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Learning Module 2. Mathematical Equations

The document discusses mathematical models used in control systems, including differential equation models, transfer function models, and state space models. It explains the process of analyzing and designing control systems using these models, with examples illustrating the application of Laplace transforms. Additionally, it provides various problems and solutions related to Laplace and inverse Laplace transforms, as well as the transfer function for differential equations.

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7 views6 pages

Learning Module 2. Mathematical Equations

The document discusses mathematical models used in control systems, including differential equation models, transfer function models, and state space models. It explains the process of analyzing and designing control systems using these models, with examples illustrating the application of Laplace transforms. Additionally, it provides various problems and solutions related to Laplace and inverse Laplace transforms, as well as the transfer function for differential equations.

Uploaded by

borjajahaziel17
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Leaning Module 2.

Control Systems - Mathematical Models


The control systems can be represented with a set of mathematical equations known
as mathematical model. These models are useful for analysis and design of control systems.
Analysis of control system means finding the output when we know the input and mathematical
model. Design of control system means finding the mathematical model when we know the input
and the output.
The following mathematical models are mostly used.

● Differential equation model


● Transfer function model
● State space model

QqCourse Packet 1. Differential Equation Model

Differential equation model is a time domain mathematical model of control systems. Follow
these steps for differential equation model.
● Apply basic laws to the given control system.
● Get the differential equation in terms of input and output by eliminating the intermediate
variable(s).

Examplep

Consider the following electrical system as shown in the following figure. This circuit consists of
resistor, inductor and capacitor. All these electrical elements are connected in series. The input
voltage applied to this circuit is vi and the voltage across the capacitor is the output voltage vo.

Electrical Network Transfer Functions


Mesh equation for this circuit is

Substitute, the current passing through capacitor

The above equation is a second order differential equation.

Course Packet 2. Transfer Function Model

Transfer function model is an s-domain mathematical model of control systems. The Transfer
function of a Linear Time Invariant (LTI) system is defined as the ratio of Laplace transform of
output and Laplace transform of input by assuming all the initial conditions are zero.
If x(t) and y(t) are the input and output of an LTI system, then the corresponding Laplace
transforms are X(s)) and Y(s). Therefore, the transfer function of LTI system is equal to the ratio
of Y(s) and X(s).

The transfer function model of an LTI system is shown in the following figure.

Here, we represented an LTI system with a block having transfer function inside it. And this block
has an input X(s) & output Y(s).

Example

Previously, we got the differential equation of an electrical system as


Apply Laplace transform on both sides.

Where,
● vi(s) is the Laplace transform of the input voltage vi
● vo(s) is the Laplace transform of the output voltage vo
The above equation is a transfer function of the second order electrical system. The transfer
function model of this system is shown below.

Here, we show a second order electrical system with a block having the transfer function inside
it. And this block has an input Vi(s) & an output Vo(s).

Course Packet 3. Laplace and Inverse Laplace Transforms

The Laplace transform is defined as:

The inverse Laplace transform, which allows us to find f(t) given F(s):
Laplace Transform Table

Laplace Transform Theorems


Example 1. Laplace Transform of a Time Function

Problem:
Find the Laplace transform of

Solution:
Since the time function does not contain an impulse function, we can
replace the lower limit with 0. Hence,

Example 2. Inverse Laplace Transform

Problem:
Find the inverse Laplace transform of

Solution:
For this example, we make use of the frequency shift theorem Item 4 and the Laplace
transform of

Example 3. Laplace Transform Solution of a Differential Equation

PROBLEM: Given the following differential equation, solve for y(t) if all initial
conditions are zero. Use the Laplace transform.

Solution:
Example 4. Inverse Laplace Transform

Problem:
Using the derived Laplace transform from Example 3, find the corresponding time-
variable function using inverse Laplace transform.

Solution:
Since each of the three component parts is represented as an F(s), y(t) is the sum of the
inverse Laplace transforms of each term.

Example 5. Transfer Function for a Differential Equation

Problem:
Find the transfer function represented by

Solution:
Taking the Laplace transform of both sides, assuming zero initial
conditions,

Example 6. System Response from the Transfer Function

Problem:
Use the result of Example 5 to find the response, c(t) to an input, r(t) = u(t), a unit step,
assuming zero initial conditions.

Solution:
Take the inverse Laplace transform of the system response.

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