Control System Engineering - UNIT II

What is a model?
Types of Mathematical Model
 Dynamics of the system represented in terms of
Differential Equation differential equations.
Model  Time doamin rpresentation of the system.

Transfer Function  Dynamics represented in terms of a Laplace

transform expression.
Model  Frequency domain representation of the system.

 State is a st of variables that describes the system

behaviour in conjuction with the system inputs.
State Space Model  Dynamics are represented by a set of first order
differential equations using these stste variables.
Modelling a System
Two methods of modelling systems:

1. Analytical Modelling:
Involves systematic application of basic physical laws to system
components and their interconnections.
Combinations of physical modelling and mathematicals
modelling.

2. Experimental Modelling:
Selection of mathematical relations which best fit the observed
input-output data of a system.
Also called modelling by synthesis.
Steps of Analytical Modelling
Physical System
Electrical System
Elements in Electrical System
Mechanical System
Modelling of Mechanical Systems
1. Translational Motion 2. Rotational Motion
Modeling of Translational Mechanical Systems
● Mass
Modeling of Translational Mechanical Systems
(Cont.)
● Dashpot

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Modeling of Translational Mechanical Systems
(Cont.)
● Spring

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Transfer Function Derivation of Mechanical
Translational Systems
1. Consider the mass elements as nodes
2. Assign linear displacements (x1, x2,…) to each mass element.
3. Draw each mass element separately with all forces acting on it. Say it as a
free body diagram.
4. For each free body diagram, write a differential equation by equating the
sum of applied forces to the sum of opposing forces.
5. Apply Laplace Transform to the differential equations.
6. Rearrange the s-domain equations to obtain the ratio of output variable
(X (s)) to the input variable (F(s))
● Ex: write the differential equations governing the mechanical system
shown in Figure and determine the transfer function.
● Solution:
1. Consider the mass elements as nodes
2. Assign linear displacements (x1, x2,…) to each mass element.
3. Draw each mass element separately with all forces acting on it. Say it as a
free body diagram.

Node-1
3. Draw each mass element separately with all forces acting on it. Say it as a
free body diagram.

Node-2
4. For each free body diagram, write a differential equation by equating the
sum of applied forces to the sum of opposing forces.

--------- (1)
4. For each free body diagram, write a differential equation by equating the
sum of applied forces to the sum of opposing forces.

--------- (2)
 5. Apply Laplace Transform to the differential equations

--------- (1)
After taking Laplace Transform

--------- (3)
 5. Apply Laplace Transform to the differential equations

--------- (2)

After taking Laplace Transform

--------- (4)
6. Rearrange the s-domain equations to obtain the ratio of output variable
(X (s)) to the input variable (F(s))
--------- (3)
--------- (4)
Substitute X1 from equation (3) in equ (4), we get
Practice problem-1
● Determine the transfer function Y2(s)/F(s) of the system shown in below
Figure.
Solution:
Practice Problem-2
● Determine the transfer function, X1(s)/F(s) and X2(s)/F(s) for the system
shown below.
Solution:
Mechanical Rotational Systems
Moment of Inertia (rotational mass)

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Mechanical Rotational Systems (cont.)
Dashpot

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Mechanical Rotational Systems (cont.)
Torsional Spring

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Transfer Function Derivation of Mechanical
Rotational Systems
1. Consider the mass elements with momentum of inertia (J1, J2,..) as
nodes
2. Assign angular displacements (θ1, θ2,…) to each mass element.
3. Draw each momentum of inertia of mass element (J1, J2, ..) separately
with all torques acting on it. Say it as a free body diagram.
4. For each free body diagram, write a differential equation by equating the
sum of applied torques to the sum of opposing torques.
5. Apply Laplace Transform to the differential equations.
6. Rearrange the s-domain equations to obtain the ratio of output variable
(θ(s)) to the input variable (T(s))
● Ex: write the differential equations governing the mechanical system
shown in Figure and determine the transfer function.
● Solution:
1. Consider the mass elements of momentum of inertia as nodes
2. Assign angular displacements (θ1, θ2,…) to each mass element.

θ1
3. Draw each mass element of momentum of inertia separately with all
torques acting on it. Say it as a free body diagram.

Node-1
3. Draw each mass element separately with all torques acting on it. Say it as
a free body diagram.

Node-2
4. For each free body diagram, write a differential equation by equating the
sum of applied forces to the sum of opposing forces.

--------- (1)
4. For each free body diagram, write a differential equation by equating the
sum of applied forces to the sum of opposing forces.

--------- (2)
 5. Apply Laplace Transform to the differential equations

--------- (1)
After taking Laplace Transform

--------- (3)
 5. Apply Laplace Transform to the differential equations

--------- (2)

After taking Laplace Transform

--------- (4)
6. Rearrange the s-domain equations to obtain the ratio of output variable
(X (s)) to the input variable (F(s))
--------- (3)
--------- (4)
Substitute X1 from equation (4) in equ (3), we get
Practice problem
Ex: Write the differential equations governing the mechanical rotational
system shown in figure and determine the transfer function θ(s)/T(s).
Solution:
Different Types of Input Signals
Contd ................
Contd ...........
Contd ............
Contd ...........
Contd ..........
Contd .............
Contd ..............
Contd ...........
Time response of 1st order unit-step signal
Time response of 1st order unit-ramp signal
Time response of 1st order unit-impulse signal
Second Order System
Undamped Second Order system with unit-
step input
Underdamped Second Order system with unit-step input
Time Domain Response
It has two ways

 Transient Response
 Steady state Response

Transient Response - The part of the time response which goes to zero after
large interval of time.

Steady state Response - The part of the time response that remains even
after the transient have died out.
Contd ........
System Time Response
Contd ...............
Delay Time (Td):- The time that system output takes to reach 50% of its final
value is known as delay time.

Rise Time (Tr):- The time that the system response takes to reach from 10% to
90% of the final value of output is called rise time.

Settling Time (Ts):- The time taken by the system response takes to settle down
and stay within 2% of its final value is called settling time.

Peak Time (Tp):- The time taken by the systemresponse to reach the first
maximum value is known as peak time.

Overshoot:- The ratio of the maximum value of the step excited output to the
final output is called overshoot of the system.
Time Domain Specifications of
Underdamped system
 Time Domain Specifications (Rise
Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
Put t  t r in above equation
  
c(t r )  1  e  nt r cos  d t r  sin  d t r 
 1   2 
 
Where c(t r )  1
  
0  e  nt r cos  d t r  sin  d t r 
 1   2 
 
  
 e  nt r  0 0  cos  d t r  sin  d t r 
 1   2 
 
 Time Domain Specifications (Rise
Time)
  
cos  d t r  sin  d t r   0
 1   2 
 
above equation can be re - writen as

1 2
sin  d t r   cos  d t r


1 2
tan  d t r  


 1   2 
 d t r  tan 1   

 
 
 Time Domain Specifications (Rise Time)

 1   2 
 d t r  tan 1   

 
 

1   1 2 
tr  tan 1   n 

tan ( 𝜋 − 𝜃 ) =− tan 𝜃
d   n
 

 
tr 
d
 Time Domain Specifications (Peak Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
• In order to find peak time let us differentiate above equation w.r.t t.

dc(t )      
 n t  
  n e cos  d t  sin  d t   e n   d sin  d t 
 t d
cos  d t 
dt  1 2   1 2 
   

  2 n  d 
 n t 
0e  n cos  d t  sin  d t   d sin  d t  cos  d t 
 1 2 1 2 
 

  2
  1   2 
0  e  nt  n cos  d t  n
sin  d t   d sin  d t  n cos  d t 
 1   2
1   2 
 
 Time Domain Specifications (Peak Time)
  2
  1   2 
 n t 
0e  n cos  d t  n
sin  d t   d sin  d t  n
cos  d t 
 1   2
1   2 
 
  2 
e  nt  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
e  nt  0  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
sin  d t  n
 d   0
 1 2 
 
 Time Domain Specifications (Peak Time)
  2 
sin  d t  n
 d   0
 1 2 
 
  2 
 n
 d   0
 1 2  sin  d t  0
 

 d t  sin 1 0

0,  , 2 , 
t
d
• Since for underdamped stable systems first peak is maximum peak
therefore,

tp 
d
 Time Domain Specifications (Maximum
Overshoot)

  
 n t p
c(t p )  1  e cos  d t p  sin  d t p 
 1   2 
 

c( )  1
   

M p  1  e n p  cos  d t p  sin  d t p   1  100
 t
  1   2  
   

Put tp  in above equation
d
  n    
M p   e d  cos    
sin 
 
 100
  d
d 2
d 
 d 
  1   
 Time Domain Specifications (Maximum
Overshoot)
  n
  
 cos       100
M p   e d
 d  sin  d 
 d 1 2  d
  
Put ωd  ωn 1-ζ 2 in above equation
  n  
  
 n 1 2  cos     100
M p   e  sin  
2
  1 
   

M p   e
1 2
 1  0  100
 



1 2
Mp e  100
Time Domain Specifications (Settling
Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

  n   n  2  1
1
T 
 n
Real Part Imaginary Part
 Time Domain Specifications (Settling
Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the input.

4
t s  4T  T 
1
 n  n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the input.
3
t s  3T 
 n
 Summary of Time Domain Specifications

Rise Time Peak Time

     
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 Mp e
1 2
 100
t s  3T 
 n
Settling Time (4%)