EET 312

Advance control System

School of Engineering Technology & Applied Science
(SETAS)

Week # 2

Mathematical Model
 Chapter 2: Mathematical Models of Systems
Objectives

We use quantitative mathematical models of physical systems to

design and analyze control systems. The dynamic behavior is
generally described by ordinary differential equations. We will
consider a wide range of systems, including mechanical,
hydraulic, and electrical. Since most physical systems are
nonlinear, we will discuss linearization approximations, which
allow us to use Laplace transform methods.

We will then proceed to obtain the input–output relationship for

components and subsystems in the form of transfer functions. The
transfer function blocks can be organized into block diagrams or
signal-flow graphs to graphically depict the interconnections.
Block diagrams (and signal-flow graphs) are very convenient and
natural tools for designing and analyzing complicated control
systems
 Differential Equation of Electrical Systems

Electrical Inductance Describing Equation Energy or Power

d 1 2
v21 L i E  L i
dt 2

Electrical Capacitance
d 1 2
i C v 21 E  M v 21
dt 2

Electrical Resistance

1 1 2
i  v21 P  v 21
R R
 Differential Equation of Physical Systems

t
v( t) d 1 
+ C v( t) +   v( t) dt r( t)
R dt L 0

Using Laplace transform, we can get the solution of

differential equation.
Solution for voltage of RLC circuit is
V(t)= K2e-α2tcos(β2t+θ2)
 Differential Equation of Physical Systems

After finding voltage solution in terms of time, we can plot

graph between voltage and time to see response of the RLC
circuit.
 The Laplace Transform

• Time response solution is obtained by following options:

a) Obtain linearized differential equations.
b) Obtain Laplace transformation of differential equations
c) Solve the resulting algebraic equation for the transform of
variable of interest
 The Laplace Transform

Determine the Laplace transform for the functions

a) f1( t) = 1 for t0


 − s t
F1( s ) =  e dt 1 − ( s t ) 1
 = − e
0 s s

− ( a t )
b) f2( t) e


 − ( a t ) − ( s t )
F2( s )  e e dt 1 − [ ( s+ a)  t ] 1
 = − e F2( s )
0 s+1 s+a
 The Laplace Transform
Evaluate the laplace transform of the derivative of a function



d 
L f ( t)   d
f ( t)  e
− ( s t )
dt
 dt   dt

0
 
by the use of  u dv = u  v −  v du
 
− ( s t )
where u e dv df ( t)

and, from which

− ( s t )
du −s  e  dt
and v f ( t)
we obtain
 
 
f ( t)   −s  e
− ( s t ) − ( s t ) 


u dv = f ( t)  e −

 dt
0 0

 − ( s t )
= -f(0+) + s f ( t)  e dt

0
L 
 d f ( t) 

 dt  = sF(s) - f(0+) note that the initial condition is included in the transformation
 The Laplace Transform

Practical Example - Consider the circuit.

The KVL equation is

d
4 i( t ) + 2 i( t ) 0 assume i(0+) = 5 A
dt

Applying the Laplace Transform, we have

  
  
  4 i( t) + 2 d i( t)   e− ( s t ) dt 4 
− ( s t )
dt + 2 
d − ( s t )

  0

i( t )  e

i( t )  e dt 0
  dt  0 
dt
0 0

4 I( s ) + 2 ( s  I( s ) − i( 0) ) 0 4 I( s ) + 2 s  I( s ) − 10 0

5 transforming back to the time domain, with our present knowledge of

I( s ) =
s + 2 Laplace transform, we may say that
t  ( 0  0.01 2)
6

− ( 2 t )
i( t )  5 e 4
i( t )
2

0
0 1 2
t
Use of partial fraction in the Laplace Transform

The Partial-Fraction Expansion (or Heaviside expansion theorem)

Suppose that

s + z1 The partial fraction expansion indicates that F(s) consists of

F ( )s
( s + p1×
) ( s + p2 ) a sum of terms, each of which is a factor of the denominator.
The values of K1 and K2 are determined by combining the
individual fractions by means of the lowest common
denominator and comparing the resultant numerator
or
coefficients with those of the coefficients of the numerator
K1 K2 before separation in different terms.
F (s ) +
s + p1 s + p2

Evaluation of Ki in the manner just described requires the simultaneous solution of n equations.
An alternative method is to multiply both sides of the equation by (s + pi) then setting s= - pi, the
right-hand side is zero except for Ki so that

( s + pi ×
) ( s + z1 )
Ki s = - pi
( s + p1 ) ( s + p2 )
*
Importance of s plane and Laplace in control
system

• Moving the pole s1 farther in left plane leads to faster

damping of transient step response.
• Laplace transformation and s plane approach are very useful
techniques for system analysis and design where emphasis
is placed on the transient and steady state performance.

11
The Transfer Function of Linear Systems

 R + 1   I( s )
V1( s )   Z1( s ) R
 Cs 
1
 1   I( s ) Z2( s )
V2( s )  Cs  Cs
 
1
V2( s ) Cs Z2( s )
V1( s ) 1 Z1( s ) + Z2( s )
R +
Cs
 The Transfer Function of Linear Systems

Example 2.2

d2 d The partial fraction expansion yields:

y( t) + 4 y( t) + 3 y( t) 2 r( t)
2 dt
dt
 3 −1  
 
1  2
2 2 −1 3 3
d Y( s )  +  + +  +
Initial Conditions: Y( 0) 1 y( 0) 0 r( t) 1  ( s + 1) ( s + 3)   ( s + 1) ( s + 3)  s
dt
The Laplace transform yields: Therefore the transient response is:

(s 2Y(s ) − s y(0)) + 4(s Y(s ) − y(0)) + 3Y(s ) 2 R( s ) y( t)  3  e− t − 1  e− 3 t  +  −1e− t + 1  e− 3 t  + 2

2    3
 2   3 
Since R(s)=1/s and y(0)=1, we obtain:
The steady-state response is:
( s + 4) 2
+
( ) ( )
Y( s ) 2
2 2 lim y( t)
s + 4s + 3 s  s + 4s + 3 t → 3
Write The Transfer Function of DC motor
The Transfer Function of Linear Systems
 Solution: The Transfer Function of DC motor

Assume armature current to be constant

 Kf if

Tm K1 Kf if( t )  ia( t )

field controled motor - Lapalce Transform

Tm( s ) (K1 Kf Ia) If( s ) =K I (s) m f

Tm
V (s ) (Rf + Ltoftorque
represents motor torquef and it is equal
s )  If( s )
delivered to the load
Tm( s ) TL( s ) + Td ( s )
Load torque Disturbance torque
2
TL( s ) J s   ( s ) + b  s   ( s )

rearranging equations
TL( s ) Tm( s ) − Td ( s )

Tm( s ) Km If( s ) Td ( s ) 0

Vf( s ) Km
If( s )  (s )
Rf + Lf s
Vf( s ) ( )
s  ( J s + b )  Lf s + Rf
Block diagram representation of DC motor
Block diagram representation of DC motor with feedback added
Write The Transfer Function of op-amp