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Mathematical Modeling

1st Revision 2007 Taufik

RECALL: The Design of Control System requires Formulation of Mathematical Model of the System

Why Mathematical Model? So that we will able to Design and Analyze the control system Examples: • How would we know the relationship between Input and Output? • How would we predict or describe the dynamic behavior of the control system? Two Methods to develop the Mathematical Model of Control System 1. Transfer Function in Frequency Domain (Using Laplace Transform) 2. State Space Equations in Time Domain
Cal Poly State University, San Luis Obispo


i(t) is Output L R V(t) i(t) C Using KVL: v(t )  vR (t )  vL (t )  vC (t ) di(t ) 1 t v(t )  vR (t )  L   i( )d dt C 0 Using the differential equation (derived from KVL): • Is it a simple algebraic equation? • Is it easy to describe relationship between Input and Output and System? i. output relationship of physical system such as Mechanical System using Newton’ Law and Electrical System using Kirchoff’s Law Example: RLC Network Let’s assume that V(t) is Input. input vs. We learned that Ordinary Differential Equation may describe mathematically dynamic behavior.e. Can you make them as a Separate Entities? Cal Poly State University.1st Revision 2007 Taufik Review of Laplace Transform and Linearity RECALL: In EE301. San Luis Obispo 26 .

then YOU NEED LAPLACE TRANSFORMS • Laplace Transform provides: – Representation of Input. Output. output.Laplace Transform 1st Revision 2007 Taufik • If you answered NO to all previous questions. and System • Limitation of Laplace Transfrom: – Works in Frequency Domain – Valid when the system is LINEAR • A System is called LINEAR when it possesses: – Superposition – Homogeneity Cal Poly State University. San Luis Obispo 27 . and system as separate entities – Simple Algebraic interrelationship between Input.

San Luis Obispo 28 .Superposition • 1st Revision 2007 Taufik The output response of a system to the sum of inputs is the sum of the responses to individual inputs Cal Poly State University.

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San Luis Obispo 30 .Homogeneity • 1st Revision 2007 Taufik Describes the response of the system to a Multiplication of the input by a scalar as compared to a Multiplication of output to the same input by the same scalar Cal Poly State University.

1st Revision 2007 Taufik • Will any LINEAR EQUATION/FUNCTION represent a LINEAR SYSTEM? Example: Try y = mx + b (where m and b are constants) is a LINEAR function. but check to see if it yields a LINEAR System Cal Poly State University. San Luis Obispo 31 .

San Luis Obispo 32 .1st Revision 2007 Taufik Cal Poly State University.

A great majority of Physical Systems are LINEAR within some range of operating point 2. a process called LINEARIZATION NOTE: Linearization does NOT necessarily yield a LINEAR system! Cal Poly State University. We have a Mathematical Tool that could perform Linear Approximation of Non-Linear Systems.Linearization 1st Revision 2007 Taufik BAD NEWS is Real World Physical Systems are NON-LINEAR GOOD NEWS: 1. San Luis Obispo 33 .

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San Luis Obispo 35 .1st Revision 2007 Taufik Cal Poly State University.