Lecture 2:

Modeling the
Control Systems
Instructor
Dr Samina Jamil

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Lecture 2:
System Modeling
Lecture Overview
Modeling and its applications
Types of modeling;
• ODEs
• Block diagrams
• Transfer function
Modeling and simulation using MATLAB
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Lecture 2:
System Modeling
Importance of Modeling •Design can be modified if simulation
•A given system can be analyzed using its results are not satisfactory.
model, like we solve an electric circuit on •Systems are modeled depending upon
paper using KVL. their types: nonlinear, linear, time variant or
•Before actual system is manufactured it time invariant.
must be planned manually in the form of a
model.
•Model is the foundation on which
simulation can be run on a computer.
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Lecture 2:
System Modeling
Types of Systems •Linear systems are usually a simplified
version of the actual systems, or they are
Non-linear system linear in a limited range of operation.
•A system on which superposition can not
be applied.
•Almost all systems in nature are nonlinear,
specially for their full range of operation.
Linear system
•A system which obeys additivity
(superposition) and homogeneity (scaling).
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Lecture 2:
System Modeling
Types of Linear Systems Linear time invariant (LTI) systems
Linear time variant (LTV) systems •A linear system whose properties do not
•A linear system whose properties change change over time.
over time. •Most of the time we will deal with LTI
•For e.g., mass of a vehicle changes as its system in this course.
fuel is used up.
•A spring may harden over time so its spring
constant will change.
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An equation z=xy may represent Newton’s 2nd law of motion; F=ma or velocity distance relation
S=vt.

Lecture 2: This is a vector

System Modeling
diagram, not a
block diagram

Modeling a System
•The representation of a physical system is •Y=X2 can be mathematical model of area
called the model. of a square.
•Model can be a hand drawn sketch, a •A mathematical model can represent
cardboard structure, a CAD drawing or even various different systems, (analogies).
an equation (mathematical model).
•F=m.a is the mathematical model of
Newton’s 2nd law of motion.
•f=M+b+Kx is a mass-spring-damper moving
due to force f.
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Lecture 2:
System Modeling
Modeling via Differential Equations •It is convenient to represent a system in
•Dynamic systems can be modeled through the form of block diagram to establish
input, system (gain) and output
differential equations.
relationship. In this way we can estimate
•LTI systems can be modeled by LTI outputs for different inputs.
differential equations, where y(t) is the output
and x(t) is the input, a, b are constant system
parameters. y(t)
x(t)

•ODEs give I/O relation which can not be

transformed into block diagram.
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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function
•The ratio between Laplace transform of
output to the Laplace transform of input. •Transfer function models are valid only
•Laplace transform converts a system from for LTI systems with zero initial conditions.
time domain to complex frequency domain. •Besides differential equation, transfer
•Laplace transform converts a differential function can be found experimentally.
equation into an algebraic equation.
Laplace of c(t) is C(s)
and that of dn/dtn is sn .
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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function
Example 2.4 (Nise) Find the transfer function
of the system represented by ODE?

•Taking the Laplace

•The transfer function is

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Lecture 2:

You can get same solution by solving the given ODE.

System Modeling
ℒ
Modeling via Transfer Function
System response from transfer function
Example 2.5 (Nise) Find the unit step
response of the system G(s)?
•Input r(t)=u(t). −1
•r(t)=R(s)=1/s.
•Output (system response)=input x transfer
ℒ
function
You can plot the step
•Taking inverse Laplace response by solving this
equation for various
values of t.
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Lecture 2:
0.5

0.45

System Modeling
0.4

0.35

0.3

0.25

0.2

0.15

Modeling via Transfer Function 0.1

System response from transfer function

0.05

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Example 2.5 (Nise) Find the unit step
response of the system with transfer function
•With inverse Laplace (step response in
time domain):
•Unit step response in Laplace domain is
•Plotting this function in MATLAB:
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Lecture 2:
System Modeling
Modeling via Transfer Function
System response from transfer function
Example 2.5 (Nise) Find the unit step
response of the system with transfer function

•Plotting unit step response with MATLAB

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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function of an electric circuit
Example 2.6 (Nise) Find the transfer function
from Vc(s) to V(s)?
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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function of an electric circuit
Problem 2.22 (Nise) Find the transfer function
from vo(s) to vi(s)?
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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function of a mechanical system
Problem 2.24 (Nise) Find the transfer function
from X1(s) to F(s)?
a)

b)
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Lecture 2:
System Modeling
Modeling via Transfer Function
Transfer function of a mechanical system
Problem 2.32 (Nise) Write equation of motion
for the system?
a)

b)