NAME 467: Control Engineering

Chapter 2: Modeling in Frequency Domain

Professor Dr. Zobair Ibn Awal

Bangladesh University of Engineering and Technology (BUET)

Dhaka 1000, Bangladesh

January 30, 2024

1 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Chapter 2: Modeling in Frequency Domain
Learning outcomes
1 Find the Laplace transform of time functions and the inverse
Laplace transform (Sections 2.1–2.2)
2 Find the transfer function from a differential equation and
solve the differential equation using the transfer function
(Section 2.3)

2 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
What is a mathematical model?

3 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Mathematical Model
A mathematical model of a dynamic system is defined as a set of
equations that represents the dynamics of the system accurately, or
at least fairly well. In studying control systems one must be able to
model dynamic systems in mathematical terms and analyze their
dynamic characteristics. Note that a mathematical model is not
unique to a given system. A system may be represented in many
different ways and, therefore, may have many mathematical
models, depending on one’s perspective. For example:

d2 h i dh i
δr (t) −→ I ψ(t) + D ψ(t) = K δr (t) −→ ψ(t)
dt 2 dt

dh i h i
δr (t) −→ I r (t) + D r (t) = K δr (t) −→ r (t)
dt

4 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Mathematical Model

The dynamics of many systems, whether they are mechanical,

electrical, thermal, economic, biological, and so on, may be
described in terms of differential equations. Such differential
equations may be obtained by using physical laws governing a
particular system — for example, Newton’s laws for mechanical
systems and Kirchhoff’s laws for electrical systems. We must
always keep in mind that deriving reasonable mathematical models
is the most important part of the entire analysis of control systems.

5 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
What is the fundamental problem in control engineering associated
with input-output of a system model?

6 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Differential equation can describe the relationship between the
input and output of a system. The form of the differential
equation and its coefficients are a formulation or description of the
system. Although the differential equation relates the system to its
input and output, it is not a satisfying representation from a
system perspective. Looking at the following equation (Eq. 1.2), a
general, nth-order, linear, time invariant differential equation, we
see that the system parameters, which are the coefficients, as well
as the output, c(t), and the input, r (t), appear throughout the
equation.

d m c(t) d m−1 c(t)

am + a m−1 + · · · + a0 c(t) =
dt m dt m−1
d n r (t) d n−1 r (t)
bn + b n−1 + · · · + b0 r (t)
dt n dt n−1

7 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 We would prefer a mathematical representation such as that shown
in Figure 2.1(a), where the input, output, and system are distinct
and separate parts. Also, we would like to represent conveniently
the interconnection of several subsystems. For example, we would
like to represent cascaded interconnections, as show in Figure 2.1
(b), where a mathematical function, called a transfer function, is
inside each block, and block functions can easily be combined to
yield Figure 2.1 (a) for ease of analysis and design. This
convenience cannot be obtained with the differential equation.

8 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Therefore, it is essential to have a the system representation
through a viable definition for a function that algebraically relates
a system’s output to its input. This function will allow separation
of the input, system, and output into three separate and distinct
parts, unlike the differential equation. The function will also allow
us to algebraically combine mathematical representations of
subsystems to yield a total system representation.

9 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
Define Laplace Transformation and Inverse Laplace Transformation.

10 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Laplace Transform
Let f (t) be a real function of a The real part σ of a
real variable t defined for t > 0. complex variable s is often
Then Laplace Transform of f (t) written as Re(s) (the real
is as follows: part of s) and the
imaginary part ω as Im(s)
L [f (t)] ≡ F (s) (the imaginary part of s).
Z T
The real variable t always
F (s) ≡ lim f (t)e −st dt denotes time.
T →∞,ϵ→0 ϵ
Z ∞ It is noticeable that the
= f (t)e −st dt lower limit on the integral
0−
is t = 0+ .
Here, the condition is
0 < ϵ < T . The complex This definition of the lower
variable s is defined by limit is sometimes useful in
s ≡ σ + jω, where σ √ and ω are dealing with functions that
real variable and j = −1. are discontinuous at t = 0.

11 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Exercise: Find the Laplace transform of e −t .
Solution: The Laplace transform of e −t is determined as follows:
Z ∞
L e −t = e −t e −st dt
 
−
Z0 ∞
= e −t−st dt
−
Z0 ∞
= e −(1+s)t dt
0−
1 −(1+s)t ∞
 
= − e
1+s 0+
 
1 −∞ 1 0
= − e + e
1+s 1+s
1
= [Re(s) > −1]
1+s

12 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Inverse Laplace Transform
The Laplace transform transforms a problem from the real
variable time domain into the complex variable s-domain.
After a solution of the transformed problem has been obtained
in terms of s, it is necessary to invert this transform to obtain
the time domain solution.
The transformation from the s-domain into the t-domain is
called the inverse Laplace transform.

Definition
Let F (s) be the Laplace transform of a function f (t), t > 0. The
following contour integral is called the inverse Laplace transform of
F (s):
Z c+j∞
−1 1
L [F (s)] ≡ f (t) = F (s)e st ds
2πj c−j∞
√
Where, j = −1 and c > σ0 .

13 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Laplace Transformations

14 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Laplace Transform Theorems

15 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concepts
Exercise on Laplace transformations.

16 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Impulse Function
Z ∞
L [f (t)] = F (s) = f (t)e −st dt
−
Z0 ∞
L [δt(t)] = ∆(s) = δt(t)e −st dt
0−
Z 0+ Z ∞
−st
= δt(t)e dt + δt(t)e −st dt
0− 0+
Z 0+ Z ∞
= δt(t)e −st dt + 0 × e −st dt
0− 0+
Z 0+
−st
=e |t=0 δt(t)dt = 1 × 1 = 1
0−
Notes: (1) The impulse function is everywhere zero except within
t = 0− and t = 0+ it is infinitely large. (2) The area under the
impulse function is one. (3) e −st is continuous at t=0, that is the
same as saying it is constant from t = 0− to t = 0+ . So we can
replace e −st by its value evaluated at t=0.
17 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering
Step Function
Z ∞
L [f (t)] = F (s) = f (t)e −st dt
0−
Z ∞
L [u(t)] = U(s) = u(t)e −st dt
0−
Z ∞
= 1 × e −st dt
0−
1 −st ∞
 
= − e
s 0−
 
1 −∞ 1 0
= − e + e
s s
 
1 1
= − ×0+ ×1
s s
1
=
s

18 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Find Laplace transform for each of the following:

1 f (t) = 7 5 f (t) = sin(5t)

2 f (t) = 4t 6 f (t) = cos(−3t)
3 f (t) = t 2 7 f (t) = 4 sin(3t) + 2 cos(9t)
4 f (t) = 3t 2 + 5t + 2 8 f (t) = 3e −4t

19 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Answers:

7 5
1 F (s) = 5 F (s) =
s s2
+ 25
4 s
2 F (s) = 2 6 F (s) = 2
s s +9
2 12 2s
3 F (s) = 3 7 F (s) = 2 + 2
s s + 9 s + 81
6 5 2 1
4 F (s) = 3 + 2 + 8 F (s) = 2
s s s s +4

20 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concept
Partial fraction review.

21 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Partial Fraction Review

Study the following cases 1

1 Case 1: Roots of the Denominator of F (s) Are Real and

2
Distinct. Example F (s) = .
(s + 1)(s + 2)
2 Case 2: Roots of the Denominator of F (s) Are Real and
2
Repeated. Example F (s) =
(s + 1)(s + 2)2
3 Case 3: Roots of the Denominator of F (s) Are Complex or
3
Imaginary. Example F (s) = 2
s(s + 2s + 5)

1
Nise (2011) page 37 to 44.
22 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering
 Question
2
Given the differential equation, ddt y2 + 12 dy
dt + 32y = 32u(t), solve
for y (t) if all initial conditions are zero. Use the Laplace transform.

23 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Taking Laplace transforms on both sides on the following equation
results in:
d 2y dy
2
+ 12 + 32y = 32u(t)
dt  dt
d 2y

dy
⇒L + 12 + 32y = L [32u(t)]
dt 2 dt
⇒[s 2 Y (s) − sy (0) − ẏ (0)] + 12[sY (s) − y (0)] + 32Y (s) = 32U(s)
⇒s 2 Y (s) + 12sY (s) + 32Y (s) = 32U(s)
⇒ s 2 + 12s + 32 Y (s) = 32U(s)
 

32
⇒Y (s) = 2 U(s)
s + 12s + 32
1
For a unit step input U(s) = . Hence,
s
32 32
Y (s) = =
s(s 2 + 12s + 32) s(s + 8)(s + 4)

24 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Applying partial fraction expansion
32 K1 K2 K3
Y (s) = = + +
s(s + 8)(s + 4) s (s + 4) (s + 8)

32
K1 = =1
(s + 4)(s + 8)
s→0

32
K2 = = −2
s(s + 8)
s→−4

32
K3 = =1
s(s + 4)
s→−8
32 1 2 1
Y (s) = = − +
s(s + 8)(s + 4) s (s + 4) (s + 8)
Applying inverse Laplace transform results in:

y (t) = 1 − 2e −4t + e −8t

25 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Exercise 2.4 (Dorf and Bishop):

A laser printer uses a laser beam to print copy rapidly from a

computer. The laser is positioned by a control input r (t), so that
we have
4(s + 50)
Y (s) = 2 R(s)
s + 30s + 200
The input r (t) represents the desired position of the laser beam.
1 If r (t) is a unit step input, find the output y (t).
2 What is the final value of y (t)?

26 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Solution:

27 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Use Laplace Transformations to Solve the Following ODEs:

1 ÿ + 2ẏ + y = 3, Initial conditions ẏ (0) = y (0) = 0.

2 4ÿ − 2y = 7, Initial conditions ẏ (0) = y (0) = 0.
3 3ÿ + 2ẏ + 5y = 3, Initial conditions ẏ (0) = 1, y (0) = 0.
4 ÿ + 3ẏ = −2, Initial conditions ẏ (0) = 1, y (0) = 2.

28 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Answers:

1 y (t) = −3e −t − 3te −t + 3

√ √
7 2 sinh(t 2/2)
2 y (t) =
√ 4 √
3 14e −t/3 sin(t 14/3)
3 y (t) =
7
5 e −3t
4 y (t) = +
6 6

29 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
Explain the fundamentals aspects of Transfer Function.

30 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Transfer Function

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

transform of output to the Laplace transform of input where all the
initial conditions are zero.

31 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Some Properties of Transfer Function

1 It is a mathematical model that relates output to its input. If

a transfer function is known then output to a given input can
be predicted.
2 A transfer function is a property of a system not the input.
3 A transfer function includes necessary units but does not
provide insight into the physical/internal structure since it is
only an input/output model.
4 It is possible to determine transfer function experimentally
even if it is unknown analytically.

32 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Some Properties of Transfer Function

Disadvantage
It requires systems to be at zero initial conditions.
Advantages
Indication on system stability
Convenience on system design
Convenience on understanding system dynamics due to
parameter changes
Convenience adding/removing system components

33 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
Find the transfer function represented by the dc(t)
dt + 2c(t) = r (t).
What would be the response of the system for a unit step input?

34 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Solution: Applying Laplace transformation,
dc(t)
+ 2c(t) = r (t)
dt 
dc(t)
⇒L + 2c(t) = L [r (t)]
dt
⇒[sC (s) − c(0)] + 2C (s) = R(s)
⇒sC (s) + 2C (s) = R(s)
⇒(s + 2)C (s) = R(s)
C (s) 1
⇒ = = G (s)
R(s) s +2
For a unit step input the response would be
C (s) = G (s)R(s)
1 1
⇒ C (s) = ×
s +2 s
1 K1 K2
⇒ C (s) = = +
s(s + 2) s s +2
35 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering
 Determining the coefficients

1 1 1
K1 = = =
s +2 0+2 2
s→0
1 1 1
K2 = = =−
s −2 2
s→−2

The response is therefore,

1/2 −1/2
+C (s) =
s  s +2 
−1 −1 1/2 −1/2
⇒ L [C (s)] = L +
s s +2
⇒ c(t) = (1/2) × 1 + (−1/2)e −2t
1 1
⇒ c(t) = − e −2t
2 2
1
∴ c(t) = (1 − e −2t )
2
36 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering
 Exercise
Some selected problems.

37 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Skill-Assessment Exercise 2.3: Find the transfer function
C (s)
G (s) = , corresponding to the differential equation
R(s)
d 3c d 2c dc dt 2 dr
3
+ 3 2
+ 7 + 5c = 2
+ 4 + 3r .
dt dt dt dt dt
Skill-Assessment Exercise 2.4: Find the differential equation
2s + 1
corresponding to the transfer function G (s) = 2 .
s + 6s + 2
Skill-Assessment Exercise 2.5: Find the ramp response for
s
a system whose transfer function is G (s) = .
(s + 4)(s + 8)
Example 2.16: Find the transfer function X (s)/F (s) of the
system as shown in the following figure (Figure 2.15).

38 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Skill-Assessment Exercise 2.8: Find the transfer function,
G (s) = X2 (s)/F (s) for the translational mechanical system
shown in the figure below (Figure 2.21).

39 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Question
Construct a transfer function of a ship maneuvering model.

40 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 The linear ship maneuvering motion equation, alternately Nomoto
model, is given as follows:

dψ 2 dψ
T + = K δr
dt 2 dt
dr
T + r = K δr
dt

ψ = Heading
dψ
r = Rate of turn =
dt
K = Rudder constant or Gain
T = Time constant
δr = Rudder command angle

41 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Taking Laplace transform on both sides
h i
L T ψ̈ + ψ̇ = L [K δr ]
⇒T L [ψ̈] + L [ψ̇] = K L [δr ]
⇒Ts 2 Ψ(s) − sψ(0) − ψ̇(0) + sΨ(s) − ψ(0) = K ∆r (s)
⇒Ts 2 Ψ(s) + sΨ(s) = K ∆r (s)
⇒(Ts 2 + s)Ψ(s) = K ∆r (s)
Ψ(s) K
⇒ = 2
∆r (s) (Ts + s)
Ψ(s) K /T
⇒ = 2
∆r (s) (Ts + s)/T

Ψ(s) K /T
∴ G (s) = =
∆r (s) s(s + 1/T )

42 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concept
Transfer Function of a Hydraulic System

43 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Hydraulic System
Let us determine the transfer function of a typical hydraulic system.
A hydraulic system works due to liquid pressure difference.

A dashpot (or damper) is shown

in Fig 2.12. Whenever a step
displacement, x is applied to the
piston, a corresponding
displacement y becomes
momentarily equal to x. The
applied force will make oil to flow
through the restriction R and the
cylinder will return to its original
position.

44 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Hydraulic System

Assuming inertia force to be a

negligible, the forces balancing
are represented as

A(P1 − P2 ) = ky ... (1)

Where, A is the piston area, k is

the spring constant and P1 , P2
are the oil pressure existing on
the right and left side of the
piston.

45 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Hydraulic System
The flow rate q through the
restriction with resistance R is
given by
P1 − P2
q= ... (2)
R
The oil is assumed to be
in-compressible (so oil density
ρ = constant). As the mass of oil
flow through the restriction in
time dt must balance with the
change in mass of the left side of
the piston, we have

Aρ(dx − dy ) = qdt

46 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Hydraulic System

Aρ(dx − dy ) = qdt
 
dx dy
⇒Aρ − =q
dt dt
dx dy q
⇒ − =
dt dt Aρ
dx dy P1 − P2
⇒ − = [From (2)]
dt dt RAρ
dx dy ky
⇒ − = [From (1)]
dt dt RA2 ρ
ky dy dx
⇒ 2 + =
RA ρ dt dt
   
ky dy dx
⇒L 2
+ =L
RA ρ dt dt

47 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Hydraulic System

   
ky dy dx
⇒L + =L
RA2 ρ dt dt
k
⇒ Y (s) + sY (s) = sX (s)
RA2 ρ
 
k
⇒ + s Y (s) = sX (s)
RA2 ρ
Y (s) s
⇒ =
X (s) k
+s
RA2 ρ

s
∴ G (s) =
k
s+
RA2 ρ

48 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concept
Transfer function of a pneumatic system.

49 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Pneumatic System

A pneumatic system works due to the pressure difference of air or

any other gas. Let us consider a simple pneumatic system with an
actuating valve as shown in the following figure:

Air at a pressure, pi is injected through

the input manifold. The plunger
arrangement has a mass M, B and K
being the coefficients of viscous friction
and spring constant respectively.

50 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Pneumatic System
If A is the area of diaphragm, then the
force exerted on the system will be Api .
Balancing the forces yields the
following:

d 2y dy
M 2
+B + Ky = Api
dt dt
d 2y
 
dy
⇒L M 2 + B + Ky = L [Api ]
dt dt
⇒Ms 2 Y (s) + BsY (s) + KY (s) = API (s)
Y (s) A
⇒ = 2
= G (s)
PI (s) Ms + Bs + K
PI (s) −→ G (s) −→ Y (s)
A
∴ G (s) =
Ms 2 + Bs + K

51 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concept
Comparison between Hydraulic and Pneumatic systems.

52 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Comparison Between Hydraulic and Pneumatic Systems
No. Hydraulic System Pneumatic System
1. The fluid generally found in The fluid generally found in
hydraulic systems is oil. pneumatic systems is air.
2. Return pipes are always No return pipes are required in
needed in hydraulic systems. pneumatic systems when air is
used.
3. Accuracy of hydraulic actua- Accuracy of pneumatic actua-
tors may be made satisfactory tors is poor at low velocities.
at all velocities.
4. The normal operating pres- The normal operating pres-
sure of hydraulic systems is sure of pneumatic systems is
very much higher than that of very much lower than that of
pneumatic systems. hydraulic systems.
5. Output powers of hydraulic Output powers of pneumatic
systems are considerably high systems are considerably less
than pneumatic systems. than hydraulic systems.

53 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Concept
Transfer function of thermal system.

54 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Thermal System

The following figure shows a water heating system (a thermal

system) where input water temperature is θi and output water
temperature is θo .
The following assumptions are
made to analyze the thermal
system and determine its transfer
function:
The temperature of the
medium is uniform
The tank is insulated from
the surrounding atmosphere.

55 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Thermal System
Furthermore:

Let the steady state temperature

of in flowing water is θi (t) and
that of out flowing water is θo (t).

The steady state heat input rate

from the heater is Q.

Let the water flow rate be

constant.

Any increase in heat input rate,

∆h(t) will be balanced by
increase in heat outflow rate,
∆h1 (t) and heat storage rate in
the tank, ∆h2 (t).

56 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Thermal System
Using heat balance equation, we
can write
∆h(t) =∆h1 (t) + ∆h2 (t)
∆h1 (t) =QS∆θo (t)

where Q is water flow rate, S is

the specific heat and ∆θo (t) is
the rise of temperature of water
in the tank. Also,
∆θo (t)
∆h1 (t) =
R
where R is the thermal
1
resistance, that is R = QS .

57 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Thermal System

Heat storage in the tank,

d
∆h2 (t) = MS {∆θo (t)}
dt
d
=C {∆θo (t)}
dt
where M is the mass of water in
the tank; C = MS, is the
thermal
 capacitance
 of water and
d
{∆θo (t)} is the rate of rise
dt
of temperature of water in the
tank.

58 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

Thermal System
Combining the above equations yield,
∆h(t) = ∆h1 (t) + ∆h2 (t)
∆θo (t) d
⇒∆h(t) = + C {∆θo (t)}
R  dt 
∆θo (t) d
⇒L [∆h(t)] = L + C {∆θo (t)}
R dt
∆Θo (s)
⇒∆H(s) = + CsΘo (s)
R  
1
⇒∆H(s) = ∆Θo (s) + Cs
R
∆Θo (s) 1 R
⇒ = =
∆H(s) 1 RCs + 1
+ Cs
R
Θo (s) R
∴ G (s) = =
H(s) RCs + 1

59 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Exercise
Some additional problems.

60 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Problem:

Krieg, M., & Mohseni, K. (2008, September).

Developing a transient model for squid inspired thrusters,

and incorporation into underwater robot control design.

In 2008 IEEE/RSJ International Conference on Intelligent

Robots and Systems (pp. 3178-3183). IEEE.

Solution:

61 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering

 Thank You!

62 / 62 Professor Dr. Zobair Ibn Awal NAME 467: Control Engineering