Modeling

Lecture 3
 Recap
 Laplace transform

df (0 )  (t ) t n e  atu (t ) n!
2
 1
d f s F ( s)  sf (0 ) 
2
( s  a) n 1
dt 2 dt u (t ) 1
n
sin(t )u (t ) 
dn f s F ( s)   s nk f k 1 (0 )
n s
k 1 tu (t ) 1 s2   2
dt n
F (s) s2 s
t
cos(t )u (t )
 0 
f ( )d
s t nu (t )
n! s2   2
f ( ) lim sF ( s) s n 1 
s 0
1 e  at sin(t )u (t ) ( s  a) 2   2
f (0  ) lim sF ( s) e  atu (t )
s  sa sa
1 e  at cos(t )u (t ) ( s  a) 2   2
te  atu (t ) ( s  a) 2

2 Lecture 3 Control Systems

 Converting differential equation to transfer
function: Find the transfer function
3 2
d c(t ) d c(t ) dc(t )
3
3 2
7  5c(t )
dt dt dt
2
dr (t ) dr (t )
 2
4  3r (t )
dt dt

5 Lecture 3 Control Systems

 Converting differential equation to transfer
function: Find the transfer function
d 3c(t ) d 2 c(t ) dc(t ) dr 2 (t ) dr (t )
3
3 7  5c(t )  4  3r (t )
dt dt 2 dt dt 2
dt
s C ( s )  3s C ( s )  7 sC ( s )  5C ( s )
3 2

 s R( s )  4sR( s )  3R( s )
2

C ( s )( s  3s  7 s  5)  R( s )( s  4s  3)
3 2 2

C ( s) s  4s  3 2
 3
R( s ) s  3s  7 s  5
2

6 Lecture 3 Control Systems

 Transfer Function Model

d n c(t ) d n1c(t ) d m r (t ) d m1r (t )

an n
 an1 n 1
   a0c(t )  bm m
 m 1
   b0 r (t )
dt dt dt dt

Assuming zero initial conditions

a s n
n
  
 an 1s n 1  an2 s n 2   a0 C ( s)  bm s m  bm1s m1    b0 R( s)
C ( s) bm s m  bm1s m1    b0

R( s) an s n  an 1s n 1  an 2 s n 2   a0

7 Lecture 3 Control Systems

 System Response
m 1
C (s) bm s  bm 1s    b0
m
 G( s)  n 1 n2
R( s) an s  an 1s  an  2 s   a0
n

Knowing input, output is obtained by

bm s m  bm1s m1    b0
C ( s )  G ( s ) R( s )  n 1 n2
R( s )
an s  an 1s  an2 s   a0
n

c(t )  L C ( s)
1

8 Lecture 3 Control Systems

 Converting transfer function to differential
equation
2s  1
C (s)
G (s)  2 
s  6s  2 R( s)
C ( s)[ s  6s  2]  R( s)[2s  1]
2

C ( s) s  C ( s)6s  2C ( s)  R( s)2s  R( s)
2

2
d c(t ) dc(t ) dr (t )
2
6  2c(t )  2  r (t )
9 dt dt
Lecture 3 Control Systems dt
 Example: RLC Network
di(t ) 1 t
L  Ri (t )   i (t )dt  v(t )
dt C 0
dvc (t )
i (t )  C
dt
Find the transfer function relating
the capacitor voltage, VC.s., to
the input voltage, V(s)

2
d vC (t ) dvC (t )
LC 2
 RC  vC (t )  v(t )
dt dt
10 Lecture 3 Control Systems
 Example: RLC Network

2
d vC (t ) dvC (t )
LC 2
 RC  vC (t )  v(t )
dt dt

( LCs  RCs  1)VC ( s)  V ( s)

2

VC ( s) 1
G( s)  
11
V ( s) LCs  RCs  1
2
Lecture 3 Control Systems
 Example: RLC Network

( LCs  RCs  1)VC (s)  V (s)

2

VC ( s) 1 / LC
Transfer 
Function: V ( s) ( s 2  R s  1 )
RLC network
L LC

12 Lecture 3 Control Systems

 Table 2.3: Electrical Components

13 Lecture 3 Control Systems

 Table 2.3: Electrical Components

14 Lecture 3 Control Systems

 Creating transfer function for a single-loop passive
electrical system
Step 1: Decide input and output
Input:
Supply voltage
v(t)

Output:
Capacitor voltage
15vc(t) Lecture 3 Control Systems
 Step 2: Convert into frequency domain
Time Domain Frequency domain

16 Lecture 3 Control Systems

 Step 3: Obtain relationship between
voltage and current (Ohm’s Law)

Laplace-
transformed
network

1
V (s)  ( Ls  R  ) I (s)
17 Lecture 3 Control Systems Cs
 Step 4: Obtain transfer function between output
and input 1
V (s)  ( Ls  R  ) I ( s)
Frequency domain Cs
Input  V ( s)
Output  Vc ( s)

1
Vc ( s)  I ( s)
18 Cs
Lecture 3 Control Systems
 Step 4: Obtain transfer function between output
and input
1
V ( s )  ( Ls  R  )CsVc ( s )
Cs
Vc ( s ) output 1
G(s)   
V (s) input CLs  CRs  1
2

VC ( s) 1 / LC

V ( s) ( s 2  R s  1 )
L LC
19 Lecture 3 Control Systems
 Example: RLC Network

Transfer Function: RLC network

Concept of impedance
1
V ( s )  ( Ls  R  ) I ( s )
Cs
V (s) 1
 Z ( s )  ( Ls  R  )
I ( s) Cs

20 Lecture 3 Control Systems

 Creating transfer function of two-loop
electrical network
Steps:
1. Decide input and output
2. Convert to frequency domain
3. Obtain relationship between voltage and current (Ohm’s law)
4. Obtain transfer function between output and input

21 Lecture 3 Control Systems

 Step 2: Convert to Frequency domain

22 Lecture 3 Control Systems

 Step 3: Relationship between voltage and current

1. Loop by loop analysis

2. Two equations since there are two loops

Loop 1: R1 I1 ( s )  LsI 1 ( s )  LsI 2 ( s )  V ( s )

Loop 2: R I (s)  1 I (s)  LsI (s)  LsI (s)  0
23 2 2 2 2 1
Lecture 3 Control Systems
Cs
 Step 4: Obtain transfer function
R1 I1 ( s )  LsI1 ( s )  LsI 2 ( s )  V ( s )
1
R2 I 2 ( s)  I 2 ( s)  LsI 2 ( s)  LsI1 ( s)  0
Cs
 R1  Ls  Ls   I ( s )  V ( s )
 1  1
  
  Ls R2   Ls   I 2 ( s )  0 
 Cs 

24 Lecture 3 Control Systems

Input v(t )
Output i2 (t )

25 Lecture 3 Control Systems

 OP AMP
 Operational amplifiers are linear devices that have all the
properties required for nearly ideal DC amplification and are
therefore used extensively in signal conditioning, filtering or
to perform mathematical operations such as add, subtract,
integration and differentiation.
 An “ideal” or perfect operational amplifier is a device with
certain special characteristics such as infinite open-loop
gain AO, infinite input resistance RIN, zero output
resistance ROUT, infinite bandwidth 0 to ∞ and zero offset
(the output is exactly zero when the input is zero).

26 Lecture 3 Control Systems

 Inverting amplifier; Transfer function
is  iF  iin iin  0
is  iF
v s  v  vout  v 
  
Rs  RF 
v  0
vs  vout 
  
Rs  RF 
RF
vout   vs
Lecture 3 Control Systems
Rs
27
 Exercise: Obtain the transfer function of
multi-loop electrical network

Input:
Supply voltage V(s)

Output:
Capacitor voltage Vc(s)

28 Lecture 3 Control Systems

 Exercise: Find The Transfer Function of Linear
Systems

29 Lecture 3 Control Systems

 End of the lecture
 Laplace transform

 Transfer function of Electrical circuits.

30 Lecture 3 Control Systems