Control Systems (CS)

Introduction to Mathematical Modeling

&
Mathematical Modeling of Electrical
Systems

1
 Types of Systems
•
Static System: If a system does not change
with time, it is called a static system.
•
Dynamic System: If a system changes with
time, it is called a dynamic system.

2
 Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y ( t )   [ u ( ), 0    t ]
u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

M y  u
 Ways to Study a System

System

Experiment with Experiment with a

actual System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

4
 Model
•
A model is a simplified representation or
abstraction of reality.
•
Reality is generally too complex to copy
exactly.
•
Much of the complexity is actually irrelevant
in problem solving.

5
 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

7
 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

8
 White Box Model
• When input and output and internal dynamics
of the system is known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge

of the system to derive a white box model.
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 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
resistor is given by Ohm’s law i-e

v R (t )  i R (t )R
• The Laplace transform of the above equation is

VR ( s )  I R ( s ) R
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
Capacitor is given as:

1
vc (t )   ic (t )dt
C
• The Laplace transform of the above equation (assuming there is no
charge stored in the capacitor) is
1
Vc ( s )  Ic (s)
Cs
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
inductor is given as:
diL (t )
v L (t )  L
dt
• The Laplace transform of the above equation (assuming there is no
energy stored in inductor) is

VL ( s )  LsI L ( s )
 V-I and I-V relations
Component Symbol V-I Relation I-V Relation

Resistor v R (t )
v R (t )  i R (t )R iR (t ) 
R

Capacitor
1 dvc (t )
vc (t )   ic (t )dt ic ( t )  C
C dt
Inductor
diL (t ) 1
v L (t )  L i L (t )   v L (t )dt
dt L

13
 Example#1
• The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the
transfer function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
v i ( t )  i( t ) R   i ( t ) dt
C
1
vo (t )   i ( t ) dt
C
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 Example#1
1 1
v i ( t )  i( t ) R   i ( t ) dt vo (t )   i ( t ) dt
C C
• Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi ( s )  I ( s )R  I(s) Vo ( s)  I(s)
Cs Cs

• Re-arrange both equations as:

1
V i ( s )  I ( s )( R  ) CsV o ( s )  I ( s )
Cs

15
 Example#1
1
V i ( s )  I ( s )( R  ) CsV o ( s )  I ( s )
Cs
• Substitute I(s) in equation on left

1
Vi ( s )  CsV o ( s )( R  )
Cs

Vo ( s ) 1

Vi ( s ) 1
Cs ( R  )
Cs

Vo ( s ) 1

Vi ( s ) 1  RCs
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 Example#1
Vo ( s ) 1

Vi ( s ) 1  RCs

• The system has one pole at

1
1  RCs  0  s
RC

17
 Example#2
• Design an Electrical system that would place a pole at -3 if
added to another system.

Vo ( s ) 1

Vi ( s ) 1  RCs vi( t) i(t) C v2(t)

• System has one pole at

1
s
RC
• Therefore,

1
  3 if R  1 M and C  333 pF
RC
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 Example#3
• Find the transfer function G(S) of the following
two port network.

vi(t) i(t) C vo(t)

19
 Example#3
• Simplify network by replacing multiple components with
their equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

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Transform Impedance (Resistor)

iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

21
Transform Impedance (Inductor)

IL(S)
iL(t)
+ +

vL(t) ZL=LS VL(S)

LiL(0)
-
-

22
Transform Impedance (Capacitor)

ic(t) Ic(S)
+ +

vc(t) ZC(S)=1/CS Vc(S)

- -

23
 Equivalent Transform Impedance (Series)
• Consider following arrangement, find out equivalent
transform impedance.

L
ZT  Z R  Z L  Z C
C
1
Z T  R  Ls  R

Cs

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Equivalent Transform Impedance (Parallel)

1 1 1 1
  
ZT Z R Z L ZC L

1 1 1 1 C
  
ZT R Ls 1
R
Cs

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 Equivalent Transform Impedance
• Find out equivalent transform impedance of
following arrangement.
L2

L2
R1 R2

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 Back to Example#3

L
Z

Vi(s) I(s) C Vo(s)

1 1 1
 
Z ZR ZL

1 1 1
 
Z R Ls

RLs
Z
1  RLs
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 Example#3
RLs
Z
1  RLs
L
Z

Vi(s) I(s) C Vo(s)

1 1
V i ( s )  I ( s )Z  I(s) Vo ( s)  I(s)
Cs Cs

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 Operational Amplifiers

Vout Z2 Vout Z2
  1
Vin Z1 Vin Z1

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 Example#4
• Find out the transfer function of the following
circuit.

Vout Z2

Vin Z1
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 Example#5
• Find out the transfer function of the following
circuit.

v1

31
 Example#6
• Find out the transfer function of the following
circuit.

v1

32
 Example#7
• Find out the transfer function of the following
circuit and draw the pole zero map.

100kΩ

10kΩ

33