Unit-Z: suis MODELING oF SYSTEMS contiisl Systems. Natusal systems fort ial J mon made systems Block dioguam: Reference | Eygiem | conlilled input “| Plant | outpul PRejererce | _|Rofeaerce! Konia | Paws | ‘centred | PY ein Ta) Dyferent types éf control spleme: + Lingo § Nen- Linea aystonas.- ¥ombinatisnal centhel gystencs. + Time votying ¢ time invokiont Control zystehne * Gntinugus time £ dischele time contgel aysters. pret & Lumped parame ¢ dixthibulel pohaneten conthel aysitins. | ¥Opon (cop control syztem 7! 0 lp 4clesed loop contol. syeten tp peresert Basel on number) inpuls outputs: Single input single output ~~ > 7 Sng input inulfiple output # Multiple input single eutput 4 Multiple inal multiple output ) Open loop control system : Rejoore ~ Conve 5 Proce , cil a rr outpul e RG» tnpul eignal |e), ul) Aduading signal alt)» output atonalF 1) Automatic teaptoh ayotem Shah J Povo input Depival Relyoxe | \Mefing | dual time teat uli) ‘Poet | taal D Trafic signal, contol leh " Ad tual nil fl | igh >a time Sequence con}iolleg Advantages: +gimple in constuchon («onowical) a Bul sensitive in onvisonmont it affects D Closed loop systems: onl Gommord|__/Relebencé| Re We © vay Pree CO cont Finpat | |ayplem | Festa ecole” 7 outa RD>Reledence signal ~ E() > Eshoh signal ¥Q)> Adudli a nal BUD > Feed bac aig rd c(4)> output ail % - Feeaeree ' a 7 Brain >| Hands |, sy Desised peaition i ' 4| the book. Eyes) ) Haman being a Hoe input ig the todgetel output. Hume healing system : Est befeoete Dowiged tly Valye |Heain s, Adul inful — tompiialine Susten’) outpul om pesialutiel Peo |3 Monual speed control system: doy _ stip se Pe Sa Pfau Vehicle | Achy \echanisn ictal _——— Benson - _| ) Coutralling zpeed al Dc maton Cy Jux/Aawnaluie confyalll method) “Trane function: The hahis 4 laploce cutput ts laplace input ushen oszuming inital conditions ave zese. Laplace tranpLomm « Funcion Laplace Tronalex Wave fstons “Unit step 4 i 1 W-uld) | %s F | At paulD A he "G ‘Deloyed unit eo atop = u(d-7 S$ 46 a.u(t-T) A. ge Unit Kamp anldetud Ye eptuld) MO { 4 unit reat, oh 2-1). ut-D ce =A (t7).ultD acl parma Fe f | : ae Delayed unit Tmpubbe Sea | Lp=s(-? me | geet | Lee* Table of LT: 409 | Ff | LHF omen y Me uf 2K (cow!) Ye > tld KF) wt Vou ) as) Mule ; sh | ar | | Oe | =a | ye io | Les | -atyn | nl 9 ort : » | Go 4) Binet | ae | j Vfl 10) Const #5 | At 1) € inst OEE any ns Soy ud oa 12) &ebua! Ga : ch (Gaya 2 ee 13) Binhwt on Sho” S Iu) (oshust aa‘Trans teu bunchion: “Ratio af laplace trans fonm al output to , laploe Pronplas input assuming Tribal endi am a uming nikal enditions, ofall the fosamelogs npul Syste | oul put output = input xsysteny pat. 7 Parametede| 7 Foam elas — SPR, clea, mI gp) RO ee ® Seog © Tre OO. Re 2m Preblarne : ) Fox the system shseon in Ligure belo, caluslate the trarpdem function vahetre Ve Ct) is its output £ Vj (t) te input of the functn. | ee Apply KVL #9 the above loop. ‘ = Ne v, We bE +4 fr (dt -O y wie VW: EJrOH -@ Take Laplace tianstoamn on beth side ah the above eyation $ oxeuring initial conditions to be zene. vi 92 RH) +br9 = ri [Rie 2 } Np (2) = zi Lls)= 65.Vol “Vi ©) OVO (tad) = 60 ("St TR. Noés) iO FE ah] Not ret) [RL] “ial aligns cS Q Regal2) mim, 4 ae @ 0) be we mf dd Rei. App KVL te above loop FUD= RW) + LEEUW) +LJ7W) -O Eot= L(rHdt © Take LT on beth side of eqpations HO= Ts [Rss] 9 Ror Vas > co E,(D= a Eo(D= if he. BO. Ve 1 EO ~ Regal = eLeRsH Coa ieee Tce) S93 fhe pee: C10 ae Nera Ola t ER fF) ~ ty Zs Poply KVL to the loop Ei (D= LE W+ 4 r@)dt 4 ar) @ ho = R. T(t) -@ Toke LT toh ey" Os@ i) =SLT(6) +11) 4 RL (5) fold) = RI) TR El ~ RIO Pa Fi) TGs) [issdaR] cede Rte ;Flame ie ee ies vallone | can eeninn lov vell \ Laplace | Expdreenion on vellage \ Exphoesion phvollye | ehav ious, yR j vp UOxR | T@xR | R | yer ai 2) ce 12 Bl ye | Miz bere | Te) xo | yc |Meebfidt | zeTls) ce 4) Find the TF a} the given Electiical cloments. gr een wa) r 7 ye \ Tre ve - 229 _ < ke i Vi ~ LORD — 8, +L Bec = tet Ry+LSt en Rr eee FR Cot Ri Lescol Use = RR Ce Reh HLS REALS Set d obtain the TE bon the Lead netuaatk , 3 Ze ees a hi aly : Rede URS y 5 aN \oO= ATO The bee ee eS Te 2 Mt x i= 72Le)+ kl ® CHRD i placa Thy bath Ry RAR RS Ra hy + RiRyS [nq prac Riel, 7 ok Trac hoty ee ciel fC RRC Ege E > Gapocitor ban) This cihouit is callek lead compensator circuit 6) Find the torehen function. wt xD o BD V Sh Vi) =1O [ht at a) ia) : pa Vo = TO (44%) Te voO . lake YS) = se 4 es Ria 1+ RS 14 REPS ces 4 snd Vol i a D Find we ossuine gain 6L a baller amplifien 4. gl, Take LT af the nehoosk:Dividetne given nenIahh intd 2 pases Pont-E + L ase Nie i 30) 4 lot 1 / oe | | | | rere Nie tx 18D TRe lobDe) 6 Les 58 (ga “0 | ae too . 6 tot Tob0® ~ Ga* 145 Nols)= lelo SZ (3) Vi@= Lae ixt0&(5) 10 pr. WD. 10°) a VO” Se [mr] ~ mm s have given a gein al Bullen Amp li lifted ied, Vy 8)=VO ViOxy =(S) \o a Vol SN _ Vi ~ “sae SE 2) Ta the Citeuit given K ikthe gain hon eal Dafoe Determine the Srond eh eci, ie). | | | \ i. | ay Taing Laplace apelin an bath side, = - he Rm v1Vi@= Rte) 4 ast'© Ni) = 216 rrev® rs . _% VO = Be (rads) (nade Wey, = eae ' Sie Reset @vi®= ze TO)= 5M V, @=s iO 14 SRC PodtheIE : = AvLAVe Vy(sd= 1 ) Ry + wIO4 tL Lrg Fh | jl V,=T) Tease) od Pov bee amplili®s Vics) by K times ta phoduce V,@) NV, @= kV ei i rv. Tasch TO. vil) (sea) [5at1eG4)) LON ee Ste Se V® ROCs LSC + LARA SEGC) L8G G2, 6G2) TO 2 RSQ Vi) — (seit) (4 soh+91¢,) isle 4) Fox the two poirt rehvoirhk ahown in biguge below.6 We TE NWS v6) NG LS)Pont xs ViO= RTO ger'O h Jb a ty ® w= 218) Pas! ; al Trew pO%s . _ @v.=V'o x PO= squid VO. VO 145k, p- 1 ee Rast PoltheIE = Ls V2 S)=2T@ + LIO4 we Le 5 plo nt = | rT Ee VO = TO) [f+ Ce a3 Ainpli bien ampli-ies vcs) by k Himes ta phoduce v,@) oN, Os KY TO(R+54 1) nV L4sqRy lO _ G VilD ~ Fase) [WSaLE GEN Scr IO _ Se re Mi ptt 4 UR RS GC) 41866 2,462) TO) = _ Kt VIE Csqn, 2 Fe te scope ne aka tans Oh the tw aM rebupHk shor In biguae below ebtain mre DUO yu) si SUG) iC Zi)by replacing L byl FREE all Hine vobviables by the % Drow We aie tha sm of the giver nelooh veo Laplace vababl 1 1 | | | | | Ze SoS). SAN el Sha ‘S(st1). o 2G Se ie Sted area =) cram 2 = SG TO= MD _ Ss soe), b+) Caz) Case) FT ag 2) a CO TCS S(rd)+ Gal Sas! Wig. Suet | Shaett DVO svi _ | TD VSD ‘6 NV, (2 Ty(s)x 2 oer Vv z Vi) x94) os * Hsu ) VO _ cal VO” Fassel ‘iy " Bes 1) obtain the TF ofthe nehoonk ghoon tn figube belay » att ey a Vid as Take the tari $ heuhiite the _nehootth iO spelen zeke | i NGS 2 —— i Raha — Ral, & RGGs gees . oe canes Res Ras qsaqs, 4 ea - Ge C10 s* peach = ! ‘a + ke ROGSHOS4GS UR (RG S44. 6546,5) RNOQS+Osees ‘Ly = Zus UR Gast G54 Recs MaGs+ Os#qs Vi®=2,1O4+A1© NoO= Z4L)Tr= 2S - ao - 24 Vi) Dep [zz] Ezy a Rr SAVER GOS + MGS 4 MOS TBA GSIGS RM OG S44 RQ 54 Mos oe Re GS F GSE | TE = RM GS4 Rr CHGS 41 | Rady GS (RGA RC AMG)Stl ] 6, a The gonehal fokm of Tangles Function af a given ayatem | is @()=TO)= res vs ds" 4b! 2) in. thm, $4 bm aeons seen ecanhisian CER)G-A).... G-Pa)) Ko Grain foctoh ef sapien 5 Props tonal corgtant. Value that na onder of aysiemn relates the magnitude af input dthe 2, Dylon 208088 of astm —_culpul signal af steady state. D..Pr.> Palos a ayatenn m> NEY zenoes none A pales, ' nym > bor te gyplem becomes non — Casual systeménal physically nealizable (eunstable System) The DC gain(k) ts obtained by Subptituting Bi wsith zerok it ould CUA Pe Gt 0 Polep of TF: The valueg Of 3! whith rmakys the TF inginite affeh sarghibihion in the denominaton gf a TF abe callel fooles: of TF | 5, S2.-.-5n dhe Clled pales af tha TF. These poles aire nothing but hools Qf the equation abtainel by equating the denominatan 64 aT.F to zexe.: = Le -o-4o ay. Ted =o) S20-4 =) Poles o(5iu) 20 =) SHUS=05 G20, 32H, w Th the poles ade like $:0,-y,-% 8, 45,41 inditatog Hhoy ate real ¢ without hepeated values, they axe called aimple pole. * A pole havirg game value hoice ok mopethen it tp alled repeat pales, A path Af poles wsith complex. conjugate value. 1 calle} paih of compley conjugate pales. Te)- 260 (s+u)"(34.2012)(541) The pales ahe the noo! a the epations, Cw (Sars) (541) <0 0 ae) Poles age Se—b-b-W-lay a The Trang}en tunction hog a simple pole at S=+1, hop pelos at S=-u¢ complex conjugate pol © S=Cl4j) + Poles abe indicated by chose (x) in S- plone. Zomoes Glo TF + The values. 6{ $, which rnakey the TF cet ates aubptitation in the numesatsh 6f the TF abe called Zeno Of T.F. : + Zoho oe the hook of the equation éblatnel by egpolting rumebstth 6] the TF te 2¢tho, + Such zonges ob indicateel by ciheles Ce) in ¢-plane. + Zobog may be Sal, nepeata. ay Compley. cory 'ugates 4% combinokte 4 both, is ug + Poles’ zevse, may be located at: the ohiy in tr tho spin . ee 1 g: TH. LGV SH) usr) 3? (544) (s*¥ 68426)| This TF how 20008 udhich ade the A601 A The earion 2 (sald Ctr) (S4 1541) <0 gimple Zeh0es at 52-2 Repeated zehoex ab S=-1 Clwsite) compley conjugate zen at S=€1 4g!) chotracitwishic epatton @f a LF: tre equation eblained 4 equating the denominaloy 6f7. F tp zene whose hoolsane the pole, af thot 7. is called chapactonighe equation af aayatem, E(s)z bos +b5" 14 bys... bn =? Pole 2090 Plot: The plot obtainel by lecating all poles zoe { the TF in S- plone iscalled pole-zene plot ef a system . orden gf TLE: The highest Pook & & phesent in the chanactenete e).(tn the denominator polynomial) afoTF | da system ig called arden. | 0.C Gain. D.C Gait The value @ TF abiained jon S=0, zeho f yeqpery i8 called D.¢ gain a the system. DC gain TS es +The poe decides the nesultant congtant & the sypter TF dard TO=—ae laG-o> Chohaclebistic equation ef, given sytem | Fayslem te 2 ohde. | er $= is the pole g the aystemn § this TF has no ae ic ZOHO, i > Raa plane4 Gt Di) HOE aaa SLE RUS+! @24) Ba +) Si Lo > chohatleishe eqpalion F hop no zehoes NTawching ~> I Pole Red plane ) @ ssn RCs) > —————____. SAH) (P4412) The chapoctediatic ouation J 5($428n) (Syas4n) =o S(S42s42) (543) (Stu) =o Poles ote Pico, Py=-3, Pyo-t, Puacdeg), Psemi-g, Zeboes at z\2-2, ; Mathematical rradelling Ho. given gyston s Avalyss 4 Mechanical supine - There abe 2 types of motion -) Tharslabion al ¢.9 Read 3 The eyah'ons govelining gue rrohion in mechanical. ‘aslo abe dinely ob irdivectly cone by ne© Note: According 18 Newton's lags g motion , sum dhe 4oueea applied on the higid bedy oh ayptenn is cyl to aum of Hre boise cormaumed to phoduce dyeplocerent, velocity £ accolesation . The impatrant oloments invelved in the analypis of Jsarglatioral motions ate 1) Hoge, 2 Spring teiep DFniction i) Moe 4 sgt oper oem! 77 Aca A= 1 eX | wre font tot ate Taking Loplere trondynin, fO=nF x) -© HHS My ane connected usith rigid Dungoh Spring + x&phing ia non-lineak & it depends | irs oY on sping constant . t ott 3 He Pep -O Talking Laplace trang}ehim Fi) = Kx Q)26 | ( Net Alpplocement in Hme Aphing (| 1 1-0 D Fepning = & (2 C~ xl) 408 CL Fid= K[y@-xXL2)F(a)- bs 2 Polottona! motion: (notion i Arguby Aizplacerent (6) Os cscity (2 pecolyaken (2, x dol) pe dhrguloe » Prgslots Taste inartin) = Toke laplote tx0" T= 72 68- ) Mow 2) EnicionlD) 2) Bpning, 0) u) Fonte UF) 5) Dinplocomerd ” ) velerity ah celenation @) Proce due _te Haw ) put 46 opplitd. {ot : mworhaniol zyptern. ) Tdenh ity “a ol? 3) Pepheper ul valdele. | reason y the clemon's ront displacements . cath digplacements - oo pfx. ey Furi FO=8 sf] Le Liz oxi) + ivestia J> Kemenv Lown. Refational. mekion _ )anex Ha (D 2) Fridion (® pgpring (4) U) Torape 2prgulos disp 6 prgulai velscity = Angulo occolekation @: ocernent (6) “epi valent mecraniol aston: re identify the drzplacements inthe phic ob wurden the inflverte by 0 sepebate nade, wird omBhi ade uhdedt the influence Q} nespective «splocemont- . can causing zome change in Applocement will gel Ernecth in posal in between the yopeclive nader, yy Ub) x, (2) ene me Clemens in pohallel alae the hepoclive i w Vty Aralsgeus systems Thee ade 2 metheds a obtaining electrial analegeus reworks, namely 1) force voltage analogy (oe ome) » Lone cugsent analog y (indisect analéqy) Mechanical aygten : Loony . Consider a zimple mechanical aygtem ag has tae shou in tig. Due to tobe appli the moge gels displored Hy an amount x (4) in the Aiyechon aftlt). Aubeding 10 Newtons lo @ motion , the applied {exe ill Gupe Sipplcement x in sphing acceleration to ia iw apatnal {drictonal Ladue having {uictibn SOE $ (4) = tint tha Pe t= Ha + By + KclD tle NM dslo 4 nde. Kx whoied as aceledation v2 Velocity nee| de re eS take L1 an bath ide g absve COpAHtON $ Adouraing | IniHal conditions to be 200. q F(de US x4 Bx(S)4 M (9) to: xO fustaps aK) -O this is called tho eqyilibsrurn enyuation {0h Ah€-ivo, aysiem- ) Consider arr elactsica fan! Leyton anol ont, 02 LAWN . Peete Apply wL tote given nehstink Dia) J vert ld+ Labi). + Jz [0 4 Take L.Tan bs § aseumning iniliol conditions to be Zhe V@ekL 4 LS-2O+ +10 wut, (= 84 2 L135 T= sae oo V(a)2 R5Q(5) t LF + 4a) V&)= QD (Rt gol : a) © Thid is the equilibrium eopahon 40h te Certkia) aysten., py com powing eq” sD V@ FO 5 Ql) xO} LEM; R=Bs Yess Mechanical ayatom | Blecthial syst Tromolional ayo. Potoliond bye. | Fence (F) Tohqne (x) “Nhltage(v) Se toy C4) — Lnehtial J) In Mee Fsrichion conplut (f) ealional [nidien c i pphing cnt) sgt ot ®) ita & ; a ‘pon nel; Dig, plocem ont () Argula deploen ne d “ velscity (v= 4) Argul iy ciniaecs) 45) Arguled velit cum Cusnent (r) 28 at at Acelebation Anguli accolehalisy beta) dls) ,§ 2) corpide OV PRCT AICAN system Of Brown In Hg: a Te Apply KCL at node Vv’ = a7 f . il \ 2 a Te dts TrTetTe 1314 J ED + fost + VP «could jake LT an bs ¢ araume initial conditions to be zeag T(D= ts vE)+ 19 + s.vi9 9 4 Wx> vellae flan ath de pry industante,) Take LT on bs v= 8.43 -© By subglituting eq)” © in@ T= Fp 8.dO+-f5.00 + 40 | T= 449 +440 +E4® | tele ¢0) (t+ $+ | This is the eqpilibhium eqftation ton the electh icalye, by em pasting mechanical aysten D> F(S)=1O ; x(9=¢O5 ve £(=x09 [ BS+K] MeCz Delpy KeK3 sane AR ORTE Electrical system Cusgent (2) Gparitod Ce) Reciprdcal of Reston) Recipuscal qf rrdudlorce Ci) Flux(4) Vattoqe(v) =at© D] Fax dhe physical Byrn nn gl system § vsnte eqpilibnium eq. Hemee ddim its ‘elechni rem bored on Fakce-volloge ¢ ilectivical -oralogous ay ay 22a | Fahee- cudhent. | \ | DOL hay 27 tr) | i ke tele Loin Lf Fit)en dx) paelD, kx (D dt “de Take LT en bs § agume inital conditons 49 be zere | She F(s)=M stxc(s) + Box (2) + Kx F@)=xXO(n34B5+K] ) Fev mela Fezv O80 vey. a¢a[S Leen ] Bek als): LO ee mabe = “T@= se) VOTO Pesce 1] VO=TO (seks ee] Beatin, Toke nvepe LT vit)z Late + RIG) + 4. Jrwat