ME 461

Control Engineering

Semester: July 2023

Dr. Sumon Saha

Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Saturday, December 2, 2023
 Control Today’s topic
Engineering

Mathematical Modelling and

Transfer Function

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 2

 Control Transfer function
Engineering
• What is Transfer Function?
an algebraic expression for the dynamic relation between
the input and output of the process model. It is defined so
as to be independent of the initial conditions and of the
particular choice of forcing function.

– Properties: It can be derived only for a linear differential

equation model because Laplace transform can be applied
only to linear equations. If model is non-linear, then it must be
linearized first.

– Advantage: It is easy to interpret and use in calculating output

responses for particular input changes.
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 3
 Control Transfer function
Engineering
A transfer function (TF) relates one input and one output:

u(t ) y(t )
→ system→
U ( s) Y ( s)

Transfer function of a system, G(s), is defined as the ratio of the

Laplace Transform (LT) of the output variable, Y(s), to the LT of
the input variable, U(s), with all the initial conditions are
assumed to be zero. Y ( s)
G( s) =
U ( s)
where:
Y (s) = L y(t ) 
U (s) = L u(t ) 

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 4

 Control Transfer function
Engineering

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 5

 Control Properties of Transfer
Engineering Functions

• Additive property
– Y(s) = G1(s)U1(s)+ G2(s)U2(s)

• Multiplicative property
– Y2(s) = G1(s)G2(s)U(s)

• ODE equivalence
Y ( s) b1s + b0
Transferfunction = G( s ) =
U ( s) a2 s 2 + a1s + a0
d2y dy du
Equivalent ODE a2 2 + a1 + a0 y = b1 + b0u
dt dt dt

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 6

 Control Modeling Mechanical
Engineering System (Translational)

Viscous friction produces a restraining force proportional to velocity (similar to

damping effect of a damper or dashpot).
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 7
 Control Building Mechanical System
Engineering

y (‘+’ve)

d2y
F =M 2
dt

Free body diagram

Mathematical model of the system
Spring-mass-damper system d2y dy
  F = 0 M 2 + c + ky = kx
with an input. Find Y(s)/X(s)? dt dt

M  s 2Y ( s ) − sy ( 0) − y ( 0) + c  sY ( s ) − y ( 0) + kY ( s ) = kX ( s )  Y ( s ) = k
X ( s ) Ms 2
+ cs + k
  Ms + cs + k  Y ( s ) = kX ( s )
 2


© Professor Dr. Sumon Saha ME 461: Control Engineering Page 8

 Control Building Mechanical System
Engineering
What is the transfer function for this system?
x (‘+’ve)
b(dx/dt)
m(d2x/dt2) m F
kx
Free body diagram

Mathematical model of the

system
Spring-mass-damper system
d 2x dx
with an input. Find X(s)/F(s)? →  F = 0 m 2 + b + kx = F
dt dt

m  s 2 X ( s ) − sx ( 0) − x ( 0) + b sX ( s ) − x ( 0 ) + kX ( s ) = F ( s ) X (s) 1

 = 2
 ms 2 + bs + k  X ( s ) = F ( s ) F ( s ) ms + bs + k
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 9
 Control Example: Transfer Function
Engineering
Find the transfer function, X2(s)/F(s) for this system?

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 10

 Control Example: Transfer Function
Engineering

(a) Forces on M1 due to (b) Forces on M1 due to

only motion of M1 only motion of M2

(c) All Forces on M1 Free body diagram

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 11
 Control Example: Transfer Function
Engineering

(a) Forces on M2 due to (b) Forces on M2 due to

only motion of M2 only motion of M1

(c) All Forces on M2 Free body diagram

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 12
 Control Example: Transfer Function
Engineering

Free body diagram

From Force balance on M1
(K 1 + K 2 ) X 1 ( s ) + ( f v1 + f v3 ) sX 1 ( s ) + M 1 s 2
X1 ( s ) − F ( s ) − K2 X 2 ( s ) − f v3sX 2 ( s ) = 0
  M1s 2 + ( fv1 + fv3 ) s + ( K1 + K2 ) X1 ( s ) −  f v3 s + K2  X 2 ( s ) = F ( s )

From Force balance on M2

( K2 + K3 ) X 2 ( s ) + ( fv 2 + fv3 ) sX 2 ( s ) + M 2 s 2 X 2 ( s ) − K2 X1 ( s ) − fv3sX1 ( s ) = 0
 − fv3 s + K2  X1 ( s ) + M 2 s 2 + ( f v 2 + f v3 ) s + ( K2 + K3 ) X 2 ( s ) = 0
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 13
 Control Example: Transfer Function
Engineering
Find the transfer function, X2(s)/F(s) for this system?
c1 b1 a1 c1
a1 x + b1 y = c1 c2 b2 a2 c2
x= ,y=
a2 x + b2 y = c2 a1 b1 a1 b1
a2 b2 a2 b2

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 14

 Control Exercise: Transfer Function
Engineering
Find the transfer function X2(s)/F(s) for the system below:

X2 ( s) 3s + 1
Answer: G( s) = =
F ( s ) s  s3 + 7s 2 + 5s + 1
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 15
 Control Exercise: Transfer Function
Engineering
Free body diagram All Forces on M1

fv1sX1(s) KX2(s)
fv1sX2(s) KX1(s)
F(s) M1 fv3sX1(s)
M1s2X1(s)
fv2sX1(s) fv3sX2(s)
fv2sX2(s)
(+ve) x1

From Force balance on M1

(s 2
+ 3s + 1) X1 ( s ) − (3s + 1) X 2 ( s ) = F ( s )

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 16

 Control Exercise: Transfer Function
Engineering
Free body diagram All Forces on M2

fv1sX2(s) KX1(s)
fv1sX1(s) KX2(s)
M2s2X2(s) M2 fv3sX2(s)
fv3sX1(s)
fv2sX2(s)
fv2sX1(s) fv4sX2(s)
(+ve) x2

From Force balance on M2

(3s + 1) X ( s ) − ( s
1
2
+ 4s + 1) X 2 ( s ) = 0

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 17

 Control Example: Transfer Function
Engineering
Find the transfer function X2(s)/F(s) for the system below:
(s 2
+ 3s + 1) X1 ( s ) − (3s + 1) X 2 ( s ) = F ( s )
(3s + 1) X ( s ) − ( s
1
2
+ 4s + 1) X 2 ( s ) = 0

s 2 + 3s + 1 F ( s )
3s + 1 0
X2 (s) = 2
s + 3s + 1 − ( 3s + 1)
3s + 1 − ( s 2 + 4s + 1) X2 (s)
G (s) =
F ( s)
− ( 3s + 1) F ( s ) 3s + 1
= =
− ( s + 3s + 1)( s + 4s + 1) + ( 3s + 1)
2
s  s3 + 7 s 2 + 5s + 1
2 2

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 18

 Control Class Practice: Transfer Function
Engineering
Determine equations as required to relate the response with the
input for the system shown below, where f(t) is input and x3(t) is
response.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 19

 Control Modeling Mechanical
Engineering System (Rotational)

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 20

 Control Practice: Systems with Gears
Engineering
Find the relationship between output displacement θ2(t) and
input torque T(t) for the system.

a N2 50
= = =2
2 N1 25
Equivalent system at the input after reflection of impedances

1 kg-m2

 d 22 (t ) d2 (t ) 
2 2
+ + 2 ( t )  = T ( t )
 dt dt 
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 21
 Control Practice: Systems with Gears
Engineering
Find the relationship between output displacement θ2(t) and
input torque T(t) for the system.

1 kg-m2

F.B.D.
s2 θ1(s) s θ1(s) s θa(s)
T(s)

a N2 50
1 kg-m2 = = =2
2 N1 25

From torque balance

(s 2
+ s )1 ( s ) − sa ( s ) = T ( s )  ( s 2 + s )1 ( s ) − 2s2 ( s ) = T ( s )

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 22

 Control Practice: Systems with Gears
Engineering
Find the relationship between output displacement θ2(t) and
input torque T(t) for the system.
θ1(t)

1 kg-m2

F.B.D.
s θ1(s) s θa(s) θa(+ve) θa(s)

a N2 50
= = =2
2 N1 25

From torque balance

s1 ( s ) − ( s + 1)a ( s ) = 0  s1 ( s ) − 2 ( s + 1)2 ( s ) = 0

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 23

 Control Example: Transfer Function
Engineering
(s 2
+ s )1 ( s ) − 2s2 ( s ) = T ( s )
s1 ( s ) − 2 ( s + 1)2 ( s ) = 0 2 ( s ) 1
=
T ( s ) 2 ( s 2 + s + 1)
s2 + s T ( s )
s 0 2 ( s2 + s + 1)2 ( s ) = T ( s )
2 ( s ) = 2
s +s −2s
−2 ( s + 1) assuming all initial conditions zero
Applying L-1 on both sides
s
−sT ( s )  2 (t ) d2 (t ) 
=
2
d
+ 2 ( t )  = T ( t )
−2 ( s 2 + s ) ( s + 1) + 2s 2 2
 dt
2
+
dt 
2 ( s ) 1
=
T ( s) 2 ( s 2 + s + 1)
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 24
 Control Practice: Systems with Gears
Engineering
Find the relationship between output displacement θ2(t) and
input torque T(t) for the system.

Equivalent system at the output after reflection of input torque

2T(t) θa(t) 4 θ2(t)
4 kg-m2

 d 2 (t ) d2 (t )
4
2

2 2
+ + 2 ( t )  = T ( t )
 dt dt 
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 25
 Control Problem: Systems with Gears
Engineering
Find the transfer function θ2(s)/T1(s) for the system.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 26

 Control Problem: Systems with Gears
Engineering
Find the transfer function θ2(s)/T1(s) for the system.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 27

 Control Class Problem #1: Systems with
Engineering Gears
Find the relationship between output displacement θL(s) and input
torque T(s) for the system shown below.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 28

 Control Electromechanical System
Engineering
Build a Electromechanical system and derive
the relationship between input and output.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 29

 Control Modeling DC Motors
Engineering
Derive the transfer function of an armature controlled D.C. motor
as shown in figure below:

 (s) Km
=
Ei ( s ) s ( R + Ls )( I m s + b ) + Kb Km 

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 30

 Control Modeling DC Motors
Engineering
Develop the block diagram of an armature controlled dc motor
shown in Fig. below:

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 31

 Control Modeling DC Motors
Engineering
The armature-controlled DC servomotor consists of the following
components:
1. Armature: Current-carrying wire wrapped around a rotating
member called the rotor.
2. Fixed field: Permanent magnets (often augmented as
electromagnets) which create a fixed magnetic field that is
perpendicular to the surface of the rotor.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 32

 Control Modeling DC Motors
Engineering
The job of the commutator is to reverse the direction of current so
that the conductor experiences the same force while the rotor
rotates.

The magnetic field imposes a total force on the armature circuit of

F = 2BLIa where B is the magnetic field strength, 2L is the total
length of the conductor that is perpendicular to the field, and Ia is
the armature current. Multiplying by the rotor’s radius r we obtain
a torque
Tm ( t ) = rF = r 2BLI a ( t ) = Km I a ( t )
where
K m = r 2 BL

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 33

 Control Modeling DC Motors
Engineering

The output torque in the motor (d-c motor with a fixed field) is
Tm ( t ) = Km I a ( t ) Tm ( s ) = Km I a ( s )
where,
Tm is the output torque in the motor
Km is the torque constant of the motor
Ia is the armature current
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 34
 Control Modeling DC Motors
Engineering

The motor torque is equal to the torque delivered to the load,

which can be expressed as

Tm ( t ) = TL ( t ) + Td ( t ) Tm ( s ) = TL ( s ) + Td ( s )
where,
TL is the load torque
Td is the disturbance torque
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 35
 Control Modeling DC Motors
Engineering

Relationship between the motor speed and the rotational

displacement,
d ( t )
 (t ) =  ( s ) = s ( s )
dt
where,
θ is the rotational displacement

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 36

 Control Modeling DC Motors
Engineering

The armature current Ia generates a torque Tm. However, any

conductor travelling through a magnetic field will induce a voltage
on the conductor. This voltage induces a current that opposes Ia.
Thus it is called the back electromotive force (back emf, Vb). It is
proportional to the motor speed,
Vb ( s ) = Kb  ( s )
d ( t )
Vb ( t ) = Kb = K b ( t )
dt Kb is the voltage constant for motor
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 37
 Control Modeling Mechanical
Engineering System (Rotational)

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 38

 Control Modeling DC Motors
Engineering

The load torque for rotating inertia is

d ( t )
TL ( t ) = J + b ( t ) TL ( s ) = Js ( s ) + b ( s )
dt
where,
 is the angular speed
J is the rotating inertia
b is the rotational damping coefficient
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 39
 Control Modeling DC Motors
Engineering

If the mechanical parameters of the rotor and any connected

loads are known, then Jm and Dm can be obtained,
2 2
 N1   N1 
Jm = Ja + JL   Dm = Da + DL  
 N2   N2 

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 40

 Control Modeling DC Motors
Engineering

Applying KVL for armature circuit,

dI a ( t )
Va ( t ) = Ra I a ( t ) + La + Vb ( t ) Va ( s ) = Ra I a ( s ) + La sI a ( s ) + Vb ( s )
dt
where,
Va is the input voltage applied to the armature
Ra is the armature resistance
La is the armature inductance
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 41
 Control Modeling DC Motors
Engineering

Transfer function of the system neglecting any disturbances

 ( s) Km
=
Va ( s ) s ( Ra + La s )( Js + b ) + Kb Km 

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 42

 Control Modeling DC Motors
Engineering
A dynamometer test can then be applied to estimate the electrical
parameters. This test relates torque and speed. Assume La is
negligible, the following equation becomes
dI a ( t ) Vb ( t ) = Kb ( t )
Va ( t ) = Ra I a ( t ) + La + Vb ( t )
dt Tm ( t ) = Km I a ( t )
Ra Kb Km Km
Va ( t ) = Tm ( t ) + Kb (t )  Tm (t ) = −  (t ) + Va (t )
Km Ra Ra
If the applied voltage is constant, then we have a linear
relationship between torque and speed:

Kb Km Km
Tm ( t ) = −  ( t ) + Va
Ra Ra
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 43
 Control Modeling DC Motors
Engineering

Kb Km Km
Tm ( t ) = −  ( t ) + Va
Ra Ra

Stall torque: Torque at which the motor is just unable to turn.

No-load speed: Angular velocity at which motor runs without an
imposed load.
Km Va
Tstall = Va no −load =
Ra Kb
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 44
 Control Modeling DC Motors
Engineering
Find the transfer function θL(s)/Ea(s) of an armature controlled
D.C. motor as shown in figure below:

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 45

 Control Modeling DC Motors
Engineering

Km Tstall 500
= = =5
Ra Va 100

Va 100
Kb = = =2
no−load 50
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 46
 Control Modeling DC Motors
Engineering
m ( s ) Km
=
Ea ( s ) s  Ra ( J m s + Dm ) + Kb K m 
K m Ra
=
s ( J m s + Dm ) + Kb K m Ra 
5
=
s (12s + 10 ) + ( 2 )( 5)
0.417
=
s  s + 1.667
 L ( s ) N1 100 L ( s ) 0.0417
= = = 0.1 =
m ( s ) N2 1000 Ea ( s ) s  s + 1.667
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 47
 Control HomeWork #1: Modeling DC Motors
Engineering
Find the transfer function, G(s) = L(s)/Ea(s), for the motor and
load shown in Figure below. The torque-speed curve is given by
Tm = -8m + 200 when the input voltage is 100 volts.

© Professor Dr. Sumon Saha ME 461: Control Engineering Page 48

 Control Biological System
Engineering
➢ Human body composes of a number of dynamic systems.
➢ Our purpose is to find a dynamic relationship between body
weight and calorie intake.
➢ Diet experts state that a moderately active person burns 20
calories/pound of body weight/day.
➢ Moreover, 4000 calories is roughly equivalent to 1 pound of
body weight.
➢ Number of Calories taken, Ci = qi dt
➢ Number of Calories burned, Cb = 20Wdt
➢ qi = rate of calorie intake (calories/day)
➢ t – days W = body weight (pounds)
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 49
 Control Biological System
Engineering
➢ Change of body weight,
Input, qi = rate of calorie
Ci − Cb intake (calories/day)
dW = Output, W = body weight
4000 (pounds)
4000dW = qi dt − 20Wdt
dW
4000 + 20W = qi
dt
W (s) 1
➢ Transfer Function, G ( s ) = =
Qi ( s ) 4000s + 20
© Professor Dr. Sumon Saha ME 461: Control Engineering Page 50