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Feedback Control Systems 2

The document provides an overview of feedback control systems, focusing on modeling in the frequency domain using Laplace transforms. It covers key concepts such as transfer functions, examples of Laplace transforms, and applications in electrical network analysis. The document includes various cases for inverse Laplace transforms and examples of deriving transfer functions from differential equations.

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5 views33 pages

Feedback Control Systems 2

The document provides an overview of feedback control systems, focusing on modeling in the frequency domain using Laplace transforms. It covers key concepts such as transfer functions, examples of Laplace transforms, and applications in electrical network analysis. The document includes various cases for inverse Laplace transforms and examples of deriving transfer functions from differential equations.

Uploaded by

itsmebasic18
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Feedback Control

Systems

ENGR. VINCENT DANYL C. TAGADUAR


Modeling in the Frequency Domain

 Introduction
 Laplace Transform Review
 Transfer Function
 Electrical Network Transfer Function
Laplace Transform Review

The Laplace transform is defined as


Laplace Transform Review

The inverse Laplace transform

u(t) : Unit step function


Laplace Transform Review

• Laplace transform table


Laplace Transform Review

Example: Laplace transform of a time function


Find the Laplace transform of

Solution:
Laplace Transform Review

Laplace transform theorems


Laplace Transform Review

Example: Inverse Laplace transform


Find the inverse Laplace transform of
Laplace Transform Review

Partial – fraction expansion


To find the inverse Laplace transform of a complicated function, we
can convert the function to a sum of simpler terms.

• The order of N(s) is less than the order of D(s), than a partial –
fraction expansion can be made.
• If the order of N(s) is greater than or equal to the order of D(s), then
N(s) must be divided by D(s) successively until the result has a
remainder whose numerator is of order less than its denominator.
Laplace Transform Review

Case 1. Roots of the denominator of F(s) are real


and distinct

To fine K1, we first multiply Equation by (s+1)


Laplace Transform Review

Case 1. Roots of the denominator of F(s) are real and distinct

• Letting s approach -1 eliminates the last term and yields K1=2


• K2 can be found by multiplying Equation by (s+2) and then
letting s approach -2
• Inverse Laplace transform
Laplace Transform Review

Example: Laplace transform solution of a differential


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

• Case 2. Roots of the denominator of F(s) are real and


repeated 1.

• In this case the denominator root at -2 is a multiple root of


multiplicity 2
•We can write the partial – fraction expansion as a sum of terms.
Laplace Transform Review

• Case 2. Roots of the denominator of F(s) are real and


repeated 1.

• K1 = 2 , which can be found as previously described


• K2 can be isolated by multiplying Equation by (s + 2)² , yielding
Laplace Transform Review

• Case 2. Roots of the denominator of F(s) are real and repeated


1.
• Letting s approach -2, K2= -2. To find K3 we see that if we differentiate
Equation with respect to s,

• K3 is isolated and can be found if we let s approach -2. Hence, K3 = -2


• Inverse Laplace transform of each term
Laplace Transform Review

• Case 3. Roots of the denominator of F(s) are complex or imaginary

This function can be expanded in the following form

• K1 is found in the usual way to be 3/5.


• K2 and K3 can be found by first multiplying Equation by the lowest common
denominator, and clearing the fractions.
Laplace Transform Review

• Case 3. Roots of the denominator of F(s) are complex or


imaginary
Transfer Function

• A general nth-order, linear, time-invariant differential


equation

• c(t) is the output, r(t) is the input.


• Taking the Laplace transform both sides,
Transfer Function

• If we assume that all initial conditions are zero

• The ratio of the transform, divided by the input transform

• We call this ratio, G(s), the transfer function and evaluate it with
zero initial condition
Transfer Function

Example: Transfer function for a differential equation


Find the transfer function represented by

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


initial conditions
Transfer Function

Example: System response from the transfer function


Use the result of Example before to find the response, c(t), to an input, r(t)=u(t), a
unit step, assuming zero initial conditions.
Solution: r(t)=u(t), R(s)=1/s

Expanding by partial fractions


Transfer Function

Example: System response from the transfer function


Use the result of Example before to find the response, c(t), to an
input, r(t)=u(t), a unit step, assuming zero initial conditions.
Solution: r(t)=u(t), R(s)=1/s

Taking inverse Laplace transform of each term yields


Electrical Network Transfer
Function
The transfer function approaches to the mathematical
modeling of electrical circuits
• Circuits via mesh analysis
• Circuits via nodal analysis
• Simple circuit via voltage division
• Operational amplifiers
Electrical Network Transfer
Function
The transfer function approaches to the mathematical
modeling of electrical circuits
Electrical Network Transfer
Function
• Simple Circuits via Mesh Analysis
Electrical Network Transfer
Function
Example: transfer function-single loop via the differential
equation
• Find the transfer function relating the capacitor voltage, Vc(s), to
the input voltage, V(s), in Figure 2.3
Electrical Network Transfer
Function
Example: transfer function-single loop via the differential
equation
Electrical Network Transfer
Function
Example: Transfer function – single loop via transform methods
Repeat Example 2.6 using mesh analysis and transform methods without
writing a differential equation.
Solution: Using Figure 2.5 and writing a mesh equation using the impedances
as we would use resistor values in a purely resistive circuit, we obtain

Solving for I(s)/V(s),


Electrical Network Transfer
Function
Example: Transfer function – single loop via transform methods
(Repeat Example 2.6 using mesh analysis and transform methods without writing a
differential equation.)

But the voltage across the capacitor, VC.s., is the product of the current and the
impedance of the capacitor. Thus,

Solving Eq. (2.75) for I(s) substituting I(s) into Eq. (2.74), and simplifying yields the
same
result as Eq. (2.66).
Electrical Network Transfer
Function
Example: Transfer function – single loop via transform methods
(Repeat Example 2.6 using mesh analysis and transform methods without writing a
differential equation.)

But the voltage across the capacitor, VC.s., is the product of the current and the
impedance of the capacitor. Thus,

Solving Eq. (2.75) for I(s) substituting I(s) into Eq. (2.74), and simplifying yields the
same
result as Eq. (2.66).
Electrical Network Transfer
Function
Example: Transfer function – Single Node via Transform Methods
Repeat Example 2.6 using nodal analysis and without writing a differential equation.
Electrical Network Transfer
Function
Example: Transfer function – Single Loop via Voltage Division
Repeat Example 2.6 using voltage division and the transformed circuit.

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