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W EE 418 - Lecture 2 Modeling

1. To model dynamic systems mathematically, we obtain quantitative models by analyzing the relationships between system variables like inputs and outputs using the physical laws describing the system. 2. The process of dynamic system modeling involves defining the system, formulating a mathematical model based on physics, obtaining differential equations, solving the equations, examining the solutions over time or frequency, and potentially reanalyzing or redesigning the system. 3. Transfer functions are defined as the ratio of the Laplace transform of the output to the input, and are obtained by taking the Laplace transform of differential equations describing the system to get an algebraic equation relating the input and output.

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79 views20 pages

W EE 418 - Lecture 2 Modeling

1. To model dynamic systems mathematically, we obtain quantitative models by analyzing the relationships between system variables like inputs and outputs using the physical laws describing the system. 2. The process of dynamic system modeling involves defining the system, formulating a mathematical model based on physics, obtaining differential equations, solving the equations, examining the solutions over time or frequency, and potentially reanalyzing or redesigning the system. 3. Transfer functions are defined as the ratio of the Laplace transform of the output to the input, and are obtained by taking the Laplace transform of differential equations describing the system to get an algebraic equation relating the input and output.

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© © All Rights Reserved
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Automatic Control

Lecture 2
Presented by
Dr. Walid Ghoneim
Lecture on: Mathematical Models of Systems
Reference:
 Benjamin C. Kuo, “Automatic Control Systems”, Prentice Hall, Inc.
 Dorf, “Modern Control Systems”
Introduction:
• To Understand and Control a system, we must
obtain quantitative mathematical models of this
system.
• It is necessary to analyze the relationships between the
system variables – inputs and outputs – to obtain a
mathematical model.
• The Two Wings of Control Engineering are:
PHYSICS and MATHEMATICS
• Using the physical laws describing the system, we can
obtain a set of algebraic or linear differential equations.
• Using mathematical tools, such as the Laplace
transform, we obtain a solution describing the
operation of the system.
Introduction:
• In summary, the approach to dynamic system modeling
can be listed as follows:
1. Define the system and its components.
2. Based on laws of physics, formulate the
mathematical model.
3. Obtain the differential equations representing
the mathematical model.
4. Solve the equations for the desired output
variables. (using Laplace Transform)
5. Examine the solutions in Frequency or Time.
6. If necessary, reanalyze or redesign the system.
Transfer Function
Transfer Functions: For SISO systems
• For any system / process / plant:
• The transfer function is defined as the ratio of Laplace
transform of the output to the Laplace transform of input
with all initial conditions are zero.
• Consider a linear system having input r(t) and output
c(t), the input-output relation can be described by the
following nth-order differential equation:
• Where ai and bi are the system’s parameters = equation
coefficients = equation constants (time invariant).
Transfer Functions: For SISO systems
• To analyze the system, we need to find a
formula to express the output in terms of the
input and parameters.
• Thus, we have to solve the Differential Equation
• We need to use Laplace transform to turn the
Differential Equation into an Algebraic Equation.
• Taking the Laplace transform, we get:
Transfer Functions: For SISO systems
• We can Define the TRANSFER FUNCTION as:
• G(s) = C(s) / R(s) = Output(s) / Input(s).
Transfer Functions: For SISO systems
• PROCEDURE
• The following steps are involved to obtain the transfer
function of the given system.
1. Write the differential equations for the given system.
2. Take the laplace transform of the equations obtained
in step 1, with assumption; all initial conditions are
zero.
3. Take the ratio of transformed output to input
4. The ratio of transformed output to the input, obtained
in step 3 is the required transfer function of the given
system.
Electrical
Systems
General Laws:
• The Resistance:
• Ohm’s Law: vR(t) = R . iR(t)
• Laplace: VR(s) = R . IR(s)

• Then R in time domain is represented by R in s-


domain.

iR(t) IR(s)

vR(t) VR(s)
General Laws:
• The Inductance:
• Faraday’s Law: vL(t) = L . diL(t)/dt
• Remember that: d/dt >> S
• Laplace: VL(s) = L. S.IL(s)
• (Algebraic equation similar to Ohm’s law)
• Then L in time domain is represented by SL in s-
domain.
iL(t) L IL(s) SL

vL(t) VL(s)
General Laws:
• The Capacitance:
• Faraday’s Law: vC(t) = (1/C). ∫iC(t) dt
• Remember that: ∫ dt >> (1/S)
• Laplace: VC (s) = (1/SC). IC(s) (algebraic
equation similar to Ohm’s law)
• Then C in time domain is represented by (1/SC)
in s-domain.
C 1/SC
iC(t) IC(s)

vC(t) VC(s)
Examples:
Examples:
Examples:
Examples:
Examples:
Examples:
Mechanical
Systems
Thank you
and
All the Best

Dr. Walid Ghoneim

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