Control System

Dr. Lekshmi R. R.
Asst. Prof.
Department of Electrical & Electronics Engineering
Amrita School of Engineering
Coimbatore
1
 Differential equation model
Example – Electrical System
vi - input voltage applied to this circuit
vo - output voltage = voltage across the
capacitor

di
• vi = Ri + L + vo −−−− −(1)
dt
dv0
• i=C −−−− −(2)
dt
• (2) in (1)
dv0 d2 v0
• vi = RC + LC + vo
dt dt2
d2 vo R dvo 1 1
• + + vo = vi
dt2 L dt LC LC
 Differential equation model
• Differential equations
– is a time domain mathematical model of control
systems.
– Applied to linear or nonlinear systems
• Steps for differential equation model
– Apply basic laws to given system.
– Get the differential equation in terms of input and
output by eliminating the intermediate variable(s).
 Analysis & Design through
Differential equations
• The differential equations are inconvenient for
– analysis
– design manipulations

• Alternate method????
– Transfer function model

– State space model

 Analysis & Design through
Differential equations
• The differential equations are inconvenient for
– analysis
– design manipulations

• Alternate method????
– Transfer function model

– State space model

 Transfer function model
• s-domain mathematical model of systems.
• Laplace Transformation
• Laplace transforms of :
– Input - x(t) is X(s)
– Output - y(t) is Y(s)
– Converts differential equations into algebraic
equations
– Algebraic equations may be put in transfer
function form
 Transfer function model – Electrical
System

d2 vo R dvo 1 1
• + + vo = vi
dt2 L dt LC LC
R 1 1
• 𝑠 2 𝑉0 𝑠 + L 𝑠𝑉𝑜 𝑠 + LC 𝑉𝑜 𝑠 = 𝑉𝑖 𝑠
LC
R 1 1
• 𝑠 2 + L 𝑠 + LC 𝑉0 𝑠 = 𝑉𝑖 𝑠
LC
1 1
𝑉𝑜 𝑠 1
• = R
LC
1 = 2
LC
LC𝑠 +𝑅𝐶𝑠+1
= LC𝑠2 +𝑅𝐶𝑠+1
𝑉𝑖 𝑠 𝑠2 + 𝑠+
L LC LC

• The system can be modelled graphically as a transfer function

block diagram.
 Transfer function model – Electrical
System
𝑉𝑜 𝑠 1
• =
𝑉𝑖 𝑠 LC𝑠 2 +𝑅𝐶𝑠+1

𝑉𝑖 𝑠 1 𝑉𝑜 𝑠
LC𝑠 2 + 𝑅𝐶𝑠 + 1

𝑉𝑖 𝑠 𝑉𝑜 𝑠
𝐺(𝑠)
Transfer function model – Mechanical
Translational System
𝑓𝑘1 = 𝑘1𝑥1 F 𝑓𝑏 = 𝑏𝑥1
0
F
x1
M1
M11
M

x1
𝑓𝑘2 = 𝑘2(𝑥1 − 𝑥2)
x2
M2

M2
x2
Transfer function model – Mechanical Translational System
• Mass 1:
• F − fk1 − fk2 − fb = M1x1
• F − k1x1 − k2(x1 − x2) − bx1 = M1x1
𝑓𝑘1 = 𝑘1𝑥1 F 𝑓𝑏 = 𝑏𝑥1 • F s − k1X1 s − k2X1 s + k2X2(s) − bsX1(s) =
M1s2X1(s)
• F s = M1s2 + bs + k1 + k2 X1 s − k2X2(s) ---(1)
• Mass 2:
M1 • fk2 = M2X2
• k2(x1 − x2) = M2x2
• k2X1 s − k2X2 s = M2s2X2(s)
• k2X1 s = M2s2 + k2 X2 s
𝑓𝑘2 = 𝑘2(𝑥1 − 𝑥2) • 𝑋1 𝑠 =
M2s2+k2 𝑋2(𝑠)
𝑘2
--------(2)
• (2) in (1)
𝐹(𝑠) M1s2+bs+k1+k2 M2s2+k2 −𝑘2 2
• =
𝑋2(𝑠) 𝑘2
𝑋2(𝑠) 𝑘2
• =
𝐹(𝑠) M1s +bs+k1+k2 M2s2+k2 −𝑘2 2
2
M2
Transfer function model – Mechanical
Translational System

𝐹(𝑠) 𝑘2 𝑋2(𝑠)
M1s2 + bs + k1 + k2 M2s2 + k2 − 𝑘2 2
 Transfer function model – Mechanical
Rotational System
T θ1 θ1 θ2 θ2 0
k
J1 J2

𝑡𝑘 = 𝑘(𝜃1 − 𝜃2 ) 𝑡𝑏 = 𝑏(𝜃2 )
T
J1 J2
 Transfer function model – Mechanical
Rotational System 𝑡 = 𝑏(𝜃 ) 𝑏 2
T 𝑡𝑘 = 𝑘(𝜃1 − 𝜃2 )

J1 J2

Moment of Inertia 1: Moment of Inertia 2:

T − tk = J1θ1 tk − tb = J2θ2
T − k(θ1 − θ2 ) = J1θ1 k θ1 − θ2 − 𝑏𝜃2 = J2θ2
T(s)-kθ1(s)+kθ2(s)=J1s2θ1(s) kθ1(s)-kθ2(s) -bsθ2(s)=J2s2θ2(s)
J1s2θ1(s)+kθ1(s)-kθ2(s)=T(s) J2s2θ2(s)-kθ1(s)+kθ2(s) +bsθ2(s)=0
T(s)=θ1(s)(J1s2+k) -kθ2(s) ---(1) kθ1(s) =(J2s2+bs+k) θ2(s)
(J2s2+bs+k) θ2(s)
𝜃1 𝑠 = ---(2)
𝑘

(2) in (1)
𝜃2(𝑠) 𝑘
𝑇(𝑠) (J2s2+bs+k)(J1s2+k) − 𝑘2 =
= 𝑇(𝑠) (J2s2+bs+k)(J1s2+k) − 𝑘2
𝜃2(𝑠) 𝑘
Transfer function model – Mechanical
Rotational System

𝑇(𝑠) 𝑘 𝜃2(𝑠)
(J2s2+bs+k)(J1s2+k) − 𝑘2
Block diagram representation of open
loop system

Input Output
Plant

R(s) C(s)
G(s)
Dr. Lekshmi R. R. 15
 Block diagram representation of closed
loop system
Reference +
Input Output
Controller Plant
-

Sensor

R(s) +
E(s) C(s)
G1(s) G2(s)
-

B(s)
H(s)
Dr. Lekshmi R. R. 16
Thank you