Faculty of Mechanical and BiT

Industrial Engineering
Course: Control system
System Modelling
Targeted for 4th Year
Electromechanical Engineering Student

Thursday, January 2, 2025 | Bahir Dar

Compiled By: Mebratu A
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Chapter Three

Mathematical modelling of Dynamic system

2
 Chapter outline
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1. Mathematical model

2. Transfer function

3. Physical system modelling

4. Representation of control system

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Mathematical modelling of Dynamic system

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▪ Mathematical modelling of a dynamic system is defined as a set of equations that

represents the dynamics of the system.

▪ The dynamics of many systems, whether they are mechanical, electrical, thermal,
electromechanical, biological or any other, may be described in terms of
differential equations.

▪ Such differential equation obtained by using the physical la governing a particular

system. For example:

• Newton’s Laws for mechanical system and

• Kirchoff’s Law for electrical systems

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Applications of Mathematical Models

• Simulation: Predict system behavior before implementation.

• Control Design: Develop controllers (e.g., PID) to achieve desired

performance.

• System Analysis: Assess stability, response, and efficiency.

• Optimization: Improve design parameters for better performance.

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▪ Mathematical models may assume many different forms.

▪ Depending on the particular system and the particular circumstances, one

mathematical model may be better suited than the other models.

▪ For example:

• In optimal control problem, state space representation is more accurate.

• For transient response or frequency response analysis of single input single

output, linear, time invariant system, transfer function is more convenient.

▪ Once a mathematical model of a system is obtained, various analytical and

computer tools can be used for analysis and synthesis purpose. 6
 Transfer Function
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▪ Transfer Function is the ratio of the output variable to the input

Variable. Consider all the initial condition zero.

Input or output or
excitation function, r response function, y
Transfer Function, g

▪ The transfer function is expressed as the ratio of output quantity to

input quantity. Therefore
𝑦
𝑔=
𝑟 7
 Transfer function
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▪ For a linear time invariant system, the transfer function G(s) is

Input or R(s) output or Y(s)

Transfer Function, G(s)

▪ The transfer function is expressed as:

𝑌(𝑠)
𝐺(𝑠) =
𝑅(𝑠)
Where R(s) is the Laplace transform of the input to the system and
Y(s) is the Laplace transform of the out put of the system.
It follows that the output Y(s) can be written as the product of G(s) and R(s)
𝑌 𝑠 = 𝐺 𝑠 𝑅(𝑠)
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▪ Polynomial function:
𝑏𝑜 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + 𝑏2 𝑠 𝑚−2 + ⋯ + 𝑏𝑚 = 𝑎𝑜 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑎𝑛

▪ The transfer function of a linear control system can be expressed in the form of
quotient polynomials in the following form:

𝑎𝑜 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑎𝑛
𝐺 𝑠 =
𝑏𝑜 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + 𝑏2 𝑠 𝑚−2 + ⋯ + 𝑏𝑚

The numerator and denominator can be factored in to n and M terms respectively,

𝐴 𝑆
𝐺 𝑠 =
𝐵 𝑆 9
 Poles and Zero from transfer function
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1.Zeros: The values of s that make the numerator A(s)=0.

• These are the frequencies at which the system's output becomes zero. The
graphical symbol of zeros in ‘0’

2.Poles: The values of s that make the denominator B(s)=0.

• These represent the points where the system's transfer function becomes
unbounded. The graphical symbol of poles in ‘X’
𝒔−𝟐
Example 𝑮 𝒔 =
𝒔+𝟐 𝒔+𝟑

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 Procedure for determining the transfer function
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▪ The following steps give a procedure for determining the transfer

function of a control system.

▪ Step 1: formulate the equation of the system.

▪ Step 2: take the Laplace transform of the system equations,

assuming all initial conditions as zero.

▪ Step 3: specify the system output at the input

▪ Step 4: Take the ratio of Laplace transform of the output and the
Laplace transform of the input.
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 Types of transfer functions
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Assume a system shown below:

𝐶 𝑠 =𝐺 𝑠 𝑍 𝑠
𝑍 𝑠 = 𝑅 𝑠 − 𝐻 𝑠 𝐶(𝑠)

Closed loop transfer function.

𝐺 𝑠
C 𝑠 = 𝑅(𝑠)
1+𝐻 𝑠 𝐺 𝑠
If the feedback is removed, we get
Unity feedback transfer function is obtained
open loop transfer function.
𝐺 𝑠 𝐶 𝑠 =𝐺 𝑠 𝑍 𝑠
C 𝑠 = 𝑅(𝑠)
1+𝐺 𝑠
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Physical System Modeling

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Physical systems are:

❖Mechanical Systems: Motion, forces, and torques.

❖Electrical Systems: Voltages, currents, and resistances.

❖Thermal Systems: Temperature, heat flow, and thermal resistance.

❖Fluid Systems: Pressure, flow rate, and viscosity.

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 Steps to Develop a Mathematical Model
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1.Define Inputs and Outputs:

➢Inputs: External actions applied to the system (e.g., force, voltage, heat source).
➢Outputs: Measurable quantities describing the system's response
2.Apply Physical Laws: Use laws governing the behavior of the system:
➢Newton's Laws for mechanical systems.
➢Ohm's Law and Kirchhoff’s Laws for electrical systems.
➢Conservation of energy for thermal systems.
➢Bernoulli's equation or Navier-Stokes equations for fluid systems.
3.Write Governing Equations: Write differential or algebraic equations that relate
inputs, outputs, and internal states. For example:
➢F = ma for mechanical motion.
➢V=IR for electrical resistance.
4.Simplify the Model: If necessary, linearize the equations around an operating
point to make the model more tractable. 14
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Modeling of Electrical Systems
Basic Elements of Electrical Systems
V-I Relation (Time V-I Relation (Frequency
Component Symbol
Domain) Domain)

Resistor v R (t ) = i R (t )R VR ( s ) = I R ( s )R

Capacitor 1 1
vc (t ) =  ic (t )dt Vc ( s ) = I c (s)
C Cs

diL (t )
Inductor v L (t ) = L
dt VL ( s ) = LsI L ( s )
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RLC Circuit Modelling

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Mathematical model
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Step 1: identify the systems type, input, output

• RLC series circuit
• The input voltage, vi (t), is applied across the entire circuit.
• The current, 𝑖 𝑡 , flows through all components
• The output vo (t) can be defined as the voltage across any individual component.

Step 2: Apply physical laws: Kirchhoff's voltage law (KVL).

vi t = vR t + vL t + vC (t)

Voltage across each components

𝑑𝑖 𝑡 1
vR t = 𝑅𝑖 𝑡 , vL t = 𝐿 , vC t = න 𝑖 𝑡 𝑑𝑡
𝑑𝑡 C
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Substitute into the KVL equation of RLC circuit

𝑑𝑖 𝑡 1
vi t = vR t = 𝑅𝑖 𝑡 + 𝐿 + න 𝑖 𝑡 𝑑𝑡
𝑑𝑡 C

Step 3: Write Governing Equations: Differential or algebraic equations

▪ Differentiate the Equation: To eliminate the integral term, differentiate both sides with respect to
‘t’ and rearranging to get the second order governing equation of series RLC circuit:

𝒅𝟐 𝒊(𝒕) 𝒅𝒊 𝒕 𝟏 𝒅𝒗𝒊 𝒕
𝑳 + 𝑹 + 𝒊(𝒕) =
𝒅𝒕𝟐 𝒅𝒕 𝑪 𝒅𝒕

Output voltage across the capacitor: 𝟏

𝒗𝒐 (𝒕) = න 𝒊 𝒕 𝒅𝒕
𝐂
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 Cont. …
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Step 4: simplify the system to make the model more

tractable. the solutions is used to state the dynamics behaviour
of systems.

The solutions can be determined:

1. Time domain Analysis

2. Laplace transformation

3. Numerical methods

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 1. Time domain Analysis
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The second-order differential equation:

𝒅𝟐 𝒊(𝒕) 𝒅𝒊 𝒕 𝟏 𝒅𝒗𝒊 𝒕
𝑳 + 𝑹 + 𝒊(𝒕) =
𝒅𝒕𝟐 𝒅𝒕 𝑪 𝒅𝒕

The general solution is the sum of the homogeneous and particular solutions:
𝒊 𝒕 = 𝒊𝒉 𝒕 + 𝒊𝒑 (𝒕)

a. Homogeneous Solution (Natural Response):

The homogenous differential equation describes the natural response of the circuit
when there is no external forcing input 𝐯𝐢 𝒕 = 𝟎:

𝒅𝟐 𝒊𝒉 (𝒕) 𝒅𝒊𝒉 (𝒕) 𝟏

𝑳 𝟐
+𝑹 + 𝒊𝒉 𝒕 = 𝟎
𝒅𝒕 𝒅𝒕 𝑪 20
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Characteristics equation
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▪ Assume a solution of the form 𝒊𝒉 𝒕 = 𝑨𝒆𝜶𝒕 . The characteristic equation is:

1
𝐿𝛼 2 + 𝑅𝛼 + = 0
𝐶
𝟒𝑳
−𝑹± 𝑹𝟐 −
𝑪
The roots of the quadratic equation are: 𝛂 =
𝟐𝑳
▪ Now we determine the behaviour of the RLC system depending on the discriminant
2 4𝐿
(∆= 𝑅 − ) nature of the root.
𝐶
4𝐿
If 𝑅2 − > 0, the RLC system is Overdamped: two distinct real root
𝐶
2 4𝐿 2 4𝐿
−𝑅 + 𝑅 − −𝑅 − 𝑅 −
𝐶 𝐶
𝛼1 = , 𝛼2 =
2𝐿 2𝐿
The solution is
𝒊𝒉 𝒕 = 𝑨𝟏 𝒆𝜶𝟏 𝒕 + 𝑨𝟐 𝒆𝜶𝟐 𝒕
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4𝐿
▪ If 𝑅2 − < 0, the RLC system is underdamped: has complex conjugate roots.
𝐶
𝑅 1 𝑅2
𝛼 = − ± 𝑗𝜔𝑑 , 𝑤ℎ𝑒𝑟𝑒 𝜔𝑑 = − 2
2𝐿 𝐿𝐶 4𝐿
The solution is
−𝑹
𝒊𝒉 𝒕 = 𝒆 𝟐𝑳 𝒕 𝑨𝟏 𝒄𝒐𝒔 𝝎𝒅 𝒕 + 𝑨𝟐 𝒔𝒊𝒏 𝝎𝒅 𝒕
4𝐿
▪ If 𝑅2 = 0, RLC system is critically damped and has repeated real root.
−
𝐶
𝑅
𝛼=−
2𝐿
The solution:
𝒊𝒉 𝒕 = (𝑨𝟏 + 𝑨𝟐 𝒕)𝒆𝜶𝒕

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b. Forced response (Particular solution)

▪ When the input 𝐯𝐢 𝒕 is not zero, we solve the particular solution 𝒊𝒑 𝒕 , which
depends on the form 𝐯𝐢 𝒕 .

I. Step input (𝐯𝐢 𝒕 = 𝑽𝟎 ) and substitute into the original equation

𝑽𝟎
𝒊𝒑 𝒕 = 𝑰𝒇𝒊𝒏𝒂𝒍 =
𝑹

II. Sinusoidal input (𝐯𝐢 𝒕 = 𝑽𝟎 𝒄𝒐𝒔(𝝎𝒕))

𝒊𝒑 𝒕 = 𝑰𝒐 𝒄𝒐𝒔(𝝎𝒕 + 𝝓)

Where 𝑰𝒐 is the amplitude and 𝝓 is the phase shift. These are determined by the
impedance of the circuit.
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 2. Laplace Transform Method
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▪ The Laplace transform converts the differential equation in the time domain into an
algebraic equation in the frequency domain, which is easier to solve.

1.Transform the Differential Equation: Apply the Laplace transform:

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3. Numerical Methods
▪ For more complex inputs vi(t) or circuits that are difficult to solve
analytically, numerical methods such as Euler’s method, Runge-Kutta
methods, or computational tools (e.g., MATLAB, Python) are used.

▪ Steps:

1. Write the second-order differential equation as a system of first-order

equations.

2.Use numerical integration to compute i(t) iteratively.

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What is the importance of finding the solution
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of the system?
1. Predicting Circuit Behavior
• The solutions help predict how the circuit responds to various inputs and initial
conditions, including: Transient response and Steady-state response
• This is critical for ensuring stable operation in real-world systems like power supplies,
filters, and oscillators.
2. Designing Filters
• RLC circuits are commonly used to create frequency-selective filters. For example, in an
audio system, filters remove unwanted noise or emphasize specific frequencies.
3. Controlling Circuit Stability
• The nature of the solution (damping) helps determine the stability of the circuit.
• Overdamped circuits ensure slow but steady operation without oscillations, suitable
for power supplies.
• Underdamped circuits produce oscillations, which are desirable in oscillators or
resonators.
• Critically damped circuits are designed for systems requiring fast stabilization, like
step-response circuits. 26
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Example 2
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▪ Find the transfer function G(S) of the following two port network.

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

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 Solution
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▪ Simplify network by replacing multiple components with their equivalent

transform impedance.
RLs
Z=
1 + LRLs
Z
L
Z Vi(s) C Vo(s)
I(s)
Vi(s) I(s) C Vo(s)

1
Vi ( s ) = I ( s )Z + I (s)
Cs

1 1 1 1 1 1 RLs 1
= + = + Z= Vo ( s ) = I (s)
Z ZR ZL Z R Ls 1 + RLs Cs
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 Exercise 1
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Find out the mathematical model and solution of the circuit.

100kΩ

10kΩ

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Modeling of Mechanical Systems

Basic Types of Mechanical Systems

▪ Translational Mechanical System ▪ Rotational Mechanical System

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Basic Elements of Translational Mechanical Systems
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i) Translational Spring
F F = k ( x1 − x2 )
x1
x2

x(t )

F (t )
M F = Mx
ii) Translational Mass

iii) Translational Damper

F = C( x1 − x 2 )
(N/ms-1).
F = Cx
31
 Example 3
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Consider the following system Differential equation of the system is:

k F = Mx + Cx + kx
x
M Solve:
F
Taking the Laplace Transform
▪ Free Body Diagram C of both sides and ignoring
Initial conditions we get
fk fC
F ( s ) = Ms 2 X ( s ) + CsX ( s ) + kX ( s )
M fM
F
X (s) 1
=
F = f k + f M + fC F ( s ) Ms 2 + Cs + k

32
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Now we determine the behaviour of the Mass-spring damper

X (s) 1 system using characterstics equation 𝑠 2 + 𝑠 + 2 = 0
=
F(s) Ms 2 + Cs + k s=
−𝟏± 𝟏𝟐 −𝟒(𝟏)(𝟐)
𝟐(𝟏)
;𝟏 − 𝟖 < 𝟎, 𝒕𝒉𝒆 𝒔𝒚𝒔𝒕𝒆𝒎 𝒊𝒔 𝒖𝒏𝒅𝒆𝒓𝒅𝒂𝒎𝒑𝒆𝒅
Underdamped system has complex roots.
M = 1000kg
k = 2000Nm −1
−1
Pole-Zero Map

C = 1000N / ms 2

1.5

X (s) 0.001
= 2
Imaginary Axis
0.5

F (s) s + s + 2 0

-0.5

-1

-1.5

-2
-1 -0.5 0 0.5 1 33
Real Axis
 Mechanical Network
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

• Consider the following system

x2
Steps to apply nodal analysis
x1 k B
1. Draw the reference line F M
2. Select the nodes corresponding to • Mechanical
x1 k x2
displacement Network
3. Connect one end of the mass to the F ↑ M B
reference line
At node x1 F = k ( x1 − x2 )
4. Connect the other elements between
node and reference line. At node x 2 0 = k ( x2 − x1 ) + Mx2 + Bx
2
34
5. Apply nodal analysis
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Basic Elements of Rotational Mechanical Systems

Rotational Spring Rotational Damper Moment of Inertia

1 1 
2 2 T J T

T = k (1 −  2 ) T = B (1 − 2 ) T = J

Governing Equation: forces sum to zero.

FBD 35
 Exercise 2
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Governing equation
Mechanical network

1
k1 2
T k2
B1 J1 B2 J2

36
 Modeling of Electromechanical Systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

D.C Drives • The first method involve adjusting

the motor’s armature called
“armature control”.

• While the second method involves

adjusting the motor field called
“field control”.

• Variable Voltage can be applied to the

armature terminals of the DC motor.

• Another method is to vary the flux per pole

37
of the motor.
 Armature Controlled D.C Motor
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Ra La
▪ Input: voltage u and Output: Angular velocity  B
▪ Electrical Subsystem (loop method): u
ia
eb T J
dia
u = Ra ia + La + eb , 
dt
where eb = back-emf voltage
Mechanical Subsystem
• Combing previous equations results in
Tmotor = Jω + Bω the following mathematical model:

Power Transformation:  dia

Governing  La + Ra ia + K b ω = u
 dt
Torque-Current: Tm otor = K t ia equation  Jω
  + B-K t ia = 0
Voltage-Speed: eb = K b ω 38
 Cont. ….
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Solve the system: Taking Laplace transform of the system’s differential equations
with zero initial conditions gives:
(La s + Ra )I a(s) + K b Ω(s) = U(s) 𝛀 𝐢𝐬 𝐨𝐦𝐞𝐠𝐚 𝐨𝐮𝐭𝐩𝐮𝐭

( Js + B )Ω(s)-K t I a(s) = 0
Get Ia from the second equation and yields the input-output transfer function

Ω(s) Kt
=
U(s) La Js 2 + (JRa + BLa )s + BR a + K t K b

If output of the D.C motor is angular position θ then we know

d
= or ( s ) = s ( s ) 39
dt
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Field Controlled D.C Motor
Bahir Dar University

Rf Ra La Solve using taking Laplace transform

ef
if
Lf ea

E f ( s ) = R f I f ( s ) + sL f I f ( s )
Tm J

 Js( s ) + B( s ) = K f I f ( s )
B ω 

Applying KVL at field circuit Solve using If(S) yields,

di f
ef = if Rf + Lf Ω(s) Kf
=
E f (s) ( Js + B )( L f s + R f )
dt
Mechanical Subsystem
Tm = Jω + Bω If angular position θ is output of the motor
Power Transformation:
(s) Kf
Torque-Current: Tm = K f i f =
E f (s) s ( Js + B )( L f s + R f )
where Kf: torque constant 40
 Modeling of thermal system
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ The basic thermal processes encountered in the process industries are the

✓Mixing of hot and cold fluids

✓Exchange of heat through adjoining bodies and

✓Generation of heat by combustion or chemical reaction.

▪ Two laws of thermodynamics are used in the study of thermal systems.

✓The first governs: heat energy is produced and determines the amount generated.

✓The second governs: the flow of heat.

▪ For a given body,

✓Heat input raises the internal energy, and

✓The rate of change of body temperature will be proportional to the heat flow to the body.41
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Basically, there are two building blocks in thermal system.

1. Thermal resistance 2. Thermal capacitance system

𝑑𝜃
𝑞=𝐶
1 𝑑𝑡
𝑞 = (𝜃2 − 𝜃1 )
𝑅
Where,
℃
R is thermal resistance
𝑐𝑎𝑙/𝑠
𝜃2 − 𝜃1 is temperature difference
cal
q is heat flow in cal/s C is thermal capacitance 42
℃
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ For thermal system, thermal

equilibrium requires that at any
instant the heat added to the
system is equal to the heat stored
plus the heat removed.

Thus,
𝑞𝑖 = 𝑞𝑠 + 𝑞𝑜

𝜃𝑟 𝑑𝜃𝑟
𝑞𝑖 = +𝐶
𝑅𝑟𝑎 𝑑𝑡
43
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Cont. …
Bahir Dar University

Consider a thermal system shown in figure.

44
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
Cont. …
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Let △ 𝐻 be a small change in the heat input rate from its steady state
value. This change in H will result in the following changes.
✓Change in heat output rate by an amount △ 𝐻1.

✓Change in heat storage rate of liquid in the tank by an amount △ 𝐻2.

✓Change in temperature of out-flowing liquid by an amount △ 𝜃.

✓Change in outflow heat rate is given by

△ 𝐻1 = 𝑄𝐶𝑠 △ 𝜃

Where Q is steady state liquid flow rate. 𝐶𝑠 is specific heat of liquid

45
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University △𝜃
△ 𝐻1 =
𝑅
Where R = 1/𝑄𝐶𝑠 , which is thermal resistance
Change in heat storage rate is given by:
𝑑△𝜃
△ 𝐻2 = 𝑀𝐶𝑠
𝑑𝑡
Where M is mass of the liquid in the tank
𝑑𝜃△
is rate of rise of temperature in the tank
𝑑𝑡
𝑑𝜃 △
△ 𝐻2 = 𝐶
𝑑𝑡
Where, C= MCs, which is defined as thermal Capacitance
Then combine to get change H,
△ 𝐻 =△ 𝐻1 +△ 𝐻2
Mathematical mode and governing equation
△𝜃 𝑑𝜃 △ Appling Laplace transformation
△𝐻 = +𝐶 46
𝑅 𝑑𝑡
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Exercise: Heating a Building with Two Rooms

▪ Consider a building that consists of two adjacent rooms, labeled 1 and 2. The
resistance of the walls room 1 and ambient is R1a, between room 2 and ambient is
R2a and between room 1 and room 2 is R12. The capacitance of rooms 1 and 2 are
C1 and C2, with temperatures θ1 and θ2, respectively. A heater in in room 1
generates a heat qin. external temperature is a constant, θa.

a) Draw a thermal model of the system showing all relevant quantities.

b) Draw an electrical equivalent

c) Develop a mathematical model ( a differential equation).

47
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Solution
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

a) b)
▪ B.

c)
Room 1: Heat in = Heat out + Heat Stored Room 2: Heat in =Heat out + Heat Stored

48
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Representation of Control system

ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Representation of Control system:

1. Using block diagram
2. Using signal flow graph
3. state-Space representation

49
 1. Block Diagram Representation
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Block diagram of a control system is a pictorial representation of the functions

performed by each component & the flow of signals.

▪ Block diagram more realistically show the signal flows of the actual system.

▪ To draw a block diagram for a system

1. Write equations that describe the dynamic behavior of the system.

2. Take the Laplace transform of the equation, assuming zero initial conditions.

3. Represent each Laplace transformed equation in a block diagram

4. Assemble the elements into a complete block diagram

50
 Example
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Consider the electrical system below.

Differential equations for the system

dynamic behavior & its Laplace

51
 Block Diagram Reduction
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 1 cascade system

52
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 2 Block in parallel: over all equivalent transfer function is equal

to the sum of all individual transfer function

53
 Cont. …
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 3: shifting take off point from a position before a block to a

position after a block

54
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Cont. …
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 4: shifting take off point from a position after a block to a

position before a block

55
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Cont. …
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 5: shafting summing point from a position before a block to a

position after a block

56
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Cont. …
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 6: shafting summing point from a position after a block to a

position before a block

57
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Cont. …
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Rule 7 elimination of a summing point is closed loop system

58
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

Example
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Find the over all transfer function

59
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት

Solution
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Step 1 using rule 7, the feedback loop with G2 and H2 Step 3 using rule 7, feedback loop

Step 2 using rule 1, cascade system The above TF can be simplified as

60
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

2. State Space Modeling

ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

▪ Alternative method of modeling a system than transfer functions

▪ Uses matrices and vectors to represent the system parameters and
variables
▪ Handles multiple inputs and outputs
➢ General form of the state-space model
x˙(t)= f (x(t), v(t),t )..........state Equation

y(t)= g(x(t), v(t),t )............output Equation

➢ State equation shows the state transformations /time evolution
➢ Output equation shows the time evolution of the output
61
 State space representation
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

x˙(t)= Ax(t )+ Bu(t )

y(t )= Cx(t )+ Du(t )
A → N  N
x(t), x˙(t)→N 1 vectors
System/state matrix
B → N  R input matrix
u(t)→ R1 vector C → M  N
y(t)→M 1 vector
output matrix
D → M  R

. x1 (t)  ẋ1 (t)

 x (t)  ẋ (t)
x(t )=  2  x˙(t)=  2 
 ⁝   ⁝ 
x (t) x˙ 
 N   N (t) 62
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology

3. Signal Flow Graph

ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University

Reading assignment

63
 BiT
Thank you!