CONTROL SYSTEMS ENGINEERING In previous topic, we discussed the analysis and design sequence that included obtaining the system's schematic and demonstrated this step for a position control system. To obtain a schematic, the control systems engineer must often make many simplifying assumptions in order to keep the ensuing model manageable and still approximate physical reality. The next step is to develop mathematical models from schematics of physical systems. We will discuss two methods: (1) transfer functions in the frequency domain and (2) state equations in the time domain. As we proceed, we will notice that in every case the first step in developing a mathematical model is to apply the fundamental physical laws of science and engineering. For example, when we model electrical networks, Ohm's law and Kirchhoff's laws, which are basic laws of electric networks, will be applied initially. We will sum voltages in a loop or sum currents at a node.CONTROL SYSTEMS ENGINEERING A system represented by a differential equation is difficult to model as a block diagram. Thus, we now lay the groundwork for the Laplace transform, with which we can represent the input, output, and system as separate entities Further, their interrelationship will be simply algebraic. Let us first define the Laplace transform and then show how it simplifies the representation of physical systems. The Laplace transform is defined as: 00 LFO)=Fs)= | f(Qe“ae where s = a + jw”, a complex variable. Thus, knowing f(t) and that the integral in Eq. above exists, we can find a function, F(s), that is called the Laplace transform of f(t).Val & The inverse Laplace transform, which allows us to find f(t) \ given F(s), is 2FO=3 [ _ Fosjeds = fouls) CONTROL SYSTEMS ENGINEERINGCONTROL SYSTEMS ENGINEERING Laplace Transform Table Item no. iG) a() u(t) tu(t) t"u(t) e“ul(t) sin wtu(t) cosatu(t)Laplace Transform Theorem ‘Theorem Name LUFO) = Fla) = fi fede Definition IRF) = kF(s) Linearity theorem LFilt) + Frl0)] = Fils) + Fels) Linearity theorem Lle“f()] = Fis +a) Frequency shift theorem LUf(t-T)] = eT Fis) Time shift theorem {flail = tr(2) Scaling theorem “4 =sF(s)-f0-) Differentiation theorem c 0 N il R 0 L (fl =8F(s) -sf(0-)-/(0-) Differentiation theorem oft =F) - y spl) Differentiation theorem SYSTEMS a . ff. soar] = £2) Integration theorem ENGINEERING Heo) = lin sF() Final value theorem! £(0+) = lim sF(s) Initial value theorem?fu & Example 1. What is the Laplace Transform of 1? Assume j Se Roar LEI = fy" eo F(Oat L{1}= fy" enStat L{A}= him fy” eae sifo)=F0) = [ raenae € LEA} = him[—Fe*"14 L(}= Jim[-Fe™ ~ (- J] CONTROL L(1}= Jim [0 +3] SYSTEMS = pas ENGINEERINGTransfer function is the ratio of Laplace Transform of output to the Laplace Transform of input, when all the initial conditions are assumed to be zero. input output R(s) " MG(sbtt) |e) C(s) Where: G(s) - Transfer Function of the co NTROL System. C(s) - Output of the System. SYSTEM S R(s) — Input of the System. ENGINEERINGTransfer function is the ratio of Laplace Transform of output to the Laplace Transform of input, when all the initial conditions are assumed to be zero. G(s) acls) R( s) initial condition is equal to zero. CONTROL SYSTEMS ENGINEERINGCONTROL SYSTEMS ENGINEERING Example 3. Find the Transfer Function of the System given Solution: acl) 2611) = r(t) L460) RS) dt sC(s) + 2C(s) = R(s) (s + 2)C(s) = R(s) co) _ 1 RG) s+2 Go)=— :Example 4. Find the Transfer Function of the System given = : ——— &c de de adr dr —— 4 9 Fh Se dp de a de dt Solution: SC(s) +3°C(s) + IsC(s) + 5C(s) = PR(s) +48R(s) + 3R(s) CONTROL SYSTEMS ENGINEERINGRe CONTROL SYSTEMS ENGINEERING Example 4. Find the differential equation corresponding to the transfer function: 2s+1 s?+6s+2 C(s)_ 2541 Os tQs+2 ‘) ae ZROOH Go) = Solution: ld’c\ de yar bel IAF fear Ys Yar It ab . > Hl a ee S&H OS) + Lil= WROD T RUQ