ch in

CHAPTER TWO
Modeling And Representation Of Control System

Transfer Function
• The transfer function of a LTI, DE system is defined as the ratio of the Laplace transform of the
output (response function) to the Laplace transform of the input (driving function) under the
assumption that all initial conditions are zero..
• Consider a LTI system defined by the differential equation (Equation 1.24)
• Where, is output of the system and is input of the system

• Therefore, the TF of the system is obtained by taking LT of both the sides.
• Transfer function=
• Finally, the TF =
Cont..
From the above result, the following types of TF are available based on the
• degree of numerator m and denominator n:
• Proper transfer function: (n > m)
• Bi-proper transfer function: (n = m)
• Improper transfer function: (n < m)
The basic properties of transfer function are:
• It is defined only for LTI system.
• All initial conditions are set to zero.
• It is independent of the input of the system.
• It relates the output and input variable.
Cont…
Steps to find TF of a given system:
 Write the DE that describe the system
 Take the LT of the DE with zero initial condition.
 Take the ration of the output to the input .

Cont..
• Input is represented by R(s) and
• Output is represented by C(s)
Poles and Zeros of a transfer Function
• The expression for transfer function can be represented, after

factorization,
• Where K= called the gain factor of the transfer function.

• are zero of transfer function
• are poles of transfer function
Advantages and Disadvantages of TF
Advantages of TF Disadvantages of TF
• Reduces differential equation to • Can only solve

an algebra problem • Requires zero initial
• Usually the easiest approach condition
• Easy to find the output for • Can only be used for SISO
different input signals systems
Modeling of Physical System
• A model is a simplified representation or abstraction of reality, and reality is
generally too complex to copy exactly.
• A model used for simulation, prediction/forecasting, performance evaluation

and control system design.
• A mathematical model of a dynamic system is defined as a set of equations
that represents the dynamics of the system.

• Used for analysis and design possibly before physical
system exists
Cont..
• A system may be represented in many different ways and, therefore, a
mathematical model is not unique to a given system.
• The most popular mathematical models are:
• Differential equations
• Transfer functions
• Impulse response
• State equations
Modeling and its use
• Give insight to a system
• Raise suggestion to designers
• Control design
• Controller performance analysis

Types of models
• White box model
• Mathematical showing all internal operation of a system
• Gray box model
• Is a kind of hybrid model
• Shows partly the internal operation
• Black box model
• Only based on inputs and outputs measured
• Do not show internal operation of a system
Model derivation
• The dynamics of many systems, such as mechanical, electrical, thermal,
biological, can be described in terms of differential equations.
• These differential equations may be obtained by using physical laws

governing a particular system, for example,
Newton's laws for mechanical systems and
 Kirchhoff's laws for electrical systems.
Conservation of mass and energy

Modeling of electrical system
Passive linear components
• Capacitor (C) – store energy
• Resistor (R) – dissipate energy
• –Inductor (L) – store energy

Modeling of Electrical System
• Table 2.1 relation ship voltage current and current voltage in RLC circuit
Example 2.1
Find the transfer function of the circuits

A B
exercise 1
1. Find the transfer function of

the circuit
Cont..
2. Figure below shows an electrical circuit involving an operational
amplifier. Obtain the output eo , and the transfer function.
Modeling of Mechanical System
Modeling of Mechanical System -Translational
1. Mass (M) - energy storage element
2. Spring (k) - energy storage element
3. Viscous damper (D) - energy-dissipative element

Cont..
• The three elements of Rotational motion are
1. Inertia (J)
2. Damper (B)
3. Spring (K)
Cont..
3. For the following mass-spring-
damper system, find the Mathematica
Example 3 model in DE and TF. [Input: Force r (t),
Output: displacement y(t)].
4. Write the differential equation governing the mechanical
Example 3 system and determine the TF.
Example
Example 3: Consider the

rotational system shown in
Fig. that consists of
a disk mounted on a shaft
that is fixed at one end. Find
the mathematical
model in DE.
Solution
By applying Newtons second law of motion rotational motion for

the free body diagram:
Using the relation in the above table and rearranging:

Example 5
6. For armature-controlled DC motor, find the DE that relates the
input armature voltage va(t) and the output angular displacement (t).
Solution:
The torque developed on the motor shaft is directly proportional to the field
flux and armature current.
The back emf is proportional to shaft velocity
The differential equation for armature circuit is:

Cont..
• The torque equation for rotational motion is:

ch in

Uploaded by

Copyright:

Available Formats

ch in

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

ch in

Uploaded by

Copyright:

Available Formats

CHAPTER TWO

Modeling And Representation Of Control System

• Where, is output of the system and is input of the system

 Write the DE that describe the system

 Take the LT of the DE with zero initial condition.

 Take the ration of the output to the input .

• The expression for transfer function can be represented, after

• Where K= called the gain factor of the transfer function.

• Reduces differential equation to • Can only solve

• A model used for simulation, prediction/forecasting, performance evaluation

• A mathematical model of a dynamic system is defined as a set of equations

that represents the dynamics of the system.

• A system may be represented in many different ways and, therefore, a

mathematical model is not unique to a given system.

• The most popular mathematical models are:

• Give insight to a system

• Raise suggestion to designers

• Controller performance analysis

biological, can be described in terms of differential equations.

• These differential equations may be obtained by using physical laws

 Kirchhoff's laws for electrical systems.

Conservation of mass and energy

Passive linear components

• Capacitor (C) – store energy

• Resistor (R) – dissipate energy

• –Inductor (L) – store energy

Find the transfer function of the circuits

1. Find the transfer function of

Modeling of Mechanical System -Translational

1. Mass (M) - energy storage element

2. Spring (k) - energy storage element

3. Viscous damper (D) - energy-dissipative element

• The three elements of Rotational motion are

Example 3: Consider the

By applying Newtons second law of motion rotational motion for

Using the relation in the above table and rearranging:

The back emf is proportional to shaft velocity

The differential equation for armature circuit is:

• The torque equation for rotational motion is:

You might also like