CONTROL SYSTEM MODELING

BEEA 2383 Control System Fundamental

Objectives
Students should be able to:
 Determine modeling and transfer function
of electrical system.
 Determine modeling and transfer function
of mechanical system.
 Understand modeling and transfer function
of electromechanical system.
Introduction
CONTROL SYSTEMS MODELING
 Electric network
 Operational amplifier
 Translational mechanical system
 Rotational mechanical system
 System with gear
 Electromechanical system
 Analog electric circuit
 ELECTRIC NETWORK MODELING
 For basic electrical circuit modeling, only Passive RLC
Network and Op-Amp circuit are considered.
 Equivalent circuits for the electric networks consist of
three passive linear components: resistors, capacitors
and inductors.
 Table 3.1 summarizes the components and the
relationships between voltage and current and between
current and charge under zero initial conditions.
 From these relationships, obtain differential equations for
the circuit using Kirchhoff’s laws.
 Next, Laplace transforms the differential equations and
finally solve for the transfer function.
RLC Circuit
Voltage-current, voltage-charge, and impedance relationships for
capacitors, resistors, and inductors.
Table 3.1
Component Voltage-Current Current-voltage Voltage-charge Impedance Admittance
Laplace Transform of Component
Voltages

For the capacitor, V ( s ) 

1

I (s)
Cs
 For the resistor, V ( s )  RI ( s )

 For the inductor, V ( s )  LsI ( s )

V (s)
 Now define the following transfer function:  Z ( s)
I (s)
 [Sum of impedances] I(s) = [Sum of applied voltages]
Simple, Single-loop Electrical Network

 mesh analysis
◦ via the differential equation (Ex 3.1)
◦ via transform method (Ex 3.2)
 nodal analysis
◦ via transform method (Ex 3.3)
Example 3.1
 Find the transfer function relating the capacitor voltage, V (s)
C
to the input voltage, V(s), in Figure below using mesh analysis
and transform methods.
Solution:
Single loop via the differential equation.

t
di (t ) 1
L  Ri(t )   i ( )d  v(t )
dt C0
Changing variables from current to charge using i(t) = dq(t)/dt

d 2 q (t ) dq (t ) 1
L 2
R  q (t )  v(t )
dt dt C
Solution:
From the voltage-charge relation in Table 3.1:
1
vc (t )  q (t ) q (t )  Cvc (t )
C

d 2 vc (t ) dvc (t )
LC 2
 RC  vc (t )  v(t )
dt dt
Taking the Laplace transform
LCs 2Vc ( s )  RCsVc ( s )  Vc ( s )  V ( s )
Solution:

LCs 2Vc ( s )  RCsVc ( s )  Vc ( s )  V ( s )

Rearrange terms and simplifying yields

( LCs 2  RCs  1)Vc ( s )  V ( s )

Solving for the transfer function, Vc(s)/V(s)

VC ( s ) 1 / LC
G (s)  
V (s) s 2  R s  1
L LC
So, the block diagram of series RLC electrical network:

Summary of steps of single loop transform method:

1. Redraw the original network showing all time variables,
such as v(t), i(t) and vc(t), as Laplace transforms V(s), I(s) and
Vc(s) respectively.
2. Replace the component values with their impedance values.

 
Example 3.2
Repeat example 3.1 using mesh analysis and transform methods
without writing a differential equation. (Single loop via transform
methods).
 

t
di (t ) 1
L  Ri(t )   i ( )d  v (t )
dt C0

1
( Ls  R  ) I ( s)  V (s)
Cs
 1
( Ls  R  ) I ( s)  V ( s)
Cs
Solving for I(s)/V(s) I ( s) 1

V ( s ) ( Ls  R  1 )
Cs
But the voltage 1
across the capacitor Vc( s )  I ( s ) Vc( s )Cs  I ( s )
Cs
 Solving I(s) into equation:

  I ( s) 1
I ( s )  Vc( s )Cs 
V ( s ) ( Ls  R  1 )
Cs
Vc( s ) 1 Vc( s )Cs 1
 
V ( s ) ( Ls  R  1 )Cs V ( s) 1
( Ls  R  )
Cs Cs
Answer:

  Vc( s ) 1

V ( s ) ( Ls  R  1 )Cs
Cs

VC ( s ) 1 / LC

V ( s) R 1
s  s
2

L LC
Example 3.3
Repeat example 3.1 using nodal analysis and transform
methods without writing a differential equation.

Solution:
From I(s)=V(s)/Z(s),

VC ( s ) Vc( s )  V ( s )
 0
1 R  Ls
Cs
Solution:
VC ( s ) Vc( s )  V ( s )
 0
1 R  Ls
Cs

Vc( s )  V ( s )
VC ( s )Cs  0
R  Ls

Vc( s ) V ( s)
VC ( s )Cs  
R  Ls R  Ls
 Solution:

Vc( s ) 1
VC ( s )Cs( R  Ls )  Vc( s )  V ( s ) 
V ( s ) ( Ls  R  1 )Cs
Cs
(Cs( R  Ls )  1)Vc( s )  V ( s )
VC ( s ) 1 / LC

V ( s) R 1
s  s
2

L LC
Complex Circuit (having more than one loop)

 mesh analysis
◦ via transform method (Ex 3.4)
 nodal analysis
◦ via transform method (Ex 3.5)
Example 3.4

I 2 ( s)
Given the network below, find the transfer function, .
V ( s)
Solution:
Solution:

Around mesh 1,
R1 I1 ( s)  LsI1 ( s )  LsI 2 ( s )  V ( s )

( R1  Ls ) I1 ( s )  LsI 2 ( s)  V ( s )

Around mesh 2,
1
LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s )  LsI1 ( s )  0
Cs

1
( Ls  R2  ) I 2 ( s )  LsI1 ( s )  0
Cs
Solution:

Combining these equations to find answer:

( R1  Ls ) I1 ( s )  LsI 2 ( s )  V ( s )

1
( Ls  R2  ) I 2 ( s )  LsI1 ( s )  0
Cs

1 1
( Ls  R2  ) I 2 ( s )  I1 ( s )
Ls Cs
 Solution:
1 1
( Ls  R2  ) I 2 ( s )  I1 ( s )
Ls Cs

R2 1
(1   2
) I 2 ( s )  I1 ( s )
Ls LCs
Combining these equations to find answer:
R2 1
(1   2
) I 2 ( s )  I1 ( s )
Ls LCs

( R1  Ls ) I1 ( s )  LsI 2 ( s)  V ( s )
Solution:

R2 1
( R1  Ls )(1   2
) I 2 ( s )  LsI 2 ( s )  V ( s )
Ls LCs
R1 R2 R1 LsR 2 Ls
( R1   2
 Ls   2
) I 2 ( s )  LsI 2 ( s )  V ( s )
Ls LCs Ls LCs
R1 R2 R1 LsR 2 Ls
( R1   2
 Ls  Ls   2
) I 2 ( s)  V ( s)
Ls LCs Ls LCs
R1 R2 R1 LsR2 Ls
( R1   2
  2
) I 2 (s)  V (s)
Ls LCs Ls LCs
Answer:

I 2 ( s) 1

V ( s) R1 R2 R1 LsR 2 Ls
( R1   2
  2
)
Ls LCs Ls LCs

I 2 ( s) LCs 2
G ( s)  
V ( s ) ( R1  R2 ) LCs 2  ( R1 R2 C  L) s  R1
Notice that we can also use these equations:

Sum of Sum of Sum of

Impedances I1(s) _ Impedances I2(s) = applied
around common to voltages
Mesh 1 the two around Mesh
meshes 1

Sum of Sum of Sum of

_ Impedances I (s) + Impedances I (s) = applied
1 2
common to around voltages
the two Mesh 2 around Mesh
meshes 2
Example 3.5

Find the transfer function, VC(s)/V(s), for the circuit below

(multiple nodes)
Solution:

Example 3.5

VL ( s )  V ( s ) VL ( s ) VL ( s )  VC ( s )
  0
R1 Ls R2

G1=1/R1 and G2=1/R2

VC ( s )  VL ( s )
CsVC ( s )  0
R2
G1=1/R1 and G2=1/R2

VL ( s )
G1 (VL ( s )  V ( s ))   G2 (VL ( s )  VC ( s ))  0
Ls

CsVC ( s )  R2 (VC ( s )  VL ( s ))  0
Example 3.6

Find the transfer function, VC(s)/V(s), for the circuit in Figure

2.4.
Answer:

G1G 2
s
VC ( s ) C

V (s) G1G 2 L  C G2
(G1  G 2 ) s 
2
s
LC LC
where G1 = 1/R1 and G2 = 1/R2
where G1 = 1/R1 and G2 = 1/R2

Sum of Sum of
_ Sum of applied
admittances VL(s) admittances VC(s) =
currents at
connected to common to the
Node 1
Node 1 two nodes

Sum of Sum of Sum of applied

_ admittances V (s) + admittances VC(s) = currents at
L
common to the connected to Node 2
two nodes Node 2
Example 3.6

Write the mesh equations for the network shown below.

Solution :

Sum of Sum of
Sum of Sum of applied
impedances impedances
impedances I1(s) _ I2(s) _ I (s) = voltages around
common to common to 3
around Mesh 1 Mesh 1
Mesh 1 and Mesh 1 and
Mesh 2 Mesh 3

Sum of Sum of
Sum of
impedances Sum of applied
_ common to I1(s) impedances I2(s) _ I (s) =
+ common to 3 voltages around
Mesh 1 and around Mesh 2
Mesh 2 and Mesh 2
Mesh 2
Mesh 3
Sum of
Sum of impedances Sum of
Sum of applied
_ common to I1(s) _ common to I2(s) + impedances
I (s) = voltages around
Mesh 1 and Mesh 2 and around Mesh 3 3
Mesh 3
Mesh 3 Mesh 3
 Answer :

+(2s+2)I1(s) – (2s+1)I2(s) – I3 (s) = V(s) (1)

–(2s+1) I1(s) + (9s+1) I2(s) – 4s I3 (s) = 0 (2)
– I1(s) – 4s I2(s) + (4s+1+1/s) I3 (s) = 0 (3)

Solve the equation to obtain the transfer function of any of the currents
versus the supply voltage.
 OPERATIONAL AMPLIFIERS MODELING
Basic Op-Amp
 Operational amplifier is an active circuit that can be used to
implement transfer functions.

 Op amp (refer Figure 2.6(a)) has the

following characteristics:-
Differential input, V2 (t) – V1 (t)
High input impedance, Zi = ∞ (ideal)
Low output impedance, Zo = 0 (ideal)
High constant gain amplification, A = ∞ (ideal)
Therefore, the output, Vo(t) = A[V2(t) – V1(t)]
Vo  A(V2  V1 )
Inverting Op-Amp

 If V2(t) is grounded, the amplifier is called an inverting op-

amp as shown below.
 Therefore, vo(t) = – Av1(t)

Vo   AV1
 If two impedance are connected to the inverting op-amp as
shown in below, and if the input impedance is high, Ia(s) = 0
and I1(s) = –I2(s).
 Since A (gain) is large, V1(t) 0. Thus I1(s) = Vi(s)/Z1(s) and
–I2(s) = –Vo/Z2(s).
 Equating two currents, we get that the transfer function of
inverting op-amp is Vo(s)/Vi(s) = –Z2(s)/Z1(s).
I1 ( s )   I 2 ( s )
Vi ( s ) V0 ( s )
I1 ( s )  I 2 ( s) 
Z1 ( s ) Z 2 (s)

Vi ( s ) V0 ( s )

Z1 ( s ) Z 2 ( s)

V0 ( s ) Z 2 (s)

Vi ( s ) Z1 ( s )
Non-Inverting Op-Amp

 Another circuit that can be analyzed for its transfer function

is the non-inverting op-amp as shown in Figure 2.7.
 From the circuit, we get Vo(s)=A(Vi(s) – V1(s))
 Using voltage division,
Vo ( s )  A(Vi ( s)  V1 ( s ))
Using voltage-division:

Z1 ( s )
V1 ( s )  V0 ( s )
Z1 ( s )  Z 2 ( s )
Vo ( s) Z1 ( s )  Z 2 ( s )

V1 ( s) Z1 ( s )
Substituting for V1:
Vo(s)=A(Vi(s) – V1(s))
Z1 (s)
V1  Vo (s)
Z1 (s)  Z 2 (s)
Vo (s) A

Vi (s) 1  AZ1 (s)/(Z 1 (s)  Z 2 (s))

For large A, we disregard unity in denominator, thus

Vo (s) Z1 (s)  Z 2 (s)


Vi (s) Z1 (s)
Example 3.7

Find the transfer function, Vo (s)/Vi (s), for the circuit given
below.
Solution:

1 1 360 103
Z1 ( s)   
1 6 1 2.016s  1
C1s  5.6 10 s 
R1 360 103
7
1 10
Z 2 ( s )  R2   220 103 
C2 s s

Using: Answer:

V0 ( s ) Z 2 (s) Vo ( s ) s 2  45.95s  22.55

  1.232
Vi ( s ) Z1 ( s ) Vi ( s ) s
Example 3.8

Find the transfer function, Vo(s)/Vi(s) for the circuit given in the
figure below.

Figure 2.8
Solution:

1 R2 (1 / C2 s )
Given: Z1 ( s )  R1  and Z 2 ( s) 
C1s R2  (1 / C2 s)

Vo (s) Z1 (s)  Z 2 (s)

Using: 
Vi (s) Z1 (s)

Answer:
Vo ( s ) C 2 C1 R2 R1 s 2  (C 2 R2  C1 R2  C1 R1 ) s  1

Vi ( s ) C 2 C1 R2 R1 s  (C 2 R2  C1 R1 ) s  1
2
 MECHANICAL SYSTEM MODELING
 It has been shown that electrical networks can be
modeled by a transfer function.
 The same also can be done for mechanical
systems through Newton’s Laws. .
 Mechanical systems, like electrical network have 3
passive, linear components.
 Two of them
o spring
energy storage elements
o mass

another one
o viscous damper - dissipates energy
 MECHANICAL SYSTEM MODELING
 These mechanical elements are shown in Table 2.4.
 In the table, K - spring constant
fv - coefficient of viscous friction
M - mass
 There are three categories of mechanical system
 translational system

 rotational system

 system with gear

 We now create analogies between electrical and
mechanical systems by comparing Table 2.3 and
2.4.
 MECHANICAL SYSTEM MODELING
TABLE 2.4: Force-velocity, force-displacement, and impedance
translational relationships for springs, viscous dampers, and
mass.
 Steps to obtain transfer function for TMS:
Mechanical system requires just ONE differential equation,
called the equation of motion, to describe it.
1. Begin by assuming a positive direction of motion
(eg. to the right)
2. Using the assumed direction of position motion, we
first draw a free-body diagram.
3. Placing on the body all forces that act on the body
either in the direction of motion or appropriate to it
4. Use Newton’s law to form a differential equation of
motion, by summing the forces and setting the sum
equal to zero.
5. Take the Laplace transform of the differential
equation.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
 This system involves the movement of an object along a
straight line.
 Three elements that usually exist in a system involving this
movement are mass, spring and damper.
 Figure 2.10(a) shows an analogy to the simple RLC network.
 This simple mechanical system requires just one differentiate
equation, called the equation of motion.
 Figure 2.10(b) shows the block diagram.

Figure 2.10
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
 Another way to find the transfer function is using
Laplace transform method.
 First, we take the Laplace transform from force
displacement column in Table 2.4, we obtain:
◦ for the spring, F(s) = KX(s)
◦ for the viscous damper, F(s) = fvsX(s)
◦ for the mass, F(s) = Ms2X(s)
 This approach is more simple rather than to write
the differentiate equation.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Example 3.9 (one equation of motion)
Find the transfer function, X(s)/F(s), for the system below using
the differentiate equation. Repeat the question without writing
the differentiate equation first.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Example 3.10 (one equation of motion)
Solution:
Step 1: Draw the free-body diagram shown in figure below

Step 2: write the differential equation of motion using Newton’s

law to sum all the forces.
Step 3: Solving the transfer function.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Example 3.11 (one equation of motion)
Solution:

d 2 x(t ) dx(t )
M 2
 fv  Kx(t )  f (t ) Ms 2 X ( s )  f v sX ( s )  KX ( s)  F ( s )
dt dt
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Example 3.12 (one equation of motion)
Solution:

Ms X ( s )  f v sX ( s )  KX ( s )  F ( s)
2

( Ms  f v s  K ) X ( s )  F ( s )
2

X (s) 1

F ( s ) Ms  f v s  K
2
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Example 3.13
Find the transfer function given: K=1, fv=1.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Ex 2.20 (2 degrees of freedom)
Find the transfer function, X2(s)/F(s), for the system of Figure
shown below.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Ex 2.20 (2 degrees of freedom)
Solution:
 First, we take the Laplace transform of force displacement.

 Then, find all forces on M . We can draw the transformed

1
free-body diagram as shown below.

The LT of the equation of motion can be written as:

(M1s2 + (fv1 + fv2)s + (K1 + K2)) X1(s) – (fv3s + K2)X2(s) = F(s)
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Ex 2.20 (2 degrees of freedom)

 Then, find all forces on M2. We can draw the transformed free-
body diagram as shown below.

 The LT of the equation of motion:-

– (fv3s + K2)X1(s) + ((M2s2 + (fv2 + fv3)s + (K2 + K3))X2(s) = 0
  Then to find the TF, X(s)/F(s), we use Cramer’s rule.
 TRANSLATIONAL MECHANICAL
SYSTEM TRANSFER FUNCTIONS
Ex 2.20 (2 degrees of freedom)
Notice again, the equations are similar to electrical mesh equation.

Sum of Sum of
Impedances Impedances Sum of applied
_
connected to X1(s) between X1 X2(s) = forces at X1
the motion at and X2
X1

Sum of Sum of Sum of applied

_ Impedances X1(s) + Impedances X2(s) = forces at X2
between X1 connected to
and X2 the motion at
X2
ROTATIONAL MECHANICAL SYSTEM MODELING
 A mechanical system that undergoes rotation and no
translation.
 Handled the same way as translational mechanical system
with replacements below:
Rotational mechanical systems Translation mechanical systems
Torque, T(s) Force, F(s)
Angular displacement, (s) Translational displacement, X(s)
Inertia, J Mass, M
 Table 2.5 shows the components along with the
relationships between torque and angular velocity, as well as
angular displacement.
 The parameters K, D and J are called spring constant,
coefficient of viscous friction and moment of inertia ,
respectively.
ROTATIONAL MECHANICAL SYSTEM MODELING

Table 2.5
ROTATIONAL MECHANICAL SYSTEM MODELING

Example 3.14
Find the transfer function, for the rotational system shown
below. The rod is supported by bearings at either end and is
undergoing torsion. A torque is applied at the left, and the
displacement is measured at the right.
ROTATIONAL MECHANICAL SYSTEM MODELING

Example 3.14
Solution:
Assume
ROTATIONAL MECHANICAL SYSTEM MODELING

Next draw a free body diagram of J1,

Torque on J1 when:
a. J2 still, J1 rotated
b. J1 still, J2 rotated
c. Final FBD for J1

( J1s  D1s  k )1 ( s )  k 2 ( s )  T ( s )

2
ROTATIONAL MECHANICAL SYSTEM MODELING

Then draw a free body diagram of J2,

Torque on J2 when:
a. J1 still, J2 rotated
b. J2 still, J1 rotated
c. Final FBD for J2

 k1 ( s )  ( J 2 s  D2 s  k ) 2 ( s )  0
2
ROTATIONAL MECHANICAL SYSTEM MODELING

From these figures, we obtain the equations of motion,

( J1s  D1s  K )1 ( s ) 

2
(1)K 2 ( s )  T ( s )

 K1 ( s )  ( J 2 s  D2(2)s  K ) 2  0
2

 2 (s) K Where ( J 1 s 2  D1 s  K ) K
 
T (s)  K ( J 2 s 2  D2 s  K )
ROTATIONAL MECHANICAL SYSTEM MODELING

Notice that, the obtained equations can be written in the form:-

Sum of 
impedances  Sum of 
  impedances  Sum of 
connected  1 ( s )    2 ( s )  applied torques 
  between   
 to the motion    at  1 

 1 and  
at  1  2

Sum of 
Sum of  impedances 
impedances    Sum of 
 1 ( s )  connected  2 ( s )  applied torques 
between     
   to the motion  at  2 
 1 and  2  at  2 
ROTATIONAL MECHANICAL SYSTEM MODELING

Example 3.15
Write but do not solve the Laplace transform of the equations of
motion for the system shown in Figure 2.14.

Answer:

( J1s 2  D1s  k )1 ( s )  k 2 ( s)  0 3 ( s )  T ( s )

 k1 ( s )  ( J 2 s 2  D2 s  k ) 2 ( s )  D2 3 ( s )  0
 01 ( s )  D2 s 2 ( s )  ( J 3 s 2  D3 s  D2 s ) 3 ( s )  0
 SYSTEM WITH GEAR MODELING
 Most systems with rotational mechanical system are usually
combined with gears with certain ratios.
 Gears provide mechanical advantages to rotational system
as high-speed rotation can be produced with low
torque and vice versa.
 The linearized interaction between two gears is depicted in
figure below.
an input gear with radius r1 and
N1 teeth is rotated through
angle 1 (t) due to torque, T1 (t).

an output gear with radius r2 and N2

teeth responds by rotating angle 2
(t) and delivering a torque, T2 (t).
Relationship between the rotation of Relationship between the input
gear 1, 1 (t) and gear 2, 2 (t) torque, T1 and the delivered torque,
T2

r11 = r22 r11 = r22

 2 r1 N1 T2 1 N 2
   
1 r2 N 2 T1  2 N1
 TF For Systems With Gears
Represent as equivalent system at 1 without the gears.
(reflect the mechanical impedance from the output to the
input ..)

73
 TF For Systems With Gears
reflect the mechanical impedance from the input to the
output …

74
 TF For Systems With Gears
Example 3.16
Find the transfer function, 2(s) / T1(s), for the system of figure
below.

75
ELECTROMECHANICAL SYSTEM MODELING
 Electromechanical system is a combination or
hybrids of electrical and mechanical variables.
 Antenna azimuth system and robot arm control
system are examples of electromechanical system
application.
 A basic example of electromechanical
component is DC motor that yields a displacement
output for a voltage input or mechanical output
generated by an electrical input.
ELECTROMECHANICAL SYSTEM MODELING
 Below figures show the schematic (a) and the transfer function
block diagram (b) of DC motor where the input is armature
voltage, Ea(s) and the output is mechanical displacement,
θm(s).
 The transfer function, G(s) of electromechanical system is
determined based on electrical schematic diagram and
mechanical diagram.
ELECTROMECHANICAL SYSTEM MODELING
 The relationship between the armature current, Ia(t), armature
voltage, ea(t), and back emf, vb(t), is found by Kirchoff voltage
law around the armature circuit.
 Through several equation relationships, the final transfer
function for the DC motor is obtained as

 m ( s) K t /( Ra J m )
G ( s)  
Ea ( s )  1 Kt Kb 
s s  ( Dm  )
 Jm Ra 

 From the transfer function, the motor rotation angle as output

is related to the armature voltage as input.
 ELECTRIC CIRCUIT ANALOGS
 In this section we show the commonality of
systems from the various disciplines by
demonstrating that the mechanical systems can
be represented by equivalent electric circuits.
 An electric circuit that is analogous to a system
from another discipline is called an electric circuit
analog.
 When compared with mesh equations, the
resulting electric circuit is called a series analog.
 When compared with nodal equations, the
resulting electric circuit is called a parallel analog.
Series Analog
 Consider the translational mechanical system
shown in Example 3.13. The equation of motion is

( Ms 2  f v s  K ) X ( s )  F ( s )
 While, Kirchhoff’s mesh equation for the simple
series RLC network shown in Examle 3.1 is:
1
( Ls  R  ) I ( s )  E ( s)
Cs
 We can create a direct analogy by operating on Eq.
( Ms 2  f v s  K ) X ( s)  F ( s )
 to convert displacement to velocity, multiply the
left-hand side by s
s
 Thus,
( Ms 2  f v s  K ) K
sX ( s )  ( Ms  f v  )V ( s)  F ( s)
s s
 Comparing both eq of motion and eq of simple
series RLC network, we recognize the sum of
impedances and draw the circuit as shown in figure
below.
 The conversions are summarized in below right.
Example 3.17
Draw a series analog for the mechanical system of
Figure 2.26(a).
Example 3.18
Refer Example 2.17,

[M1s2 + (fv1 + fv2)s + (K1 + K2)] X1(s) – (fv3s + K2)X2(s) = F(s)

– (fv3s + K2)X1(s) + [(M2s2 + (fv2 + fv3)s + (K2 + K3)]X2(s) = 0

Parallel Analog
 A system can also be converted to an equivalent
parallel analog.
 Consider the translational mechanical system shown in
Figure 2.27(a), whose equation of motion is given by
K
( Ms  f v  )V ( s )  F ( s )
s
 Kirchhoff’s nodal equation for the simple parallel RLC
network shown in Figure 2.27(b) is
1 1
(Cs   ) E ( s )  I ( s )
R Ls
 Comparing both eq of motion and eq of simple series
RLC network, we recognize the sum of admittances and
draw the circuit as shown in Fig 2.27(c). The
conversions are summarized in Figure 2.27(d).
Example 2.24
Draw a parallel analog for the mechanical system of
Figure 2.26(a).

Answer: