REGULATION AND CONTROL

MATHEMATICAL MODELING 1

By Tewedage Sileshi
Goal for today’s lecture

 Introduction to mathematical modeling

 Transfer function
 Mathematical model Representations method
 Block diagram
Introduction to mathematical modeling

 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.

 Keep in mind that deriving reasonable mathematical models is the

most important part of the entire analysis of control systems.

Mathematical model

 Differential equation model

 Transfer function model [Block diagram or signal flow graph
representation]
 State space model
Things to consider

 Representation
 Simplicity versus Accuracy
 Linear systems
Transfer Function
Transfer function

 The transfer function of a linear, time invariant, differential equation

system is defined as the ration of the Laplace transform of the

output (response function) to the Laplace transform of the input
(driving function) under the assumption that all initial conditions are
zero.
 Cont’d

 Transfer function helps us to check

 The stability of the system

 Time domain and frequency domain characteristics of the system

 Response of the system for any given input

 Cont’d

 Consider the linear time invariant system defined by the

following differential equation:

+…+ +…+

 Where, and y is the input and x is the output

 Therefore the transfer function becomes;

zero initial conditions

Notes on transfer function

 Transfer function of a system is a mathematical model in that it is an operational method of

expressing the differential equation that relates the output variable to input variable.

 The transfer function is a property of a system itself, independent of the magnitude and

nature of the input or driving function.

 The transfer function includes the units necessary to relate the input to the output;

however, it does not provide any information concerning the physical structure of the
system. (The transfer functions of many physically different systems can be identical.)
 Cont’d

 If the transfer function of a system is known, the output or response can be

studied for various of inputs with a view toward understanding the nature of
the system.

 If the transfer function of a system is unknown, it may be established

experimentally by introducing known inputs and studying the output system.

 Once established, a transfer function gives a full description of the dynamic

characteristics of the system, as distinct from its physical description.

 Example-1
• Differential equation of the system is:

F  Mx  Cx  kx
• Taking the Laplace Transform of both sides and ignoring Initial
conditions we get

2
F (s )  Ms X (s )  CsX (s )  kX (s )

X (s ) 1

F (s ) Ms 2  Cs  k
Example -2
 The two-port network shown in the following figure has vi(t) as the input voltage
and vo(t) as the output voltage. Find the transfer function Vo(s)/Vi(s) of the
network.

vi( t) i(t) C vo(t)

1
vi (t ) i(t )R  i(t )dt
C
1
vo (t )  i(t )dt
C
 Cont’d
1 1
vi (t ) i(t )R  i(t )dt vo (t )  i(t )dt
C C

 Taking Laplace transform of both equations, considering initial

conditions to zero.
1 1
Vi (s )  I (s )R  I (s ) Vo (s )  I (s )
Cs Cs

 Re-arrange both equations as:

1
Vi (s )  I (s )(R  ) CsVo (s )  I (s )
Cs
 Cont’d
1 CsVo (s )  I (s )
Vi (s )  I (s )(R  )
Cs
 Substitute I(s) in equation on left
1
Vi (s ) CsVo (s )(R  )
Cs
Vo (s ) 1

Vi (s ) 1
Cs( R  )
Cs
Vo (s ) 1

Vi (s ) 1  RCs
Example-3: Armature Controlled D.C Motor
Ra La
 Input: voltage u
B
 Output: Angular velocity  ia
u eb T J

Electrical Subsystem (loop
a nt
method): st
con
=
dia Vf
u  Ra ia  La  eb , where e b back-emf voltage
dt

Mechanical Subsystem

Tmotor  Jω  Bω
 Cont’d
Ra La
Power Transformation: B
ia
Torque-Current:Tmotor  K t ia u eb T J
Voltage-Speed: eb  K b ω 
where Kt: torque constant, Kb: velocity constant For an nt
sta
ideal motor on
=c
K t K b Vf

Combing previous equations results in the following

mathematical model:
 dia
 La  Ra i a  K b ω  u
 dt
 Jω
   B-K t ia  0
 Cont’d
Taking Laplace transform of the system’s differential equations with zero initial
conditions gives:

La s  Ra I a(s)  K b Ω(s) U(s)


Js  B Ω(s)-K t I a(s)  0

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2  JRa  BLa s  BRa  K t K b
 Cont’d

Reduced order model

Assuming small inductance, La 0

Ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 
Mathematical model Representations method

 A control system may consist of a number of components.

 To show the functions performed by each component, we commonly

use a diagram called block diagram or signal flow graph.

Block Diagram
Introduction
 A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

 The interior of the rectangle representing the block usually

contains a description of or the name of the element, gain, or
the symbol for the mathematical operation to be performed
on the input to yield the output.

 The arrows represent the direction of information or signal

flow.
d
x y
dt
 The
Cont’d
operations of addition and subtraction have a special
representation.

 The block becomes a small circle, called a summing point, with the
appropriate plus or minus sign associated with the arrows entering
the circle.

 The output is the algebraic sum of the inputs.

 Any number of inputs may enter a summing point.

 Some books put a cross in the circle.

 Cont’d

 In order to have the same signal or variable be an input

to more than one block or summing point, a takeoff (or
pickoff) point is used.

 This permits the signal to proceed unaltered along

several different paths to several destinations.
Example 4

x3  a1 x1  a 2 x2  5
 Consider the following equations in which , , , are
variables, and , are general coefficients or
mathematical operators.
 Cont’d

x3  a1 x1  a 2 x2  5
Example 5, continued from Example 3
Ra La
c
ia
eb T J
Va 
a nt
t
ons
=c
Vf

La s  Ra I a(s)  K b(s) Va(s)

Js  c (s) K m I a(s)

 Cont’d

La s  Ra I a(s)  K b(s) Va(s)

 Cont’d

Js  c (s)  K ma I a(s)

Cont’d
Example 6: Block Diagram of liquid level system

h1  h2 dh1
q1  C1  q  q1
R1 dt
h2
q2  dh2
R2 C2  q1  q2
dt
 Cont’d
h1  h2 dh1
L q1  C1  q  q1
R1 dt L

H 1 (s )  H 2 (s )
Q1 (s )  C1sH 1 (s ) Q(s )  Q1 (s )
R1
h2
q2  dh2
R2 C2  q1  q2
L dt L

H 2 (s ) C 2 sH 2 (s ) Q1 (s )  Q2 (s )
Q2 (s ) 
R2
 Cont’d
H 1 (s )  H 2 (s ) C1sH 1 (s ) Q(s )  Q1 (s )
Q1 (s ) 
R1

H 2 (s ) C 2 sH 2 (s ) Q1 (s )  Q2 (s )
Q2 (s ) 
R2
Cont’d
Canonical form of A feedback control system
Characteristic equation
• The control ratio is the closed loop transfer function of
the system.
C (s ) G(s )

R(s ) 1 G(s )H (s )

• The denominator of closed loop transfer function

determines the characteristic equation of the system.

• Which is usually determined as:

1 G(s )H (s ) 0
 Example 7
B( s )
1. Open loop transfer function G(s )H (s )
E (s )
C (s) 1  G(s )H (s )  0
7. Characteristic equation
2. Feed Forward Transfer function
G ( s )
E (s)
C (s ) G(s ) 8. Closed loop poles and zeros if K=10.

3. Control ratioR(s ) 1  G(s )H (s )
G(s )
B( s ) G(s )H (s )
4. Feedback ratio 
R(s ) 1  G(s )H (s )

E (s ) 1

5. Error ratio R(s ) 1  G(s )H (s )

C (s ) G(s ) H (s )

6. Closed loop transfer function
R(s ) 1  G(s )H (s )
Reduction techniques
1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2
 Cont’d

3. Eliminating a feedback loop

G
G
1 GH
H

G
G
1 G

H 1
 Cont’d
4. Moving a summing point behind a block

G G
G

5. Moving a summing point ahead a block

G G
1
G
 Cont’d
6. Moving a pickoff point behind a block

G G
1
G

7. Moving a pickoff point ahead of a block

G G
G
 Cont’d

8. Swap with two neighboring summing points

A B B A
Example 8: reduce the block diagram to
canonical form.
Cont’d
 Example 9
• Reduce the following block diagram to canonical form.

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Cont’d
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Cont’d

H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Cont’d
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Cont’d

H2
G1
R _ G1G2 C
+_ + G3
1  G1G2 H1
 Cont’d

H2
G1
R _ G1G2G3 C
+_ +
1  G1G2 H1
 Cont’d

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
 Exercise 1
• Find the transfer function of the following block diagram

G4
R(s) Y (s )
G1 G2 G3

H2

H1
 Cont’d
I
G4
R (s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
1. Moving pickoff point A ahead of block G2
2. Eliminate loop I & simplify B
G4  G2G3
 Cont’d

G4
R (s ) Y (s )
GG4 
A G2 G3
B
G1 2 G 3

H2
H1G2
 Cont’d

3. Moving pickoff point B behind block G4  G2G3

II
R (s ) B C
Y (s )
G1 G4  G2G3
H2
H1G2 1 /(G4  G2G3 )
 Cont’d

4. Eliminate loop III

R (s ) Y (s )
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3
 Cont’d

R (s ) G1 (G4  G2G3 ) Y (s )
1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s ) G1 (G4  G2G3 )

R(s ) 1  G1G 2 H 1  H 2 (G4  G2 G3 )  G1 (G4  G2 G3 )
Superposition of Multiple Inputs

1. Set all inputs except one equal to zero

2. Transform the block diagram to canonical form
3. Calculate the response due to the chosen input acting alone
4. Repeat Step 1 to 3 for each of the remaining inputs
5. Algebraically add all of the responses (outputs) determined in Steps 1 to 4. This
sum is the total output of the system with all inputs acting simultaneously
Example 10: Multiple Input System. Determine the output
C due to inputs R and U using the Superposition Method.
Cont’d
Cont’d
Exercise 2: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Cont’d
EXAMPLE-13: CONTINUE.

Cont’d
Example 11: Multi-Input Multi-Output System. Determine C1 and C2 due to R1 and R2.
Cont’d
 Cont’d

When R1 = 0,

When R2 = 0,
Next lecture

 Mathematical model Representations method

 Signal flow graph
 State space model