Lecture #9

Control Engineering
REVIEW SLIDES
Reference: Textbook by Phillips and Habor
Mathematical Modeling
 Models of Electrical Systems
R-L-C series circuit, impulse voltage source:
 Model of an RLC parallel circuit:
 Kirchhoff’ s voltage law:

The algebraic sum of voltages around any closed loop in

an electrical circuit is zero.

 Kirchhoff’ s current law:

The algebraic sum of currents into any junction in an

electrical circuit is zero.
Models of Mechanical Systems
Mechanical translational systems.
 Newton’s second law:

 Device with friction (shock absorber):

B is damping coefficient.
 Translational system to be defined is a spring (Hooke’s
law):

K is spring coefficient
 Model of a mass-spring-damper system:

 Note that linear physical systems are modeled by linear

differential equations for which linear components can be
added together. See example of a mass-spring-damper
system.
 Simplified automobile suspension system:
 Mechanical rotational systems.
 Moment of inertia:

 Viscous friction:

 Torsion:
 Model of a torsional pendulum (pendulum in clocks inside
glass dome);
Moment of inertia of pendulum bob denoted by J
Friction between the bob and air by B
Elastance of the brass suspension strip by K
 Differential equations as mathematical models of physical
systems: similarity between mathematical models of
electrical circuits and models of simple mechanical
systems (see model of an RCL circuit and model of the
mass-spring-damper system).
Laplace Transform
Name Time function f(t) Laplace Transform
Unit Impulse (t) 1
Unit Step u(t) 1/s
Unit ramp t 1/s2
nth-Order ramp tn n!/sn+1
Exponential e-at 1/(s+a)
nth-Order exponential t n e-at n!/(s+a)n+1
Sine sin(bt) b/(s2+b2)
Cosine cos(bt) s/(s2+b2)
Damped sine e-at sin(bt) b/((s+a)2+b2)
Damped cosine e-at cos(bt) (s+a)/((s+a)2+b2)
Diverging sine t sin(bt) 2bs/(s2+b2)2
Diverging cosine t cos(bt) (s2-b2) /(s2+b2)2
 Find the inverse Laplace transform of
F(s)=5/(s2+3s+2).

Solution:
Find inverse Laplace Transform of
Find the inverse Laplace transform of
F(s)=(2s+3)/(s3+2s2+s).
 Solution:
Laplace Transform Theorems
Transfer Function
 Transfer Function

 After Laplace transform we have

X(s)=G(s)F(s)

 We call G(s) the transfer function.

 System interconnections
 Series interconnection

Y(s)=H(s)U(s) where H(s)=H1(s)H2(s).

 Parallel interconnection

Y(s)=H(s)U(s) where H(s)=H1(s)+H2(s).

 Feedback interconnection
Transfer function of a servo motor:
 Mason’s Gain Formula

 This gives a procedure that allows us to find

the transfer function, by inspection of either
a block diagram or a signal flow graph.
 Source Node: signals flow away from the
node.
 Sink node: signals flow only toward the
node.
 Path: continuous connection of branches
from one node to another with all arrows in
the same direction.
 Loop: a closed path in which no node is
encountered more than once. Source node
cannot be part of a loop.
 Path gain: product of the transfer functions
of all branches that form the loop.
 Loop gain: products of the transfer
functions of all branches that form the loop.
 Nontouching: two loops are non-touching
if these loops have no nodes in common.
 An Example

 Loop 1 (-G2H1) and loop 2 (-G4H2) are not

touching.
 Two forward paths:
State Variable System:
 Solutions of state equations:
Responses
System Responses (Time Domain)
 First order systems:
Transient response
Steady state response
Step response
Ramp response
Impulse response
 Second order systems
Transient response
Steady state response
Step response
Ramp response
Impulse response
 Time Responses of first order systems
The T.F. for first order system:
Y (s) b0 K
G (s)   
R( s ) s  a0 s  1

a0  1 /  b0  K /  the meaning of  and K will be clear below.

In general, with initial condition y0 :

y0 (K / )
Y (s)   R( s)
s  (1 /  ) s  (1 /  )

Unit step response : R( s )  1 / s

(K / ) K K
Y (s)   
s[ s  (1 /  )] s s  (1 /  )

y (t )  K (1  e t /  ), t 0
y (t )  K (1  e t /  )u (t )
First term  steady - state response (from the pole of input R(s)).
Second term  natural (or transient) response (originate from
the pole of the T.F.)
  is called the time constant

 Ex. Position control of the pen of a plotter for a

digital computer:   1sec is too slow,   0.1sec
is faster.
limt  y (t )  lim s 0 sY ( s )  K

 K  steady - state response

and   time constant
for general first order T.F.
 System DC Gain
 In general:

limt  y (t )  lim s 0 sY ( s )  lim s 0 sG ( s ) R( s )

For unit step input : R(s)  1 / s
limt  y (t )  lim s 0 G ( s )  G (0).

Therefore G (0) is the steady - state gain for constant

(unit step) input. This is true, independent of the order
of the system. Hence G(0) is called the DC gain.