EE 430

Analogue Control Systems

Fall Semester, 2021
Outline

- Quiz#1 comments

- Mechanical system
- Example/Problem

- Chapter#3 state space

Typical Mechanical System

Find the transfer function x(s)/F(s) for the system

-Assume the mass is travelling to the right, pulled by the
force f(t)
- All other forces oppose this motion
- Draw the F.B.D.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Free-body Diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Example
Example
Examples – By inspection
Control Systems
Engineering
Sixth Edition

Norman S. Nise

Chapter 3
Modeling in the Time Domain

Copyright © 2011 by John Wiley & Sons, Inc.

Now that we have Frequency Domain, Why
Time Domain?
• Because frequency domain only works for linear, time-invariant
systems.
• Because frequency domain does not work well for systems with
multiple inputs and/or output.
• Time domain methods (state space) can be extended to include
nonlinear and time-varying systems.
State-Space Modeling
• A state-space model represents a system by a series of first-order
differential state equations and algebraic Output equations.
• State-space models are numerically efficient to solve, can handle
complex systems and allow for more understanding of dynamic
system behavior, also it forms the basis for much of Modern Control
Theory.
• Benefits when designing controllers, estimators, state feedback,
optimal control, LQR and observer design.
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