CONTROL SYSTEMS (CS)

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OUTLINE

Introduction
Types of Models
Mathematical Modeling of
 Electrical Systems
 Electronic Systems

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TYPES OF SYSTEMS

• Static System: If a system does not change with

time, it is called a static system.
• Dynamic System: If a system changes with
time, it is called a dynamic system.

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 DYNAMIC SYSTEMS
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y( t ) = [ u( ),0    t ]
u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

My = u
 WAYS TO STUDY A SYSTEM

System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

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 MODEL
• A model is a simplified representation or
abstraction of reality.
• Reality is generally too complex to copy
exactly.
• Much of the complexity is actually irrelevant
in problem solving.

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 WHAT IS MATHEMATICAL MODEL?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
BLACK BOX MODEL
When only input and output are known.
Internal dynamics are either too complex or unknown.

Input Output
Easy to Model

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GREY BOX MODEL
When input and output and some information about the internal
dynamics of the system is known.

u(t) y(t)
y[u(t), t]

Easier than white box Modelling.

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WHITE BOX MODEL
When input and output and internal dynamics of the system is known.

dy( t ) du( t ) d 2 y(t )

u(t) =3 − y(t)
dt dt dt 2

One should know have complete knowledge of the system to derive a

white box model.

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MODELING OF ELECTRICAL SYSTEMS

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 BASIC ELEMENTS OF ELECTRICAL SYSTEMS
V-I Relation
V-I Relation
Component Symbol (Frequency
(Time Domain)
Domain)

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

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

diL (t )
Inductor v L (t ) = L VL ( s ) = LsI L ( s )
dt 12
 EXAMPLE#1
The two-port network shown in the following figure has vi(t) as the
input voltage and vo(t) as the output voltage. Find the transfer
function Vo(s)/Vi(s) of the network.

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

1
v i ( t ) = i( t ) R +  i( t )dt
C
1
vo ( t ) =  i( t )dt
C
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 EXAMPLE#1
1 1
v i ( t ) = i( t ) R +  i( t )dt vo ( t ) =  i( t )dt
C C
Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi ( s ) = I ( s ) R + I (s) Vo ( s ) = I (s)
Cs Cs

Re-arrange both equations as:

1 CsVo ( s ) = I ( s )
Vi ( s ) = I ( s )( R + )
Cs

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 EXAMPLE#1
1
Vi ( s ) = I ( s )( R + ) CsVo ( s ) = I ( s )
Cs
Substitute I(s) in equation on left

1
Vi ( s ) = CsVo ( s )( R + )
Cs

Vo ( s ) 1
=
Vi ( s ) 1
Cs( R + )
Cs

Vo ( s ) 1
=
Vi ( s ) 1 + RCs
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 EXAMPLE#1
Vo ( s ) 1
=
Vi ( s ) 1 + RCs
The system has one pole at
1
1 + RCs = 0 s=−
RC

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 EXAMPLE#2
Find the transfer function G(S) of the following two port network.

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

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 EXAMPLE#2
Simplify network by replacing multiple components with their
equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

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TRANSFORM IMPEDANCE (RESISTOR)

iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

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TRANSFORM IMPEDANCE (INDUCTOR)

IL(S)
iL(t)
+ +

vL(t) ZL=LS VL(S)

LiL(0)
-
-

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TRANSFORM IMPEDANCE (CAPACITOR)
ic(t) Ic(S)
+ +

vc(t) ZC(S)=1/CS Vc(S)

- -

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 EQUIVALENT TRANSFORM IMPEDANCE (SERIES)
Consider following arrangement, find out equivalent
transform impedance.

L
ZT = Z R + Z L + Z C
C
1
Z T = R + Ls + R
Cs

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EQUIVALENT TRANSFORM IMPEDANCE (PARALLEL)

1 1 1 1
= + +
ZT Z R Z L ZC L

1 1 1 1 C
= + +
ZT R Ls 1
R
Cs

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EQUIVALENT TRANSFORM IMPEDANCE
Find out equivalent transform impedance of following arrangement.

L2

L2
R1 R2

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BACK TO EXAMPLE#2

L
Z

Vi(s) I(s) C Vo(s)

1 1 1
= +
Z ZR ZL

1 1 1
= +
Z R Ls

RLs
Z =
1 + RLs
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EXAMPLE#2
RLs
Z =
1 + RLs
L
Z

Vi(s) I(s) C Vo(s)

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

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MODELING OF ELECTRONIC SYSTEMS

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OPERATIONAL AMPLIFIERS

Vout Z2
=− Vout
= 1+
Z2
Vin Z1 Vin Z1

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 EXAMPLE#3
Find out the transfer function of the following circuit.

Vout Z2
=−
Vin Z1
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 EXAMPLE#4
Find out the transfer function of the following circuit.

v1

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