A mathematical model is a set of equations that represents the dynamic behavior

of a physical system.
Dynamics of various systems e.g. electrical, mechanical etc. may be described using
differential equations which are obtained from physical laws governing the system.
Mathematical models can be classified as;
i) Differential equation models: defines the dynamic behavior of physical
systems in terms of differential equations.
ii) Transfer function models: defines the dynamic behavior of physical systems
in terms of transfer functions. These models can be obtained from differential
equations by applying Laplace transforms.
iii) State space models:
The transfer function (Gain)is the ratio of the Laplace transform of the output
to the Laplace transform of the input.
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑜𝑓 𝑡ℎ𝑒 𝒐𝒖𝒕𝒑𝒖𝑡
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝐺𝑎𝑖𝑛
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑜𝑓 𝑡ℎ𝑒 𝒊𝒏𝒑𝒖𝒕

1. Modelling Electrical circuits

Basic laws governing electrical circuits are Kirchhoff’s Current Law and Voltage
Law.
Kirchhoff’s Current Law (node law) states that:
“the algebraic sum of all currents entering and leaving a node is zero”.
Kirchhoff’s Voltage Law (loop law) states that:
“the algebraic sum of the voltages around a loop in an electrical circuit is
zero.”
A mathematical model of an electrical circuit can be obtained by applying one or
both of Kirchhoff’s laws.
Example 1: Find the transfer function of the following RC circuit (LPF)

Solution
Note that the resistor is in series with the capacitor since no current flows to the
open circuit across 𝑣𝑜𝑢𝑡
Method 1: Voltage divider rule
The Laplace transforms of the circuit elements are;
𝑉𝑖𝑛 𝑡 ↔ 𝑉𝑖𝑛 𝑠
𝑅↔𝑅
1
𝐶↔
𝐶𝑠
𝑉𝑜 𝑡 ↔ 𝑉𝑜 𝑠
By applying the voltage divider rule, the voltage across the capacitor is;

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
 1
𝑉𝑜 𝑠 𝐶𝑠 𝑉𝑖𝑛 𝑠
1
𝑅 𝐶𝑠
Transfer function model becomes
𝑽𝒐 𝒔 𝟏
𝑽𝒊𝒏 𝒔 𝟏 𝑹𝑪𝒔
Method 2: Using KVL
Let 𝑖 𝑡 be the common current flowing through R and C elements.
1 𝑄
𝐿𝑜𝑜𝑝 1: 𝑉𝑖𝑛 𝑡 𝑖𝑅 𝑖𝑑𝑡 𝑉
𝐶 𝐶
1 But current is rate
𝐿𝑜𝑜𝑝 2: 𝑉𝑜 𝑡 𝑖𝑑𝑡
𝐶 of flow of charge:
Taking the Laplace transforms 𝑑𝑄
1 𝑖
𝑑𝑡
𝑉𝑖𝑛 𝑠 𝐼 𝑠 𝑅 𝐼 𝑠
𝐶𝑠 𝑄 𝑖𝑑𝑡
1
𝑉𝑜 𝑠 𝐼 𝑠 1
𝐶𝑠 ∴𝑉 𝑖𝑑𝑡
1 𝐶
𝑉𝑜 𝑠 𝐼 𝑠
𝐶𝑠
𝑉𝑖𝑛 𝑠 1
𝐼 𝑠 𝑅
𝐶𝑠
𝑽𝒐 𝒔 𝟏
𝑽𝒊𝒏 𝒔 𝟏 𝑹𝑪𝒔

Example 2: Find the transfer function of the following RC circuit.

Solution
Method 1: Voltage divider rule
the voltage across the resistor i.e. 𝑉𝑜𝑢𝑡 is;
𝑅
𝑉𝑜 𝑠 𝑉𝑖𝑛 𝑠
1
𝑅
𝐶𝑠
𝑽𝒐 𝒔 𝐑𝐂𝐬
𝑽𝒊𝒏 𝒔 𝟏 𝑹𝑪𝒔
Method 2: Using KVL
Let 𝑖 𝑡 be the common current flowing through R and C elements.
1
𝐿𝑜𝑜𝑝 1: 𝑉𝑖𝑛 𝑡 𝑖𝑅 𝑖𝑑𝑡
𝐶
𝑙𝑜𝑜𝑝 2: 𝑉𝑜 𝑡 iR
Taking the Laplace transforms
1
𝑉𝑖𝑛 𝑠 𝐼 𝑠 𝑅 𝐼 𝑠
𝐶𝑠
𝑉𝑜 𝑠 𝐼 𝑠 𝑅

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
 𝑉𝑜 𝑠 𝐼 𝑠 𝑅
𝑉𝑖𝑛 𝑠 1
𝐼 𝑠 𝑅
𝐶𝑠
𝑽𝒐 𝒔 𝐑𝐂𝐬
𝑽𝒊𝒏 𝒔 𝟏 𝑹𝑪𝒔
Example 3: Obtain the transfer function of the following RC nerwork.
v1 eo

Solution
Let the voltage drop across the C1 be v1
By applying KCL on node v1
𝑒𝑖 𝑡 𝑣1 𝑡 𝑑𝑣1 𝑣1 𝑡 𝑒𝑜 𝑡
𝐶1 0
𝑅1 𝑑𝑡 𝑅2
Taking the Laplace transforms;
𝐸𝑖 𝑠 𝑉1 𝑠 𝑉1 𝑠 𝐸𝑜 𝑠
𝐶1𝑠 𝑉1 𝑠 0
𝑅1 𝑅2
1 1 𝐸𝑖 𝑠 𝐸𝑜 𝑠
𝑉1 𝑠 𝐶1 𝑠 …𝑒𝑞𝑛 1
𝑅1 𝑅2 𝑅1 𝑅2
By applying KCL on node 𝒆𝒐
𝑣1 𝑡 𝑒𝑜 𝑡 𝑑𝑒𝑜
𝐶2 0
𝑅2 𝑑𝑡
Taking the Laplace transforms;
𝑉1 𝑠 𝐸𝑜 𝑠
𝐶2 𝑠 𝐸𝑜 𝑠 0
𝑅2
1 𝑉1 𝑠
𝐶2 𝑠 𝐸𝑜 𝑠
𝑅2 𝑅2
𝑉1 𝑠 𝐶2𝑠𝑅2 1 𝐸𝑜 𝑠 …𝑒𝑞𝑛 2
Substitute v1(s) into equation 1
1 1 𝐸𝑖 𝑠 𝐸𝑜 𝑠
𝐶2 𝑠𝑅2 1 𝐸𝑜 𝑠 𝐶1 𝑠
𝑅1 𝑅2 𝑅1 𝑅2
𝐶 2 𝑅2 𝑠 1 𝐸𝑖 𝑠
𝐸𝑜 𝑠 𝐶1 𝐶2 𝑅2 𝑠2 𝐶1 𝑠 𝐶2 𝑠
𝑅1 𝑅1 𝑅1
𝑬𝒐 𝒔 𝟏
𝑬𝒊 𝒔 𝑪𝟏 𝑪𝟐 𝑹𝟐 𝒔𝟐 𝑪𝟏 𝑹𝟏 𝑪𝟐 𝑹𝟐 𝑹𝟏 𝑪𝟐 𝒔 𝟏
Example 4: The figure below shows an R-C network. Determine its transfer
function (6mks)

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
 node1

Solution
𝑅1 ‖𝐶1 is in series with 𝑅2 hence 𝑖 𝑡 is common.
Applying KCL at node1
𝑖 𝑡 𝑖𝑅1 𝑖𝑐1
𝑣𝑖 𝑣𝑜
𝑖𝑅1
𝑅1
𝑑 𝑣𝑖 𝑣𝑜
𝑖𝑐1 𝐶
𝑑𝑡
𝑣𝑜
𝑖 𝑡
𝑅2
𝑣𝑜 𝑣𝑖 𝑣𝑜 𝑑 𝑣 𝑖 𝑣𝑜
𝐶
𝑅2 𝑅1 𝑑𝑡
Applying the Laplace transforms;
𝑉𝑜 𝑠 𝑉𝑖 𝑠 𝑉𝑜 𝑠
𝐶𝑠 𝑉𝑖 𝑠 𝑉𝑜 𝑠
𝑅2 𝑅1
1 1 1
𝑉𝑜 𝑠 𝐶𝑠 𝑉𝑖 𝑠 𝐶𝑠
𝑅1 𝑅2 𝑅1
𝑅1 𝑅2 𝑅1𝑅2𝐶𝑠 1 𝑅1 𝐶𝑠
𝑉𝑜 𝑠 𝑉𝑖 𝑠
𝑅1 𝑅2 𝑅1
The transfer function model will be;
𝑽𝒐 𝒔 𝑹𝟐 𝑹𝟏 𝑹𝟐𝑪𝒔
𝑽𝒊 𝒔 𝑹𝟏 𝑹𝟐 𝑹𝟏 𝑹𝟐 𝑪𝒔
Using Complex Impedance method
1
𝑍𝑅1 𝑅1 , 𝑍𝑐1
𝐶1 𝑠
1 1 1 1
𝐶1 𝑠
𝑍1 𝑍𝑅1 𝑍𝑐1 𝑅1
𝑅1
𝑍1
1 𝑅1𝐶1 𝑠
𝑍2 𝑅2
𝑉𝑜 𝑠 𝑍2 𝑠 𝑅2 𝑹𝟐 𝑹𝟏 𝑹𝟐 𝑪𝒔
𝑉𝑖 𝑠 𝑍1 𝑠 𝑍2 𝑠 𝑅1 𝑹𝟏 𝑹𝟐 𝑹𝟏 𝑹𝟐 𝑪𝒔
𝑅2
1 𝑅1 𝐶1 𝑠
Example 5 Obtain the transfer function of the RC network shown in the
figure below.

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
Solution
Method 1: Kirchhoff’s Laws
Applying KCL on R2 and C2 elements
Let 𝑖 𝑡 be the current flowing through the circuit elements
𝑖 𝑖𝑅2 𝑖𝑐2
𝑒𝑖 𝑒𝑜
𝑖𝑅2
𝑅2
𝑑 𝑒𝑖 𝑒𝑜
𝑖𝑐2 𝐶2
𝑑𝑡
𝑒𝑖 𝑒𝑜 𝑑 𝑒𝑖 𝑒𝑜
∴𝑖 𝐶2 …. 𝑒𝑞𝑡𝑛 1
𝑅2 𝑑𝑡
Applying KVL to obtain the expression for the output voltage 𝑒𝑜
1
𝑒𝑜 𝑡 𝑖𝑅1 𝑖𝑑𝑡 …𝑒𝑞𝑡𝑛 2
𝐶1
Laplace transforms for 𝐸𝑞𝑛 1;
𝐸𝑖 𝐸𝑜
𝐼 𝐶2 𝑠 𝐸𝑖 𝐸𝑜
𝑅2
1
𝐼 𝐸𝑖 𝐸𝑜 𝐶2 𝑠 …𝑒𝑞𝑡𝑛 3
𝑅2
Laplace transforms for 𝐸𝑞𝑛 2
1
𝐸𝑜 𝐼𝑅1 𝐼
𝐶1 𝑠
1
𝐸𝑜 𝐼 𝑅1 …𝑒𝑞𝑡𝑛 4
𝐶1 𝑠
Substituting equation 3 into equation 4
1 1
𝐸𝑜 𝐸𝑖 𝐸𝑜 𝐶2 𝑠 𝑅1
𝑅2 𝐶1 𝑠
1 1 1 1
𝐸𝑜 1 𝐶2 𝑠 𝑅1 𝐸𝑖 𝐶2 𝑠 𝑅1
𝑅2 𝐶1𝑠 𝑅2 𝐶1 𝑠
1 𝑅2 𝐶2 𝑠 𝑅1 𝐶1𝑠 1 1 𝑅2 𝐶2 𝑠 𝑅1 𝐶1 𝑠 1
𝐸𝑜 1 𝐸𝑖
𝑅2 𝐶1 𝑠 𝑅2 𝐶1 𝑠
𝑅2 𝐶1𝑠 1 𝑅2 𝐶2 𝑠 𝑅1 𝐶 1 𝑠 1 1 𝑅2 𝐶2 𝑠 𝑅1 𝐶1 𝑠 1
𝐸𝑜 𝐸𝑖
𝑅2 𝐶 1 𝑠 𝑅2 𝐶1𝑠
𝐸𝑜 𝑠 𝑹𝟏 𝑪𝟏 𝒔 𝟏 𝑹𝟐𝑪𝟐 𝒔 𝟏
𝐸𝑖 𝑠 𝑹𝟏 𝑪𝟏 𝒔 𝟏 𝑹𝟐 𝑪𝟐 𝒔 𝟏 𝑹𝟐𝑪𝟏 𝒔

Control Systems
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Voltage divider method

𝑍𝑅2 𝑅2 𝑎𝑛𝑑 𝑍𝑐2 1

𝐶2 𝑠
For complex impedances connected in parallel, the resultant impedance is
1 1 1 1
𝐶2 𝑠
𝑍2 𝑍𝑅2 𝑍𝑐2 𝑅2
𝑅2
𝑍2
1 𝑅2 𝐶 2 𝑠
For complex impedances connected in series, the resultant impedance is;
1
𝑧1 𝑅1
𝐶1 𝑠
Using voltage divider rule;
𝐸𝑜 𝑠 𝑍1 𝑠
𝐸𝑖 𝑠 𝑍1 𝑠 𝑍2 𝑠
𝑅1 𝐶1 𝑠
1
𝐸𝑜 𝑠 𝐶1 𝑠
𝐸𝑖 𝑠 1 𝑅1 𝐶1𝑠 𝑅2
𝐶1 𝑠 1 𝑅2𝐶2 𝑠
𝐸𝑜 𝑠 𝑹𝟏 𝑪𝟏 𝒔 𝟏 𝑹𝟐𝑪𝟐 𝒔 𝟏
𝐸𝑖 𝑠 𝑹𝟏 𝑪𝟏 𝒔 𝟏 𝑹𝟐 𝑪𝟐 𝒔 𝟏 𝑹𝟐𝑪𝟏 𝒔
Example 6: Consider the electrical circuit shown. Obtain its transfer
function.
Solution
Method 1: Complex impedance

𝑧1 𝐿𝑠 𝑅

𝑍2 1
𝐶𝑠
By voltage divider rule;

𝐸𝑜 𝑠 𝑍2 𝑠 1
𝐶𝑠
𝐸𝑖 𝑠 𝑍1 𝑠 𝑍2 𝑠 𝐿𝑠 𝑅 1
𝐶𝑠
𝑬𝒐 𝒔 𝟏
𝑬𝒊 𝒔 𝑳𝑪𝒔𝟐 𝑹𝑪𝒔 𝟏
Method2: Using KVL
𝑑𝑖 1
𝐿 𝑅𝑖 𝑖𝑑𝑡 𝑒𝑖
𝑑𝑡 𝐶
1
𝑖𝑑𝑡 𝑒𝑜
𝐶
11
𝐿𝑠𝐼 𝑠 𝑅𝐼 𝑠 𝐼 𝑠 𝐸𝑖 𝑠
𝐶𝑠
11
𝐼 𝑠 𝐸𝑜 𝑠
𝐶𝑠
𝑬𝒐 𝒔 𝟏
𝑬𝒊 𝒔 𝑳𝑪𝒔𝟐 𝑹𝑪𝒔 𝟏
Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
Exercise: Obtain the transfer function of the following networks;

(a)

(b)

(c)

2. Modelling of Mechanical Systems

Involves modeling of Translational and rotational mechanical systems
Translational is motion of a body along a straight line while rotational is around its
own axis.
A mechanical system can be modelled in terms of its inertia, elastic properties and
resistance to motion. Basic elements for modelling a translational mechanical
system are:
Mass: represents inertia of a body
Spring: represents the elastic deformation of materials
Damper: Represents opposition to motion in mechanical systems
Translational Systems

(a) Spring
A linear elastic element is assumed to produce a displacement proportional to the
force applied to it.

F F
For an ideal translational spring (assuming negligible inertia and friction);
𝑭𝒐𝒓𝒄𝒆 ∝ 𝑫𝒊𝒔𝒑𝒍𝒂𝒄𝒆𝒎𝒆𝒏𝒕
𝑖𝑓 𝑥𝑖 𝑡 𝑖𝑠 𝑡ℎ𝑒 𝑝𝑜𝑖𝑛𝑡 𝑜𝑓 𝑟𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑒, 𝑡ℎ𝑒𝑛

𝐹 𝐾 𝑥𝑖 𝑡 𝑥𝑜 𝑡
Control Systems
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electrical@mmust2016
Where 𝑥𝑖 𝑡 𝑥𝑜 (t) is the spring displacement and K is the spring constant which
depends on the spring material.

(b) Damper
Represents opposition to motion (friction) in mechanical systems. Damping
improves system response.
It can be represented by a dashpot which consists of a piston and oil-filled cylinder.
Any relative motion between the piston rod and the cylinder is resisted by the oil
because the oil must flow around the piston (or through orifices provided in the
piston) from one side of the piston to the other.
A damper produces a velocity proportional to the force applied to it.
xo(t)
F

For an ideal translational damper (assuming negligible inertia and elasticity);

𝑭𝒐𝒓𝒄𝒆 ∝ 𝒗𝒆𝒍𝒐𝒄𝒊𝒕𝒚
𝑑𝑥𝑜
𝐹 𝑏𝑣 𝑡 𝑏
𝑑𝑡
Where b is the damping coefficient and v(t) the velocity of the piston inside the
cylinder.

(c) Mass
The force needed to accelerate a body is the product of its mass and acceleration
(Newton’s 2nd Law)

xo(t)

m F

For an ideal translational system with negligible damping and elasticity;

Force ∝ Acceleration
𝑑𝑣 𝑑2 𝑥𝑜
𝑭 𝒎𝒂 𝑚 𝑚
𝑑𝑡 𝑑𝑡2
where m is mass, a is the acceleration of the mass
A practical translational mechanical system can be modelled by using
D’Alermebrt’s Principle which states that:
“The algebraic sum of externally applied forces on a body and the forces opposing the
motion in any given direction is zero.”
𝑑2 𝑥 𝑑𝑥
𝐹 𝑡 𝑚 𝐶 𝑘𝑥 𝑡 0
𝑑𝑡2 𝑑𝑡

Control Systems
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 𝐹 𝑡 𝑭

Let B be the damping coefficient

𝑑𝑥 𝑑2 𝑥
𝐹𝑡 𝐵 𝑘𝑥 𝑡 𝑚
𝑑𝑡 𝑑𝑡2
Applying Laplace transforms;
𝐹 𝑠 𝐵𝑠𝑋 𝑠 𝑘𝑋 𝑠 𝑚𝑠2 𝑋
𝑋 1
𝐹 𝑠 𝑚𝑠2 𝐵𝑠 𝑘
Example1: Obtain the transfer function model of the mass spring-damper
system shown in the firgure below. Xi(t) and Xo(t) represents the input and
output displacements; while K is the spring constant, C is the damping
coefficient and m is the mass.

𝐹 𝑚𝑎

𝑑𝑥𝑜 𝑑 2 𝑥𝑜
𝐾 𝑥𝑜 𝑥𝑖 𝐶 𝑚 0
𝑑𝑡 𝑑𝑡2
𝑑2𝑥𝑜 𝑑𝑥𝑜
𝐾𝑥𝑜 𝐾𝑥𝑖 𝑚 𝐶
𝑑𝑡2 𝑑𝑡
𝑑 2 𝑥𝑜 𝑑𝑥𝑜
𝑚 𝐶 𝐾𝑥𝑜 𝐾𝑥𝑖
𝑑𝑡2 𝑑𝑡
By taking the Laplace transforms, assuming zero initial conditions, we obtain the
transfer function model.
𝑚𝑠2 𝐶𝑠 𝑘 𝑋𝑜 𝑠 𝑘𝑋𝑖 𝑠
𝑋𝑜 𝑠 𝑘
𝑋𝑖 𝑠 𝑚𝑠2 𝐶𝑠 𝑘
Example 2: Consider the spring-mass-dashpot system mounted on a
massless cart as shown in the Figure below. In this system, u(t) is the input
displacement of the cart and y(t) is the output displacement; m denotes the
mass, b is the damping coefficient, and k is the spring constant.
Assuming that the frictional force F of the dashpot is proportional to 𝑦 𝑢 and that
the spring is linear; obtain the mathematical model of this system.

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
 Spring-mass dashpot system mounted on a cart
Solution
From Newton’s 2nd Law,

𝐹 𝑚𝑎

Where ∑ 𝐹 is the summation of all forces acting on the mass in the direction of the
acceleration a.
𝑑2 𝑦 𝑑𝑦 𝑑𝑢
𝑚 𝑏 𝑘 𝑦 𝑢
𝑑𝑡2 𝑑𝑡 𝑑𝑡
𝑑2 𝑦 𝑑𝑦 𝑑𝑢
𝑚 𝑏 𝑘𝑦 𝑏 𝑘𝑢
𝑑𝑡2 𝑑𝑡 𝑑𝑡
This is the differential equation model. By taking the Laplace transforms assuming
zero initial conditions, we obtain the transfer function model.

𝑚𝑠2 𝑏𝑠 𝑘 𝑌 𝑠 𝑏𝑠 𝑘 𝑈 𝑠
𝑌 𝑠 𝑏𝑠 𝑘
𝐺 𝑠
𝑈 𝑠 𝑚𝑠2 𝑏𝑠 𝑘
For more information, check this link:
https://www.youtube.com/watch?v=Wv2MgI2sFkM
Example 3: The Figure below is a simplified version of an automobile or
motorcycle suspension system. Obtain its transfer function Y(s)/U(s).
The input u is a displacement input. Assume that displacements x and y are
measured from their respective steady-state positions in the absence of the
input u.
𝑚2 : mass of the car
𝑚1 :unsprung mass
𝑘2 𝑎𝑛𝑑 𝑏 :suspension
𝑘1:tire stiffness
𝑢: ground motion displacement input
Solution
Applying the Newton’s 2nd law

𝑑𝑥 𝑑2 𝑥
𝑥
𝑎𝑛𝑑 𝑥
𝑑𝑡 𝑑𝑡2
Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
𝑚1 𝑥 𝑘2 𝑦 𝑥 𝑏 𝑦 𝑥 𝑘1 𝑢 𝑥
𝑚2 𝑦 𝑘2 𝑦 𝑥 𝑏 𝑦 𝑥
Collecting like terms;
𝑚1 𝑥 𝑏𝑥 𝑘1 𝑘2 𝑥 𝑏𝑦 𝑘2 𝑦 𝑘1 𝑢
𝑚2 𝑦 𝑏𝑦 𝑘2 𝑦 𝑏𝑥 𝑘2 𝑥
Taking Laplace transforms of these two equations, assuming zero initial conditions;
𝑚1 𝑠2 𝑏𝑠 𝑘1 𝑘2 𝑋 𝑠 𝑏𝑠 𝑘2 𝑌 𝑠 𝑘1 𝑈 𝑠 … 1

𝑚2𝑠2 𝑏𝑠 𝑘2 𝑌 𝑠 𝑏𝑠 𝑘2 𝑋 𝑠 … 2

Eliminating X(s) by substituting equation (2) into (1), we have;

𝑚2 𝑠2 𝑏𝑠 𝑘2
𝑚1𝑠2 𝑏𝑠 𝑘1 𝑘2 𝑌 𝑠 𝑏𝑠 𝑘2 𝑌 𝑠 𝑘1 𝑈 𝑠
𝑏𝑠 𝑘2
𝒀𝒔 𝒌𝟏 𝒃𝒔 𝒌𝟐
𝑼 𝒔 𝒎𝟏 𝒎𝟐𝒔𝟒 𝒎𝟏 𝒎𝟐 𝒃𝒔𝟑 𝒌𝟏 𝒎𝟐 𝒎𝟏 𝒎𝟐 𝒌𝟐 𝒔𝟐 𝒌𝟏 𝒃𝒔 𝒌𝟏 𝒌𝟐
Example 4: Obtain the transfer function of the system shown in the Figure
below with input u as the displacement input.

Solution:
𝑚1 𝑦1 𝑏𝑦1 𝑘 𝑦1 𝑦2 0
𝑚 2 𝑦2 𝑘 𝑦2 𝑦1 𝑢
Taking Laplace transforms of these two equations, assuming zero initial conditions;
𝑚1𝑠2 𝑏𝑠 𝑘 𝑌1 𝑠 𝑘𝑌2 𝑠 0… 1

𝑚2 𝑠2 𝑘 𝑌2 𝑠 𝑘𝑌1 𝑠 𝑈 𝑠 … 2

Eliminating Y1(s) by substituting equation (2) into (1), we have;

𝑚2𝑠2 𝑘 𝑌2 𝑠 𝑈 𝑠
𝑌1 𝑠
𝑘
𝑚2𝑠2 𝑘 𝑌2 𝑠 𝑈 𝑠
𝑚1 𝑠2 𝑏𝑠 𝑘 𝑘𝑌2 𝑠 0
𝑘
𝑚1 𝑠2 𝑏𝑠 𝑘 𝑚2𝑠2 𝑘 𝑌2 𝑠 𝑈 𝑠 𝑚1𝑠2 𝑏𝑠 𝑘 𝑘2 𝑌2 𝑠
𝑘
2 2
𝑚1 𝑠 𝑏𝑠 𝑘 𝑚2 𝑠 𝑘 𝑌2 𝑠 𝑘2 𝑌2 𝑠 𝑈 𝑠 𝑚1 𝑠2 𝑏𝑠 𝑘
𝑘 𝑘
𝒀𝟐 𝒔 𝑚1𝑠2 𝑏𝑠 𝑘
𝑼 𝒔 𝑚1 𝑠 2
𝑏𝑠 𝑘 𝑚2 𝑠2 𝑘 𝑘2

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016
Example 5: Obtain the transfer function Xo(s)/Xi(s) of the mechanical
system shown in the following Figure.
Solution:
Equation of motion of the system is given by:

𝑏1 𝑥𝑖 𝑥𝑜 𝑘1 𝑥𝑖 𝑥𝑜 𝑏2 𝑥𝑜 𝑦

𝑏2 𝑥𝑜 𝑦 𝑘2 𝑦
Taking Laplace transforms of these two equations;

𝑏1 𝑠𝑋𝑖 𝑠 𝑠𝑋𝑜 𝑠 𝑘1 𝑋𝑖 𝑠 𝑋𝑜 𝑠 𝑏2 𝑠𝑋𝑜 𝑠 𝑠𝑌 𝑠

𝑏2 𝑠𝑋𝑜 𝑠 𝑠𝑌 𝑠 𝑘2 𝑌 𝑠
Eliminating Y(s) from the last two equations, then we obtain;
𝑏2 𝑠𝑋𝑜 𝑠
𝑏1 𝑠𝑋𝑖 𝑠 𝑠𝑋𝑜 𝑠 𝑘1 𝑋𝑖 𝑠 𝑋𝑜 𝑠 𝑏2 𝑠𝑋𝑜 𝑠 𝑏2 𝑠
𝑏2 𝑠 𝑘2
𝑏2 𝑠
𝑏1 𝑠 𝑘1 𝑋𝑖 𝑠 𝑏1 𝑠 𝑘1 𝑏2 𝑠 𝑏2 𝑠 𝑋 𝑠
𝑏2𝑠 𝑘2 𝑜
The transfer function can be obtained as;
𝒃𝟏 𝒃𝟐
𝒔 𝟏 𝒔 𝟏
𝑿𝒐 𝒔 𝒌𝟏 𝒌𝟐
𝑿𝒊 𝒔 𝒃𝟏 𝒃𝟐 𝒃𝟐
𝒔 𝟏 𝒔 𝟏 𝒔
𝒌𝟏 𝒌𝟐 𝒌𝟏

Exercise: Obtain the transfer function model of the mechanical system shown in the
following Figure if 𝑢2 is the input and 𝑦2 is the output.

Control Systems
Eng. Omuzi H.A.O.
electrical@mmust2016