CONTROL THEORY

COURSE

Chapter 2: Mathematical Models

of Control system

Lecturer: Vũ Văn Phong 1

What is mathematical model?

 A mathematical model is a mathematical

representation of a physical, biological or in-
formation system.

2
 Models allow us to reason about a system
and make predictions about who a system will
behave

3
Contents
 2.1Transfer functions(hàm truyền) and Block
Diagram ( sơ đồ khối)
 2.1.1 Laplace transform( biến đổi Laplace)
 2.1.2 Transfer function

 2.2 Block Diagram

 2.3 Signal-Flow Graph( sơ đồ dòng tín hiệu)
 2.4 State space

4
2.1 Transfer function and Block
Diagram
 2.1.1 Laplace Transform( biến đổi Laplace)
 Purpose:
 Method for solving differential(vi phân) and
intergral( tích phân) equations,
 Converts differential equations in time t into
algebraic(đại số) equations in complex( miền phức)
variable s
 Formula ( công thức)

s  p  jw 5
2.1 Transfer Function

6
Transfer function and Block
Diagram

 Laplace transforms
L( f (t )) F ( s )
 Laplace transforms for Differential Equations

df (t )
L( ) sF ( s )  f (0  )
dt
 Laplace transforms for Integral Equations
t
F (s)
L( f (t )dt )  7

0
s
Transfer function and Block
Diagram

8
Transfer function and Block
Diagram
 2.1.2 Transfer Function( hàm truyền đạt)

SYSTEM

Laplace Transform

SYSTEM

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Transfer function and Block
Diagram
 Differential Equation

 Transfer function

10
Transfer function and Block
Diagram
 Definition:
 Transfer function is defined as the ratio ( tỉ lệ)
of the Laplace transform of the output
variable to the Laplace transform of the input
variable ( biến), with all zero initial
conditions( điều kiện ban đầu).

11
 Differential Equation of Physical Systems

Electrical Inductance Describing Equation Energy or Power

Điện cảm
d 1 2
v 21 L i E Li
dt 2
Translational Spring
Lo xo tịnh tiến 2
1 d 1 F
v 21  F E 
k dt 2 k

Rotational Spring
2
1 d 1 T
21  T E 
k dt 2 k
Fluid Inertia
d 1 2
P21 I Q E IQ
dt 2 12
 Differential Equation of Physical Systems

Electrical Capacitance

d 1 2
i C v 21 E M v 21
dt 2
Translational Mass
d 1 2
F M v2 E M v 2
dt 2
Rotational Mass

d 1 2
T J 2 E J2
dt 2
Fluid Capacitance

d 1 2
Q Cf  P21 E Cf P21
dt 2
Thermal Capacitance

d
q Ct T2 E CtT2
dt 13
Example 1

di
v i.R  L  vC
dt
dvC d 2 vC
RC  LC 2  vC
dt dt

14
Transfer function and Block
Diagram
 Example 2:

t
v( t) d 1 
 C v ( t )   v ( t ) d t r( t )
R dt L 0

Input: current source (nguồn dòng): r(t), output:

voltage on Capacitor C. V ( s) 1 V (s)
 C.s.V ( s )  R ( s )
Laplace transform: R L s

Transfer function:
V (s) R.L.s
G (s)  
R ( s ) RLCs 2  Ls  R
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 Example 3

v1 (t ) i (t ).R  vc (t )
dvc (t ) dv (t )
vc (t ) v2 (t ); ic (t ) i (t ) C. C. 2
dt dt
dv2 (t )
v1 (t ) R.C.  v2 (t ) V1 ( s ) RCsV2 ( s )  V2 ( s )
dt

V2 ( s ) 1
G (s)  
V1 ( s ) RCs  1
16
 Example 4:
F1=kX(t)
F(t)
m

b Fms=bv(t)

F: Force
X(t): Displacement
v: velocity
m: mass
K: spring constant
b: Damping coefficient

17
18
Example 5
 Transfer function of DC motor
L R
i
+

T w Kf J
U

Lư Điện cảm phần ứng  Tốc độ động cơ

Rư Điện trở phần ứng Mt Mô men tải

Uư Điện áp phần ứng J Mô men quán tính
Eư Sức điện động phần ứng B Hệ số ma sát
19
 Electrical Equation:
diu (t )
U u (t ) iu (t ).Ru  Lu .  Eu (t )
dt
Eu (t ) K (t )
U ( s )  Eu ( s )
I u (s)  u
Ru (1  Tu )
Lu
Tu 
Ru
 Moment Equation( phương trình mô men)
d (t )
M đ (t ) M t (t )  B (t )  J
dt
M đ (t ) Kiu (t )
20
 M đ ( s )  M t ( s ) B (1  Tc s ) ( s )
M đ (s)  M t (s)
 ( s ) 
B (1  Tc s )
J
Tc 
B
Mt
Uu
1 / Ru
Iu Mđ
1/ B

K
1  sTu 1  sTc

Eu
K
21
 Transfer function
Position Control

22
 Determine transfer function with input is
voltage and output is position
 Laplace Transform

23
2.2BLOCK DIAGRAM

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Block Diagram

Block Diagram is often used by control engineer to portray

systems of all types. A block diagram can be used simply to
represent the composition and interconnection of a system.

Summing Block Takeoff

point point
+ Transfer
Function
+ or -

25
Block Diagram
R(s) E(s)
+ G(s)
- C(s)
B(s)
H(s)

Basic block diagram of a feedback control systems

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Block Diagram Models

Original Diagram Equivalent

Diagram

Original Diagram Equivalent

Diagram

27
28
Block Diagram Models

Original Diagram Equivalent Diagram

Original Diagram Equivalent Diagram

29
Block Diagram Models

Original Diagram Equivalent Diagram

Original Diagram Equivalent Diagram

30
Example:

31
Block Diagram Models Example 2.7

32
Example:

33
2.2 Signal-Flow Graph

34
2.2 Signal-Flow Graph

35
2.2 Signal-Flow Graph
 Mason’s Fomula
1
G    k Pk
 k
Pk Transmission along with path k ( độ lợi đường tiến)
 Determinant of diagram(định thức của sơ đồ)
k Cofactor of diagram with respect to Pk (định thức con của sơ đồ
tín hiệu)

 1   L  L L   L L L
i
i
i, j
i j
i , j ,m
i j m ...

Li Gain of closed-loop( độ lợi của các vòng kín)

 L : sum of transmission of all loops

i
i
36
 2.2 Signal-Flow Graph
LL
i, j
i j : sum of product of transmission of all pair disjoint loops
Tổng tích các độ lợi vòng của 2 vòng không dính

LL L
i , j ,m
i j m : sum of product of transmission of all triple disjoint loops

Tổng tích các độ lợi vòng của 3 vòng không dính

 k : is calculated from  by removing all loops (L) that joint to Pk

Định thức con thứ k được suy ra từ định thức bằng cách loại bỏ các
vòng kín dính tới đường tiến Pk

Disjoint ( không dính): Don’t have any common joint( không có nút nào chung)
Joint ( dính): Have at least one common joint( có ít nhất một nút chung)

37
38
Example 1

39
40
2.2 Signal-Flow Graph
 Example:

P1
P2
P3

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M12
M22
M32

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Mm3 = Mm4

M 12  M 22  M 32

P1
P1

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 C ( s ) P11  P2  2  P3  3
G ( s)  
R( s) 

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Signal-Flow Graph Models

R(S) Y(S)

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 Y( s ) P1  P2 2  P3
R( s ) 

P1 G1G2G3G4G5G6 P2 G1G2G7G6 P3 G1G2G3G4G8

 1  L1  L2  L3  L4  L5  L6  L7  L8  L5L7  L5L4  L3L4

1 3 1 2 1  L5 1  G4H4

46
2.3 State Space
 2.3.1Basic concepts:
 State Variable: variables that determine the future behavior of a
system when the present state and the excitation signals are known
State Vector: the column vector consisting all n state variables
 x1 (t ) 
 x (t ) 
x(t )  2 
  
 
x
 n (t )

State Space: the n dimensional space constructed by the state

variables
 State Space: the n dimensional space constructed by the state
variables

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2.3 State Space

SYSTEM

Convert a “n order differential equation

into n differential equation”

48
2.3 State Space
2.3.2 Description of State Space Equation
 Nonlinear time variant system
x (t )  f ( x(t ), u (t ), t )
y (t )  g ( x(t ), u (t ), t )
 Nonlinear time invariant system
x (t )  f ( x(t ), u (t ))
y (t )  g ( x(t ), u (t ))
 Linear time variant system
x (t )  A(t ) x(t )  B (t )u (t )
y (t ) C (t ) x(t )  D(t )u (t )
 Linear time invariant system

x (t )  Ax(t )  Bu (t )
y (t ) Cx (t )  Du (t )
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 2.3 State Space

 Linear time variant system block diagram

 Linear time variant system flow graph

50
 2.3 State Space
2.3.3 Example 4: Consider the DC motor system
Inputs: armature voltage u a & load torque M d
Output: angular velocity 
Energy stored: inductor & rotary inertia
State variables: x1 ia , x2 
dia
ua La  Ria  eb
dt
d
M a J  f   Md
dt
eb Ce
M a CM ia

Where Ce , C M , f , J are constants of the DC motor

51
 2.3 State Space
We can get Ra Ce 1
x 1  x1  x2  u a
La La La
CM f 1
x 2  x1  x2  M d
J J J
y  x2

Matrix form  Ra Ce   1 
  0 
 x 1   La La   x1   La  ua 
 x   C f
 x   1
 M 
 2  M    2  0    d
 J J   J 
 x1 
y 0 1  
 x2  52
2.3 State Space
 Transfer Differential Equations to State Space
Equations
 Example: Consider second-order differential equation:
 c(t )  a1c (t )  a2 c(t ) b0 r (t ) (1)
 We assign: x1 (t ) c(t ) x2 (t ) c (t ) with x1 (t ), x2 (t )are two state
variables
 After substitute into (1) we obtain:
x 1 (t )  x2 (t )
x 2 (t )  a2 x1 (t )  a1 x2 (t )  b0 r (t )
c(t )  x1 (t )
 Write these in matrix form:  x 1 (t )   0 1   x1 (t )   0 
 x (t )   a       r (t )
 a1   x2 (t )  b0 
 2   2
 x1 (t ) 
c(t ) 1 0 
 x2 (t ) 53
2.3 State Space
 Generalize with Nth-order differential equations:
N
c N 
(t )   ai c i (t ) b0 r (t )
i 1

 State variable is defined as: xi (t ) c (i  1) t , i 1, 2, ..., N

 Results of state space equation are:
x 1 (t )  x2 (t )
x 2 (t )  x3 (t )  0 1 0  0   0
 0 0 1    0
    
x N  1 (t )  x N (t ) A        B   
   
N
 0 0 0  1   0
x N (t )   ai xi 1 (t )  b0 r (t )  
i 1
aN  aN  1  aN  2   a1   b0 
c(t )  x1 (t ) C 1 0 0  0 D 0

54
2.3 State Space
 Example: 2c(t )  5c(t )  6c (t )  10c(t ) r (t )
  c(t )  2.5c(t )  3c (t )  5c(t ) 0.5r (t )
 We donate the state variables as below:
x1 (t ) c(t )
x2 (t )  x 1 (t )
x2 (t )  x 2 (t )
 According to above formula we can obtain state equation:
 x (t )  Ax(t )  Br (t )  0 1 0   0
 B  0 
c(t ) Cx (t )  Dr (t ) A  0 0 1 
  5  3  2.5  0.5

C 1 0 0 D 0
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 2.3 State Space
 Consider example:
c(t )  a1c(t )  a2 c (t )  a3c(t ) b0 r(t )  b1r (t )  b2 r (t )

c(t )  x1 (t )
x1 (t ) c(t )
c (t )  x2 (t )  1r (t )
x2 (t )  x 1 (t )  1r (t ) c (t )  1r (t )
c(t )  x3 (t )  1r (t )   2 r (t )
x3 (t )  x 2 (t )   2 r (t ) c(t )  1r (t )   2 r (t )
c(t )  x 3 (t )  1r(t )   2 r (t )

x 3 (t )  1r(t )   2 r (t )  a1[ x3 (t )  1r (t )   2 r (t )] 

a2 [ x2 (t )  1r (t )]  a3 x1 (t ) b0 r(t )  b1r (t )  b2 r (t )

x 3 (t )  a3 x1 (t )  a2 x2 (t )  a1 x3 (t )  r(t )[b0  1 ]  r (t )[b1   2  a11 ]

 r (t )[b2  a1 2  a2 1 ]

56
2.3 State Space
 We select 1 and  2 to dismiss differential
parts in right hand-side of equation.
b0  1 0 1 b0
 
b1   2  a11  2 b1  a11
and we donate :  3 b2  a1 2  a2 1

 Finally, we obtain:
x1 (t ) c(t )
x 1 (t )  x2 (t )  1r (t )
 x 2 (t )  x3 (t )   2 r (t )
x 3 (t )  a3 x1 (t )  a2 x2 (t )  a1 x3 (t )  r (t )  3

57
2.3 State Space
 x 1 (t )   0 1 0   x1 (t )   1 
 x (t )  0 0 1   x2 (t )    2  r (t )
 2  
 x 3 (t )    a3  a2  a1   x3 (t )    3 
 x1 (t ) 
c(t ) 1 0 0 x2 (t )
 x3 (t ) 

58
2.3 State Space
 We can extend above result with more general
case as below:
c N (t )  a1c ( N  1) (t )  a2 c ( N  2 ) (t )  ...  a N  1c (1) (t )  a N c(t ) 
b0 r ( M ) (t )  b1r ( M  1) (t )  ...  bM  1r (1) (t )  bM r (t ) M N  1
x
 There are two method to donate state
variables:
 Method 1: x1 (t ) c(t )
x2 (t )  x 1 (t )  1r (t ) c (t )  1r (t )
x3 (t )  x 2 (t )   2 r (t ) c(t )  1r (t )   2 r (t )
.....
i 1
xi (t )  x i  1 (t )   i  1r (t ) c ( i  1)
 
i 1
i 1 r (t )
59
2.3 State Space
 We can get result:
 0 1 0  0   1 
 0 0 1     
   2 
A        B   
   
 0 0 0  1  
 N1
  aN  aN  1  aN  2   a1    N 
C 1 0 0  0 D 0

1 b0
 b  a 


2 1 1 1

 3 b2  a1 2  a2 1
.....

 N bN  1  a1 N  1  a N  11
 60
2.3 State Space
 Example:

  c(t )  2.5c(t )  3c (t )  5c(t ) 5r (t )  10r (t )

61
 d 2 y (t )  R  dy (t ) 1 1
    y (t )  v(t )
dy (t ) 1 1 dt 2
 L  dt LC LC
 y (t )  v(t )
dt RC RC
 0 1   0 1 
 1  A     1 / LC
A  a0    
 0 a  a1   R / L 

 RC 
 0  0 
 1  B    
B b0    C 1 D 0 b
 0  1 / LC 
 RC 
C 1 0 D 0
 x 1 (t )   1   x (t )  1 
    RC  
1
   RC  v(t )  x 1 (t )   0 1   x1 (t )   0 
        x (t )   1 / LC  R / L   x (t )  1 / LC  v(t )

   2    2   
 x1 (t )  x1 (t ) 
y (t ) 1   y (t ) 1 0  62
  x
 2 (t )
 Example:

c ( 4 ) (t )  8c(t )  10c(t )  12c (t )  4c(t ) 3r(t )  5r(t )  4r (t )  10r (t )

2c(t )  10c(t )  20c (t )  12c(t ) 4r (t )  10r (t )

63
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Transfer Function to State Space Conversion

Consider the transfer function of a third-order system

It is decomposed into two (frequency domain) blocks

65
Transfer Function to State Space Conversion

First block

Second block

66
 Transfer Function to State Space Conversion

Assigned the state variables

as

67
68
69
70
2.3 State Space
 Transfer State Space Equation to Transfer Function
 Consider State Space equation
x (t ) Ax(t )  Bv (t )
y (t ) Cx(t )  Dv(t )
 Laplace Transform:
sX( s )  x(0) AX( s )  BV ( s )
sI  A X( s) x(0)  BV ( s)
X( s ) sI  A  x(0)  sI  A  BV ( s )
1 1

y (t ) Cx(t )  Dv(t )
Y ( s ) CX( s )  DV ( s )
 
sI  A  x(0)  CsI  A  B  D V ( s )
1 1

 For zero initial condition


Y( s ) H ( s ) X( s ) where H ( s )  CsI  A  B  D
1

71
2.3 State Space

For zero initial condition:


Y( s ) H ( s ) X( s ) where H ( s )  CsI  A  B  D
1

 For example:

72
2.3 State Space

73
2.3 State Space

74