Lecture 2+modeling+ +
Lecture 2+modeling+ +
Lecture 2+modeling+ +
2. Mathematical Modeling
Semester A, 2019-20
Mathematical Representation of a System
Input
u(t) G Output
y(t)
Laplace Transforms:
Input
U(s) G Output
Y(s)
Transfer F unction :
Laplace Transform of Output Y ( s)
G(s) =
Laplace Transform of Input U ( s)
a
y + by + cy = du
Laplace
transforms:
Y L{ y}, U L{u}
as 2Y bsY cY dU
(as 2 bs c)Y dU
d
Y 2
U i.e., Y = GU
as bs c
Laplace Transform converts differential equation
description to transfer function description:
a
y + by + cy = du
u(t) y(t)
Plant
U(s) d Y(s)
2
as + bs + c
Computing Output Reponse
The diagram
Given:
ay by cu du (with zero initial conditions)
u
m
y + cy + ky = u
input force
U(s) Y(s)
G(s)
Y(s) = G(s)U(s)
Hence,
1
y (t ) L {G ( s )U ( s )}
𝐶 𝑠 = 𝐺! 𝑠 𝐸 𝑠
𝐸 𝑠 = 𝑅 𝑠 − 𝐺" 𝑠 𝐶(𝑠)
𝐶(𝑠)
= 𝐸 𝑠 = 𝑅 𝑠 − 𝐺" 𝑠 𝐶 𝑠
𝐺! 𝑠
𝐶 𝑠 + 𝐺! 𝑠 𝐺" 𝑠 𝐶 𝑠 = 𝐺! 𝑠 𝑅 𝑠
𝐶(𝑠) 𝐺! (𝑠)
=
𝑅 𝑠 1 + 𝐺! 𝑠 𝐺" (𝑠)
Exercise:
C ( s)
? Answer:
R( s )
Linear Time-Invariant (LTI) Systems
Let a system be described by an operator G as follows:
y(t) = G[u(t)]
Definition of a Linear System
The system described by the operator G is linear, if given
y1(t) = G[u1(t)]
y2(t) = G[u2(t)]
then for any constants a and b, one has
G[a u1(t)+b u2(t)] = a y1(t) + b y2(t)
𝑑𝑦
𝐺: = 2𝑢 𝑡 ⇒ 𝑦 𝑡 = 2 2𝑢(𝑡)𝑑𝑡
𝑑𝑡
Let y(t) = f(u(t)). Then
= 𝛼𝑓 𝑢! 𝑡 + 𝛽𝑓 𝑢" 𝑡
è It is linear
All coefficients are constants (for example, that of 𝑢(𝑡) is 2)
è System is time-invariant
Case Study 2:
Input(s)
u(t) G Output(s)
y(t)
𝑑𝑦 " "
𝐺: =𝑡 𝑢 𝑡 ⇒ 𝑦 𝑡 = 1𝑡 𝑢 𝑡 𝑑𝑡
𝑑𝑡
Let y(t) = f(u(t)). Then
"
𝑓 𝛼𝑢! 𝑡 + 𝛽𝑢" 𝑡 = ) 𝑡 𝛼𝑢! 𝑡 + 𝛽𝑢" 𝑡 𝑑𝑡
è It is nonlinear
"
Also, the term ‘t’ in 𝑡 𝑢 𝑡 is not constant
è System is time-varying (or, time-variant)
Both “nonlinear” and “time-varying” systems will not be studied in this course
Models of Mechanical Structures: Pendulum
Mass: m
Input: force u(t)
Output: horizontal displacement h(t) (measurement)
Direction of motion
𝜏
𝑇 = 𝑚𝑔 sin 𝜃
h(t) 𝜏 = 𝑚𝐿𝜃̈
𝜃
T 𝜏 = 𝜏! + 𝜏"
𝜏! = −𝑇 = −𝑚𝑔 sin 𝜃
𝑚𝑔 𝜏" = 𝑢 𝑡 cos𝜃
Laplace Transform 𝕃{ A }
u
m
y + cy + ky = u
input force
v(t ) Ri (t ) di (t ) dv (t )
v(t ) L i (t ) C
dt dt
V ( s) RI ( s )
V (s) LsI ( s ) I ( s) CsV ( s )
V ( s)
R V (s) V (s) 1
I (s) Ls
I ( s) I ( s) Cs
Impedance
𝑒! − 𝑒"
𝑖=
𝑅
∫ 𝑖𝑑𝑡
𝑒" =
𝐶
Parameters: R, C
Transfer Function:
#! $" #$"
[ Time Domain: 𝐿𝐶 #% ! + 𝑅𝐶 #%
+ 𝐸& = 𝐸' ]
Transfer Function of a Cascaded Network
Example:
∫ 𝑖$ 𝑑𝑡 ∫ 𝑖% 𝑑𝑡
𝑉#$ = 𝑉" =
𝐶$ 𝐶%
𝑉! − 𝑉#$ 𝑉#$ − 𝑉"
𝑖= 𝑖% = 𝑖 = 𝑖! + 𝑖"
𝑅$ 𝑅%
∫ 𝑖$ 𝑑𝑡 ∫ 𝑖% 𝑑𝑡
𝑉#$ = 𝑉" =
𝐶$ 𝐶%
𝐼$ (𝑠) 𝐼% (𝑠)
𝑉#$ 𝑠 = 𝑉" 𝑠 =
𝐶$ 𝑠 𝐶% 𝑠
𝑉 𝑠 − 𝑉#$ (𝑠) 𝑉#$ 𝑠 − 𝑉" (𝑠)
𝐼 𝑠 = & 𝐼% 𝑠 = 𝐼 𝑠 = 𝐼$ 𝑠 + 𝐼% 𝑠
𝑅$ 𝑅%
𝐼$ (𝑠) 𝐼% (𝑠)
𝑉#$ 𝑠 = 𝑉" 𝑠 =
𝐶$ 𝑠 𝐶% 𝑠
[ #! )"
Time domain: 𝑅! 𝐶! 𝑅" 𝐶" #% ! + 𝑅! 𝐶! + 𝑅" 𝐶" + 𝑅! 𝐶"
#)"
#%
+ 𝑉& = 𝑉( ]
Finally, build the block diagram
𝑉" (𝑠) 1
=
𝑉& (𝑠) 𝑅$ 𝐶$ 𝑅% 𝐶% 𝑠 % + (𝑅$ 𝐶$ + 𝑅% 𝐶% + 𝑅$ 𝐶% 𝑠 + 19
A second-order system
Framework of Lectures
System
System
Example:
Time domain:
𝑑 ! 𝐸" 𝑑𝐸"
𝐿𝐶 ! + 𝑅𝐶 + 𝐸" = 𝐸#
𝑑𝑡 𝑑𝑡
Frequency domain:
For a system with input and output
System
Example:
y Time domain:
m
y + cy + ky = u
u
input force Frequency domain:
1
G(s) = 2
ms + cs + k
DC Motor:
Electro-Mechanical System
The DC motor armature circuit is described based on the Kirchhoff voltage law by
#'(%)
𝑉 𝑡 = 𝑅𝑖 𝑡 + 𝐿 + ̇
𝐾 𝜃(𝑡)
#%
̈
𝐽𝜃(𝑡) ̇
= 𝜏(𝑡) − 𝐵𝜃(𝑡)
where
𝑉 𝑡 = Armature Voltage 𝜃 𝑡 = Angular Position
𝑖 𝑡 = Armature Current 𝐽 = Rotor Inertia
𝑒 𝑡 = Back EMF 𝐵 = Viscous Friction
𝐾 = Motor Constant
Motor torque is proportional to the armature current:
𝜏(𝑡) = 𝐾' 𝑖(𝑡)
( )
H s =* =?
+
Motor torque is proportional to the armature current:
𝜏(𝑡) = 𝐾' 𝑖(𝑡)
𝐽𝜃̈ 𝑡 = 𝐾𝑖 𝑡 − 𝐵𝜃(𝑡)
̇ 𝑠(𝐽𝑠 + 𝐵)Θ(𝑠) = 𝐾𝐼 𝑠
Θ s 𝐾
H s = =
𝑉 𝑠 𝑠 𝑅 + 𝐿𝑠 𝐽𝑠 + 𝐵 + 𝐾 %
𝑉 𝑠 − 𝐾𝑠Θ(𝑠)
𝐼 𝑠 =
𝑅 + 𝐿𝑠
𝑉 𝑠 − 𝐾𝑠Θ(𝑠)
𝑠(𝐽𝑠 + 𝐵)Θ(𝑠) = 𝐾
𝑅 + 𝐿𝑠
Θ s 𝐾
H s = =
𝑉 𝑠 𝑠 𝑅 + 𝐿𝑠 𝐽𝑠 + 𝐵 + 𝐾 %
q Causality
q Stability
q Time-invariance
q Linearity
Systems 2-43
(1). Memoryless
Systems 2-44
Examples
1. A resister is a memoryless component:
(1) y(t) = R x(t)
(2) y(t) = x(t-1), y(t) = x(t+1), y(t) = x(2t)
(3) y(t) = sin[x(t)], y(t) = [x(t)]^2
(4) y(t) = t x( )d
2. Inductors and capacitors are components having
infinite memory.
q Examples
m Causal:
y[n] x[n] x[n 1]
m Non-causal:
1
y[n] x[n 1] x[n] x[n 1]
3
Systems 2-46
Examples of Causal & Non-Causal Systems
Systems 2-47
Remarks on Causality
Systems 2-48
(4). Stability
q Informally, a system is stable if small inputs
lead to responses (i.e. outputs) that do not
diverge.
x(t) y(t)
y(t)
x(t)
Systems 2-49
(4). Stability (BIBO stable)
q Formally, a system is stable if every bounded
input results in a bounded output.
Systems 2-50
Examples
Yes
n
2. Is the accumulator system y[n] x[k ] stable?
k 1
No
Systems 2-51
Examples of Stable Systems
Systems 2-53
Example
No
Systems 2-54
Examples of Time-Invariant Systems
Systems 2-55
(6). Linearity
Systems 2-56
Superposition Property
Systems 2-57
Example
Systems 2-58
Example
Systems 2-59
END