BEKC%3533%|%INTRODUCTION TO CONTROL SYSTEM

CONTENT

CHAPTER(2:(Part(1
Dynamic%Models

2.1

Mathematical$Modeling$in$
Frequency$Domain

2.2

Mathematical$Modeling$in$
Time$Domain

Dr.%Chong%Shin%Horng
Control,%Instrumentation%&%Automation%
Faculty%of%Electrical%Engineering%

DR$CHONG

DR$CHONG

Mathematical%Models
! Mathematical%relationships%that%relate%the%output%of%a%system%to%its%
inputH%
! A%system%is%defined%as%a%set%of%equations%used%to%represent%a%
physical%system%(IEEE%Dictionary)

2.1
Mathematical$Modeling$in$
Frequency$Domain

!
!

It#should#be#understood#that#no#mathematical#model#of#a#physical#system#is#exact.#
We#may#be#able#to#increase#the#accuracy#of#a#model#by#increasing#the#complexity#
of#the#equations,#but#never#achieve#exactness.#

So,%we%consider%only%systems%that%described%by%linear'time*invariant'differential'
equations.

A%system%described%by%linear%timeN
invariant%differential%equations%
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Transfer%
Function

All%the%inputNoutput%
characteristics

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Transfer%Function

Transfer%Function
Example#2?1
Find%the%transfer%function%represented%by

! Ratio%of%the%LT%of%the%output variable%to%the%LT%of%the%input(
variable,%with%all%initial%conditions%assumed%to%be%zero.%
! Represents%the%relationship%describing%the dynamics(of%the%
system%under%consideration.%

dc (t )
+ 2c(t ) = r (t )
dt

! The%transfer%function,%G(s)%for%a%system%representation%in%
figure%below%is%

Input
r(t)

System

Output

G( s) =

c(t)

C ( s)
R( s )

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Transfer%Function

Transfer%Function

Exercise#2?1
Find%the%transfer%function,%G(s)%corresponding%to%differential%equation:%

Exercise#2?2
Find%the%differential%equation%corresponding%to%the%transfer%function%

d 3c
d 2c
dc
d 2r
dr
+ 3 2 + 7 + 5c = 2 + 4 + 3r
3
dt
dt
dt
dt
dt

G( s) =

C ( s)
2s + 1
= 2
R( s ) s + 6 s + 2

Transfer%Function
Exercise#2?3
Find%the%ramp%response%for%a%system%whose%transfer%function%is:%

G( s) =

2.1
Mathematical$Modeling$in$Frequency$
Domain

C ( s)
s
=
R( s) ( s + 4)(s + 8)

2.1.1
Mathematical-modeling-of-electrical-networkand-operational-amplifier-

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Electrical%Circuits

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Electrical%Circuits
! Kirchhoffs%voltage%law:%
! The%algebraic%sum%of%voltages around%any%closedNloop in%an%
electrical%circuit%is%zero.%

! Kirchhoffs%current%law:%
! The%algebraic%sum%of%currents into%any%junction in%an%electrical%
circuit%is%zero.%

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Electrical%Circuits

Electrical%Circuits

Table 2-1:
Voltage-current, voltage-charge, and impedance relationships for capacitors, resistors, and
inductors.
Voltage%
current

Current%
voltage

Voltage%
charge

Impedance Admittance

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Example#2?2
Using%Mesh%analysis%and%transform%methods,%find%the%transfer%
function%relating%the%capacitor%voltage,%Vc(s),%to%the%input%voltage,%
V(s),%in%figure%below.%

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Electrical%Circuits

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Electrical%Circuits

Example#2?3
I ( s)
Given%the%network%of%figure%below.%Find%the%transfer%function,% 2
V ( s)

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Exercise#2?4
Write,%but%do%not%solve,%the%mesh%equations%for%the%network%shown%in%figure%
below.%

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Electrical%Circuits

Operational%Amplifier
! Operational%amplifier%is%an%active%circuit%that%can%be%used%to%
implement%transfer%functions.%

Exercise#2?5
By%using%the%Mesh%analysis,%find%the%transfer%function,%G(s) =#VL(s)/V(s),%for%
the%circuit%given%in%figure%below.%

! There%are%circuits%built%around%an%opNamp.%

Operational(amplifier

Vo = A(V2 V1 )
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Inverting%Operational%Amplifier

Vi ( s)
Z1 ( s )

I 2 ( s) =

V0 ( s)
Z 2 (s)

Vo = AV1
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Inverting%Operational%Amplifier
Example#2?4
Vo ( s )
Find%the%transfer%function,%%%%%%%%%%%%%for%the%circuit%in%figure%below:
Vi ( s )

I1 (s) = I 2 (s)

I1 ( s ) =

Inverting(opBamp

Vi ( s )
V (s)
= 0
Z1 ( s )
Z 2 (s)
V0 ( s )
Z ( s)
= 2
Vi ( s )
Z1 ( s )
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Summary%&%Exercises
! Today%topic
! 2.1%Mathematical%modeling%in%frequency%domain%
! 2.1.1%Mathematical%modeling%of%electric%network%and%op%amp%%

! Next
! 2.1.2%Mathematical%modeling%of%mechanical%system:%
translational%and%rotational

! Exercise
! Tutorial%2

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