Chapter 2

Modeling of Control Systems

Eng . M Almodhwahi

Eng . M Almodhwahi
 SYSTEM MODEL
Definition：
Mathematical expression of dynamic relationship
between input and output of a control system.

Mathematical model is foundation to analyze and design

automatic control systems

No mathematical model of a physical system is exact.

We generally strive to develop a model that is adequate
for the problem at hand but without making the model
overly complex.
2
 DIFFERENTIAL
EQUATION
Linear ordinary differential equations
--- A wide range of systems in engineering are
modeled mathematically by differential
equations
--- In general, the differential equation of an n-
th order system is written
a0 c( n ) (t )  a1c( n 1) (t )    an 1c(1) (t )  c(t ) 
b0 r ( m ) (t )    bm1r (1) (t )  bm r (t )

Time-domain model 3
 THREE MODELS
Differential equation
Transfer function
Frequency characteristic

Study Linear system study

time-domain frequency-domain
response response

Transfer Differential Frequency

function Laplace equation Fourier characteristic
transform transform 4
 WHY NEED LAPLACE
TRANSFORM?

Time-domain Laplace s-domain

ODE problems algebra problems
Transform
(LT)
Difficult Easy

Inverse
Solutions of time- Solutions of algebra
domain problems problems
LT

Eng . M Almodhwahi 5
 2-2LAPLACE
TRANSFORM

The Laplace transform of a

function f(t) is defined as

F ( s )  L  f (t ) 

  f (t )e dt  st
0

Laplace, Pierre-Simon where s    j  is a complex

1749-1827 variable.
6
 EXAMPLES
Step signal: f(t)=A
  
F ( s)   f (t )e dt  0  st  st
Ae dt   A e  st 
A
0
s 0
s

• Exponential signal f(t)= e  at


 1 ( as )t 1
F ( s)   e e dt  
 at  st e 
0 sa 0 sa

7
LAPLACE TRANSFORM
LAPLACE TRANSFORM
TABLE
f(t) F(s) f(t) F(s)
w
δ(t) 1 sin wt s 2  w2
1 s
1(t) cos wt
s s 2  w2
1  at w
t e sin wt ( s  a) 2  w 2
s2
 at 1 sa
e sa
 at
e cos wt ( s  a) 2  w 2

10
PROPERTIES OF LAPLACE
TRANSFORM
(1) Linearity
L[af1 (t )  bf 2 (t )]  aL[ f1 (t )]  bL[ f 2 (t )]

(2) Differentiation Using

Integration By
df (t ) 
L   sF (s )  f (0) Parts method
 dt  to prove

where f(0) is the initial value of f(t).

d nf (t )  n n 2 (1)
L n 
 s F (s )  s n 1
f (0)  s f (0)    f (n 1)
(0)
 dt 
11
(3) Integration
Using Integration
By Parts method
 t
 F (s )
L  f ( )d   to prove ）
 0  s

 t1 t2 tn
 F (s )
L     f ( )d  dt1dt2 dtn 1 
 o o o  sn

12
（4）Final-value Theorem
The final-value theorem
relates the steady-state
lim f (t )  lim sF ( s ) behavior of f(t) to the
t  s0 behavior of sF(s) in the
neighborhood of s=0

(5) Initial-value Theorem

lim f (t )  lim sF (s)

t 0 s 

Eng . M Almodhwahi 13
2-3 MATHEMATICAL MODELS

14
 SYSTEM MODEL
Definition：
Mathematical expression of dynamic relationship
between input and output of a control system.

Mathematical model is foundation to analyze and design

automatic control systems

No mathematical model of a physical system is exact.

We generally strive to develop a model that is adequate
for the problem at hand but without making the model
overly complex.
15
2.2 ESTABLISHMENT OF
DIFFERENTIAL EQUATION AND
LINEARIZATION

16
 DIFFERENTIAL
EQUATION
Linear ordinary differential equations
--- A wide range of systems in engineering are
modeled mathematically by differential
equations
--- In general, the differential equation of an n-
th order system is written
a0 c( n ) (t )  a1c( n 1) (t )    an 1c(1) (t )  c(t ) 
b0 r ( m ) (t )    bm1r (1) (t )  bm r (t )

Time-domain model 17
HOW TO ESTABLISH ODE OF A
CONTROL SYSTEM

--- list differential equations according to the

physical rules of each component;

--- obtain the differential equation sets by

eliminating intermediate variables;

--- get the overall input-output differential

equation of control system.

18
Transfer function of typical components
Component ODE TF

v (t ) i (t )
V ( s)
R v(t )  Ri (t ) G( s)  R
I ( s)

i (t )
v (t )
di (t ) V ( s)
L
v (t )  L G( s)   sL
dt I ( s)

v (t ) i (t )
V ( s) 1
1 t
C
v(t )   i ( )d  G ( s )  
C 0 I ( s ) sC
19
EXAMPLES-1 RLC CIRCUIT
R L

C uc(t)
u(t) i(t)

Input Output
u(t) system uc(t)

Defining the input and output according to which

cause-effect relationship you are interested in. 20
 R L

According to Law of
C
u(t) i(t) uc(t)
Kirchhoff in electricity

di (t )
u(t )  Ri (t )  L  uc (t )    (1)
dt
1 duC (t )
uC (t ) 
C  i(t )dt    (2) i (t )  C
dt
2
duC (t ) d uC (t )
u (t )  RC  LC 2
 uC (t )
dt dt 21
EXPANSION

A system is usually represented by following dynamic

equation.

The factor of denominator, B(s) is represented by following

forms:
MATLAB
H.W

Find
inverse
laplace
Find partial diffrential and inverse laplace
for

F(S)= (S-1)/ S^2*(S+1)