CHAPTER 2
Modelling and Representation of Physical
System
The study of control system involves developing
mathematical model for each component of control system.
What is a Model?
Mathematical model of a dynamic system:
Is set of equations that represents dynamics of system accurately or, at
least, fairly well.
Mathematical model is not unique to given system.
A system may be represented in many different ways and, therefore,
may have many mathematical models, depending on one's perspective.
Deriving reasonable mathematical models is the most important part of
entire analysis of control systems.
Forms of Mathematical models
The three forms of mathematical models were:
Differential equation
Transfer function
State equation
1. Differential equations:
How we find differential equations?
using physical laws :
Newton's laws for mechanical systems
Kirchhoff's laws for electrical systems
Kirchhoff's laws for hydraulic and thermal systems due to similarity
in their components to electrical systems.
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• Forms of mathematical model
• Depending on particular system and particular circumstances, one
mathematical model may be better suited than other models.
• For example, in optimal control problems, it is advantageous to use state-
space representations.
• On the other hand, for transient-response or frequency-response analysis
of single-input-single-output, linear, (LTI) time-invariant systems,
transfer function representation may be more convenient than any other.
• Once a mathematical model of system is obtained, various analytical and
computer tools can be used for analysis and synthesis purposes.
Simplicity Versus Accuracy?
• In obtaining mathematical model, we must make
compromise between simplicity of model and accuracy of
results of analysis.
• The complex the model the more accurate.
• In deriving a reasonably simplified mathematical model, we
frequently find it necessary to ignore certain inherent
physical properties of the system.
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Transfer Function Of Systems
Is function that algebraically relates a system's output to its input.
It is cause-and-effect relationship
• To derive the transfer function, we proceed according to the 7
following steps.
1. Identify the input and output
[Link] differential equation of the system.
[Link] Laplace transform of differential equation, assuming all
initial conditions are zero.
[Link] ratio of output O(s) to the input I(s). This ratio is the
transfer function.
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• Example 2.4: Find the transfer function for the differential
function represented by
• Taking Laplace transform of both sides, assuming zero initial
conditions, we have
The transfer function, G
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• Modelling of Electrical System
• Our guiding principles are Kirchhoff's laws.
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• Example 2.5: Find the deferential function relating the capacitor
voltage, Vc(t), to the input voltage, V (t) and also find the
transfer function Vc(s)/V(s)?
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• Taking Laplace transform assuming zero initial conditions,
rearranging terms, And simplifying yields.
Fig: Block diagram of series RLC electrical network
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Exercise 2.1
• For parallel circuit shown below find the differential
equation relating i(t) and v(t)?And also find transfer
function v(s)/i(s)
OUR GUIDING PRINCIPLE IS NEWTON’S SECOND LAW.
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• Mechanical system can under go :
• Translational motion
• Rotational motion.
1 . Translational Mechanical system
• There are three characterizing elements in mechanical
translational system:
• spring,
• viscous damper and
• mass
• and they can be modeled by differential equation as shown in the
table below.
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• Example 2.6: Find the differential equation and
transfer function for the mechanical system below?
• The free body diagram is (FBD):
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Fig :Block diagram
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• 2. Rotational mechanical systems
• Are Handled same way as translational mechanical systems,
except that torque (T) replaces force (F) and angular
displacement (𝜃) replaces translational displacement (x).
• Components undergo rotation instead of translation.
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Exercise 2.2
TRANSFER FUNCTION OF DC MOTOR 23
(ELECTROMECHANICAL SYSTEM)
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• The air -gap flux ɸ(𝑡) of the motor is 25
proportional to field current, i𝑓 (𝑡) as
ɸ 𝑡 = 𝑘𝑓 𝑖𝑓 (𝑡)
The torque developed by motor is assumed to be
related linearly air-gap flux (ɸ 𝑡 ) and armature
current(i𝑎 𝑡 )
as T𝑚 𝑡 = 𝑘1 ɸ 𝑡 𝑖𝑎 (𝑡)
T𝑚 𝑡 = 𝑘1 𝑘𝑓 𝑖𝑓 (𝑡)𝑖𝑎 (𝑡)
Based on the type of current used to control the dc
motor [Link] controlled DC motor
[Link] controlled DC motor
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• Armature controlled DC
motor
• Field current is constant
• Manipulating variable is
armature current
• Step1: From armature circuit:
relationship b/n Va(t) & ia(t).
𝐝𝐢𝐚
𝐕𝐚 = 𝐢𝐚 𝐑 𝐚 + 𝐋𝐚 +
𝐝𝐭
𝐕𝐛 …(1)
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• Using Laplace transform
• 𝑽𝒂 (𝑺) = 𝑹𝒂 𝑰𝒂 (𝑺) + 𝑳𝒂 𝑺𝑰𝒂 (𝑺) + 𝑽𝒃 (𝑺)……(2)
• Step2: Back electromotive force (emf), 𝒗𝒃 is proportional to
speed 𝝎.
• 𝑽𝒃 (𝑺) = 𝑲𝒃 𝝎(𝑺)……………………………………….(3)
• From equation eqn. (2)
𝑽𝒂 𝑺 −𝑽𝒃 (𝑺) 𝑽𝒂 𝑺 −𝑲𝒃 𝝎(𝑺)
• 𝑰𝒂 𝑺 = = ………………(4)
𝑹𝒂 +𝑳𝒂 𝑺 𝑹𝒂 +𝑳𝒂 𝑺
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• Step3: Motor torque (Tm) is directly proportional to the
armature current 𝒊𝒂 .
• 𝑇𝑚 = 𝐾𝑚 𝐼𝑎 (𝑆) ……….(5)
• where 𝐾𝑚 is motor constant
• Also the motor torque is equal to torque delivered to the Load:
CONTINUED… 29
𝒅𝜽 𝒅𝟐 𝜽
• 𝑻𝒎 − 𝑻𝒅 = 𝑱𝜶 => 𝑻𝒎 − 𝑫𝒎 = 𝑱 …..(6)
𝒅𝒕 𝒅𝒕
• Using Laplace transform
• 𝑻𝒎 (𝑺) − 𝑫𝒎 𝑺𝜽(𝑺) = 𝑱𝑺𝟐 𝜽(𝑺)…………………(7)
• From eqn. (4),(5) and (6) we have : Motor Position
𝜽(𝑺) Vs Armature voltage 𝑽𝒂(𝑺).
𝜽(𝑺) 𝑲𝒎
• 𝑮 𝑺 =𝑽 =𝒔
𝒂 (𝑺) 𝑹𝒂 +𝑳𝒂 𝑺 𝑱𝑺+𝒃 +𝑲𝒃 𝑲𝒎
• Motor speed 𝝎(𝑺) Vs Armature voltage 𝑽𝒂 (𝑺)
𝝎(𝑺) 𝑲𝒎
• or 𝑮 𝑺 = =
𝑽𝒂 (𝑺) 𝑹𝒂 +𝑳𝒂 𝑺 𝑱𝑺+𝒃 +𝑲𝒃 𝑲𝒎
𝝎(𝑺) 𝑲𝒎
𝑮 𝑺 = =
𝑽𝒂 (𝑺) 𝑹𝒂 + 𝑳𝒂 𝑺 𝑱𝑺 + 𝒃 + 𝑲𝒃 𝑲𝒎
ELECTRIC CIRCUIT ANALOG SYSTEMS 30
• An electric circuit that is analogous to a system from
another discipline is called an electric circuit analog.
• Analog can be obtained by comparing equations
of motion of a mechanical system, with either
electrical mesh or nodal equations.
• When compared with mesh equations, resulting electrical
circuit is called a series analog.
• When compared with nodal equations, resulting electrical
circuit is called a parallel analog.
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• Series Analog
• Example: Consider the translational mechanical system,
whose equation of motion is
• ………………… (1)
• Kirchhoff's mesh equation for the simple series RLC
network shown:
• ……………………….(2)
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• Eq. (1) is not directly analogous to
• Eq. (2) because displacement and
current are not analogous. We can
create a direct analogy by operating
on Eq.(1) to convert displacement to
velocity by dividing and multiplying the
left-hand side by s, yielding:
•
• …………(3)
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• Parallel Analog
• A system can also be converted to an equivalent
parallel analogy.
• Consider translational mechanical system shown
whose equation of motion Is given by eq. (3) above.
• Kirchhoff’s nodal equation for simple parallel RLC
network shown:
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• Exercise
38
Write the equations of motion for the mechanical network.
Reading assignments
Mathematical modelling of Fluid and Thermal systems.