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Mathematical Models in Control Systems

This document discusses mathematical models of physical systems using differential equations. It provides examples of obtaining differential equation models for mechanical systems using Newton's laws and electrical systems using Kirchhoff's laws. Specifically, it shows developing a second order differential equation model of a spring-mass-damper system using Newton's second law and a first order differential equation model of an RLC circuit using Kirchhoff's current law. The document also defines the transfer function of a linear system as the ratio of the Laplace transforms of the output and input variables and gives examples of calculating the transfer functions for the spring-mass-damper and RC circuit models.

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16 views3 pages

Mathematical Models in Control Systems

This document discusses mathematical models of physical systems using differential equations. It provides examples of obtaining differential equation models for mechanical systems using Newton's laws and electrical systems using Kirchhoff's laws. Specifically, it shows developing a second order differential equation model of a spring-mass-damper system using Newton's second law and a first order differential equation model of an RLC circuit using Kirchhoff's current law. The document also defines the transfer function of a linear system as the ratio of the Laplace transforms of the output and input variables and gives examples of calculating the transfer functions for the spring-mass-damper and RC circuit models.

Uploaded by

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

2.

Mathematical Models of Systems


2.1

INTRODUCTION

To understand and control complex systems, one must obtain quantitative


mathematical models of these systems. The term model, as it is used
and understood by control engineers, means a set of differential
equations that describe the dynamic behavior of the process. The
differential equations describing the dynamic performance of a physical
system are obtained by utilizing the physical laws of the process. For
mechanical systems, one utilizes Newtons laws, and for electrical systems
Kirchhoffs voltage and current laws. Some examples are given to
demonstrate how to write the differential equations.
2.2

DIFFERENTIAL EQUATIONS

OF

PHYSICAL SYSTEMS

Mechanical systems
The corner stone for obtaining a mathematical model for any mechanical
system is Newtons law,

F = ma
Where

F
a
m

vector sum of all forces applied to each body in a system, newtons


(N) or pounds (lb),
vector acceleration of each body with respect to an inertial reference
frame, m/sec2 or ft/sec2,
mass of the body, kg or slug.

Consider the simple spring-mass-damper shown below. (This system


could represent, for example, an automobile shock absorber). In this
example, we model the wall friction as a viscous damper, that is, the
friction force is linearly proportional to the velocity of the mass.

by

wall
friction b
M

r(t)

Lecture 2

ky

r(t)

15-09-2003

Let k be the spring constant and b the friction coefficient, then summing
the forces acting on M and utilizing Newtons second law yields

d 2 y(t)
dy(t)
+b
+ ky(t) = r(t)
2
dt
dt

The above equation is a linear constant coefficient differential equation of


second order.
Electrical Systems
Consider the RLC circuit shown below.

+
r(t)
current
source

v(t)

Using KCL, one obtains the following integrodifferential equation,

dv(t) 1
v(t)
+
C
+ L v(t)dt = r(t)
R
dt
2.5

THE TRANSFER

FUNCTION OF LINEAR SYSTEMS

The transfer function of a linear system is defined as the ratio of the


Laplace transform of the output variable to the Laplace transform of the
input variable, with all initial conditions assumed to be zero.
Example 1
Find the transfer function of the spring-mass-damper system considered
earlier.
Solution
The differential equation of the spring-mass-damper system is given by:
d 2 y(t)
dy(t)
M
+b
+ ky(t) = r(t)
2
dt
dt
The equation can be rewritten with zero initial conditions as follows:
Ms 2 Y(s) + bsY(s) + kY(s) = R(s)
Lecture 2

15-09-2003

Then the transfer function is :


Y(s)
1
G(s) = R(s) =
Ms 2 + bs + k
Example 2
Find the transfer function of the RC circuit shown below.
R

+
v

Solution
The transfer function of the RC network is obtained by writing the KVL
equation, yielding
V 1 (s) = (R + 1 )I(s)
Cs

; V 2 (s) = ( 1 )I(s)
Cs

Then the transfer function is :


V 2 (s)
1
G(s) = V (s) =
= 1
RCs + 1 $s + 1
1
where $ = RC is the time constant of the network. The single pole of G(s)
is s = 1$ .

Lecture 2

15-09-2003

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