Lecture No 2

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Electrical Network Transfer Functions)

Mechanical Engineering Department

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 d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
 an 1 n 1
   a0 c(t )  bm m
 bm 1 m 1
   b0 r (t )
dt dt dt dt

an s nC ( s )  an 1s n 1C ( s )    a0C ( s)  bm s m R ( s )  bm 1s m 1R ( s )    b0 R ( s )

 n n1
a s n
 a s n 1
   a0 C ( s )   m m 1    b0  R(s)
b s m
 b s m 1

C (s)

 m m1    b0 
b s m
 b s m 1

R( s )  an s n  an 1s n 1    a0 

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 Electrical Circuit Components

Output to input ratio using Laplace Transform is given by,

V ( s) V (s) V ( s) 1
R  sL 
I ( s) I ( s) I ( s) sC

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Table 2.3

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Table 2.3

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RC Electrical Network
1 t
v(t )  Ri (t )   i ( )d
C 0
dq(t )
As i (t ) 
dt
dq (t ) 1
v(t )  R  q (t )
dt C
q (t )  C vc (t )
V(s) VC(s) dvc (t )
G(s) v(t )  RC  vc (t )
dt

VC ( s ) 1 V ( s )  RCsVC ( s )  VC ( s )
G ( s)   RC
V ( s) s  1 RC
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RLC Electrical Network
di(t ) 1 t
v(t )  L  Ri(t )   i ( )d
dt C 0
dq (t )
As i (t ) 
dt
d 2 q (t ) dq (t ) 1
v(t )  L 2  R  q (t )
d t dt C
q(t )  C vc (t )

V(s) d 2 vc (t ) dvc (t )
VC(s) v(t )  LC  RC  vc (t )
G(s) dt 2
dt

V ( s )  LCs 2VC ( s )  RCsVC ( s )  VC ( s )

VC ( s ) 1
 2 LC

V ( s ) s  R L s  1 LC

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 RLC Electrical Network

V(s) VC(s)
G(s)

VC ( s ) 1 VC ( s) 1
 RC  2 LC

V ( s ) s  1 RC V ( s ) s  R L s  1 LC

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Laplace-transformed network

1
Z ( s )  Ls  R 
Cs
V (s)  Z (s) I (s)

Trnasform  1 
V ( s )   Ls  R   I ( s)
 Cs 
I ( s) 1

V (s)  1 
 Ls  R  
 Cs 
How do we find Vc(s) ???
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Modeling Complex Circuits via
Mesh Analysis
Example 2.10

a. Two-loop electrical
network;

b. transformed
two-loop electrical
network;

c. block diagram

How do we find the transfer function ??? 10

Modeling Complex Circuits via
Mesh Analysis

R1 I1 ( s)  LsI1 ( s)  LsI 2 ( s)  V ( s)

 R1  Ls  I1 (s)  LsI 2 (s)  V (s)   1

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LsI 2 ( s )  R2 I 2 ( s)  I 2 ( s )  LsI1 ( s)  0
Cs
 1 
 LsI1 ( s )   Ls  R2   I 2 ( s )  0   2 
 Cs 

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Modeling Complex Circuits via Mesh Analysis

 R1  Ls  I1 (s)  LsI 2 (s)  V (s )   1

 1 
 LsI1 ( s )   Ls  R2   I 2 ( s )  0   2 
 Cs 

 R1  Ls   Ls 
  I1 ( s )  V ( s )
 1   I ( s)   0 
  Ls  Ls  R2    2   
  Cs 
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  R1  Ls   Ls 
  I1 ( s)  V ( s )
 1   I ( s)   0 
  Ls  Ls  R2    2   
  Cs 
Using Cramer's rule

 R1  Ls  V ( s )  R1  Ls   Ls
  Ls 0    1 
 Ls  
I 2 (s)     Ls R2 
 Cs 


LCs 2
I 2 ( s)  V (s)
 R1  R2  LCs   R1R2C  L  s  R1
2

I 2 (s) LCs 2
G (s)  
V ( s )  R1  R2  LCs 2   R1R2C  L  s  R1

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 Home Assignment
(Don’t submit)

Modeling Complex Circuits via

Nodal Analysis

Work out Example 2.11

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Figure 2.9
Three-loop electrical network

 2s  2  I1 (s)   2s  1 I 2 ( s)  I 3 ( s)  V ( s) These eqns can be solved

simultaneously to determine
−
  ( 2 𝑠+1 ) 𝐼 1 ( 𝑠 ) + ( 9𝑠+1 ) 𝐼 2 (𝑠)− 4 𝑠 𝐼 3 (𝑠)=0
the desired transfer function
 1
 I1 ( s )  4sI 2 ( s )   4 s  1   I 3 ( s)  0
 s

I1 ( s )
G1 ( s ) 
V (s)

I 2 (s)
G2 ( s ) 
V ( s)

I3 (s)
G3 ( s ) 
V (s) 15
Operational amplifier configured
for transfer function realization

Vo ( s) Z 2 (s)

Vi ( s ) Z1 ( s )

Vo ( s)  R1C1s  1  R2C2 s  1

Vi ( s ) R1C2 s

Vo ( s)

 
R1C1 R2C2 s 2   R1C1  R2C2  s  1
Vi ( s ) R1C2 s
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 RLC Electrical Network

V(s) VC ( s) 1

G(s)
VC(s) RC cct  RC
V ( s ) s  1 RC
RLC cct VC ( s) 1
 2 LC

V ( s ) s  R L s  1 LC
I 2 (s) LCs 2
Two loop network G (s)  
V ( s )  R1  R2  LCs 2   R1R2C  L  s  R1

Op-amp Vo ( s )

 
R1C1R2C2 s 2   R1C1  R2C2  s  1
Vi ( s ) R1C2 s

C ( s)

 m m1    b0 
b s m
 b s m 1

R( s)  an s n  an 1s n 1    a0 
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???
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