Control System II

Dr. Ahmed Aly Elsakaan

Lecture 1
Lecture Learning Outcomes
After completing this lecture, the student will be able to:

• Find a mathematical model, called a state-space

representation, for a linear, time invariant system.

• Model electrical and mechanical systems in state space.

• Convert a transfer function to state space.

• Convert a state-space representation to a transfer function

.
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Control II 2021
Six Step Approach to Dynamic System
Problems
 Define the system and its components.
 Formulate the mathematical model and list the necessary
assumptions.
 Write the differential equations describing the model.
 Solve the equations for the desired output variables.
 Examine the solutions and the assumptions.
 If necessary, reanalyze or redesign the system
.

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Control II 2021
1.1 Introduction

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Control II 2021
1.2 Mathematical Modelling

 To understand system performance, a mathematical

model of the plant is required.

 This will eventually allow us to design control systems to

achieve a particular specification

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Control II 2021
1.3 Laplace Transform Review

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Laplace Transform Review
Laplace Table

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1.4 Transfer Function
T.F of a system is defined as the Laplace transform of the
impulse response, with all the initial condition set to zero

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Control II 2021
 X ( s) Y (s)
G( s)

 Transfer Function G(s) describes system

component.
.

 Described as a Laplace transform because

Y (s)  G(s)U (s) y(t )  g (t )u(t )

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Control II 2021
Example1 :

Solution:

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Control II 2021
Example 2 :
Use the result of Example 1 to find the response, c(t) to an input,
r(t) = u(t), a unit step, assuming zero initial conditions.

SOLUTION:
To solve the problem, we use G(s) = l/(s + 2) as found in
Example 1. Since r(t) = u(t), R(s) = 1/s, Since the initial
conditions are zero,

Expanding by partial fractions, we get:

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Control II 2021
1.5 Electric Network Transfer Function
 In this section, we formally apply the transfer function to
the mathematical modeling of electric circuits including
passive networks.
 We now combine electrical components into circuits,
decide on the input and output, and find the transfer
function. Our guiding principles are Kirchhoff s laws.

Table1 shows Voltage-current, voltage-charge, and

impedance relationships for capacitors, resistors, and
inductors

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.

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Modeling – Electrical Elements

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Modeling – Impedance

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Modeling – Kirchhoff’s Voltage & Current
Laws

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SOLUTION:
In any problem, the designer must first decide what the
input and output should be. In this network, several
variables could have been chosen to be the output.
Summing the voltages around the loop, assuming zero
initial conditions, yields the integral-differential equation for
this network as:

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Control II 2021
Modeling – Summary (Electrical System)

 Modeling
– Modeling is an important task!
– Mathematical model
– Transfer function
– Modeling of electrical systems
 Next, modeling of mechanical systems

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Control II 2021
1.6 Translational Mechanical System T.F

 The motion of Mechanical elements can be described in

various dimensions as translational, rotational, or
combinations of both.
 Mechanical systems, like electrical systems have three
passive linear components.
 Two of them, the spring and the mass, are energy-
storage elements; one of them, the viscous damper,
dissipate energy.
 The motion of translation is defined as a motion that takes
place along a straight or curved path. The variables that are
used to describe translational motion are acceleration, velocity,
and displacement.
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Control II 2021
Newton's law of motion states that the algebraic sum of external
forces acting on a rigid body in a given direction is equal to the
product of the mass of the body and its acceleration in the same
direction. The law can be expressed as:

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Control II 2021
Table 2
Force-velocity,
force- displacement,
and, impedance translational
relationships for springs,
viscous dampers, and mass

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Modeling – Mechanical Elements

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Modeling – Spring-Mass-Damper Systems

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Modeling – Free Body Diagram

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Modeling – Spring-Mass-Damper System

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Problem:
Find the transfer function X(S)/F(S)

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Solution

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Problem:
Write the force equations of the linear translational
systems shown in Fig. below;

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Solution

Rearrange the following equations:

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Advance Control 2020
End