Mathematical Modeling in

Control System
Sistem Kendali – 14S3211

Week 2 Session 1
 Automatic Control System
• Automatic Controllers
 Industrial Controllers
• Two-position or on-off controllers
• Proportional controllers
• Integral controllers
• Proportional-plus-integral controllers
• Proportional-plus-derivative controllers
• Proportional-plus-integral-plus-derivative
controllers
Two-position or on-off controllers
Let the output signal from the controller be u(t) and
the actuating error signal be e(t). In two-position
control, the signal u(t) remains at either a maximum
or minimum value, depending on whether the
actuating error signal is positive or negative, so that

where U1 and U2 are constants. The minimum value

U2 is usually either zero or –U1.
 Two-position or on-off controllers

On-off control On-off control with

differential gap

Differential gap is the range through which the actuating error

signal must move before switching occurs.
Differential gap causes the controller output u(t) to maintain its
present value until the actuating error signal has moved slightly
beyond the zero value.
Two-position or on-off controllers
The output signal continuously
moves between the two limits
required to cause the actuating
element to move from one fixed
position to the other.

Liquid level control system

The output curve follows one of

two exponential curves, one
corresponding to the filling curve
and the other to the emptying
curve.
 Proportional Control Action
• The relationship between the output of the
controller u(t) and the actuating error signal
e(t) defines as

Laplace Transform
 Integral Control Action
• The value of the controller output u(t) is changed
at a rate proportional to the actuating error signal
e(t)
or

Laplace Transform
Proportional-Derivative Control Action

Transfer Function

Td is called the derivative time

Proportional-Integral Control Action

Transfer Function

Ti is called the integral time

 Proportional-Integral-Derivative Control
Action

Transfer Function

Block
Diagram
 Closed-loop System Subjected to a
Disturbance

CR(s) : response input at

zero disturbance

Transfer Function
 Closed-loop System Subjected to a
Disturbance

If:

Analyze and give reasons!

Block Diagram Reduction
Example 2-1 (Textbook)
 State-Space Representation
An LTI system is represented in state-space format by the
vector-matrix differential equation (DE) as:

x (t )  Ax (t )  Bu(t ) Dynamic equation(s)

y (t )  Cx (t )  Du(t ) Measurement equations
with t  t 0 and initial conditions x (t 0 ).

The vectors x, y, and u are the state, output and input vectors.
The matrices A, B, C, and D are the system, input, output, and
feedforward matrices.
 Definitions
• System variables: Any variable that responds
to an input or initial conditions.
• State variables: The smallest set of linearly
independent system variables such that the
initial condition set and applied inputs
completely determine the future behavior of
the set.
Linear Independence: A set of variables is linearly independent if none of
the variables can be written as a linear combination of the others.
 Definitions (continued)
• State vector: An (n x 1) column vector whose
elements are the state variables.
• State space: The n-dimensional space whose
axes are the state variables.

Graphic representation
of state space
and a state vector
 The minimum number of state variables is
equal to:
• the order of the DE’s describing the system.
• the order of the denominator polynomial of
its transfer function model.
• the number of independent energy storage
elements in the system.

Remember the state variables must be linearly independent! If not, you

may not be able to solve for all the other system variables, or even write
the state equations.
 State Space Equations
Assume that a multiple-input, multiple-output
system involves n integrators. Assume also that
there are r inputs u1(t), u2(t), … , ur(t) and m outputs
y1(t), y2(t), … , ym(t). Define n outputs of the
integrators as state variables: x1(t), x2(t), … , xn(t)
 State Space Equations

The outputs y1(t), y2(t), … , ym(t) of the system may be

given by
State Space Equations
State Space Equations
Converting from State Space to a Transfer
Function

x (t )  Ax (t )  Bu(t )
y (t )  Cx (t )  Du(t )
with t  t 0 and zero initial conditions.
Taking the Laplace transform,
s X ( s )  A X ( s )  BU ( s )  X ( s)   sI  A BU ( s )
1

Y ( s )  C X ( s )  DU ( s)  C  sI  A BU ( s )  DU ( s )
1

 
 C  sI  A B  D U ( s)
1

In the case of SISO (Single - Input, Single - Output) systems :

Y ( s) Cadj sI  A B  det sI  A D
 C  sI  A B  D 
1

U (s) det sI  A
 Homework Week 2
• Problem 2-8
• Problem 2-9
• Problem 2-10
• Problem 2-11
• Problem 2-12