Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR

EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

Activity 3: Modeling in the Frequency Domain

Abstract
The Laplace Transform is important in many aspects. It is a powerful tool for solving
linear differential equations with constant coefficients. The Laplace transform represents signals
and systems as functions of a complex variable s, rather than time.

For this activity, the students are expected to understand, analyze and specially to
calculate the given Laplace transformation of the given transfer functions and its inverse Laplace
transform. Also the students are tasked to verify it using the SciLAB application after solving the
given Laplace. Students must also find and validate the transfer function from linear
time-invariant electrical works, mechanical systems, and electromechanical systems using Scilab
software. Before that, the activity includes a pre-laboratory activity that involves solving the
transfer function for electrical, mechanical, and electromechanical systems. The final part of this
activity is to use Scilab software to plot the responses of the verified transfer functions derived
from the previous part of the electrical, mechanical, and electromechanical systems.

1 Laplace Transform Review

In Modeling in Frequency Domain, Laplace transform is used to derive the transfer
function. In Laplace transform, we can represent the input, output, and system as separate
entities. Further, their interrelationship will be simply algebraic.
The Laplace transform is defined as:
∞
−𝑠𝑡
𝐿[𝑓(𝑡)] = 𝐹(𝑠) = ∫ 𝑓(𝑡)𝑒 𝑑𝑡 (1. 1)
0−

The inverse Laplace transform, which allows us to find f(t) given F(s), is
σ+𝑗∞
−1 1 𝑠𝑡
𝐿 [𝐹(𝑠)] = 2π𝑗
∫ 𝐹(𝑠)𝑒 𝑑𝑠 = 𝑓(𝑡)𝑢(𝑡) (1. 2)
σ−𝑗∞

where 𝑢(𝑡) = 1 𝑡 > 0

𝑢(𝑡) = 0 𝑡 < 0

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

1.1 The Transfer Function

The transfer function is a system representation that establishes a viable definition for a
function that algebraically relates a system's output to its input. This function will allow
separation of the input, system, and output into three separate and distinct parts, unlike the
differential equation. The function will also allow us to algebraically combine mathematical
representations of subsystems to yield a total system representation.
Generally, a Transfer Function is the ratio of the output of a system to the input of a
system, in the Laplace domain. If we have an input function of R(s), and an output function C(s),
we define the transfer function G(s) to be:

𝐶(𝑠)
𝐺(𝑠) = 𝑅(𝑠)
(1. 3)

Example Problem:

This simple example has been provided for the students to better understand the
introductory concepts and to guide them through the process of obtaining the transfer function.

Find the transfer function relating to the capacitor voltage, Vc(s) to input voltage V(s).

The first step of a designer in every problem should be to determine which of the
variables are the input and the output, but both requirements are already determined in this
particular network as the problem states that we should consider the applied voltage as the
input and the capacitor voltage as the output.

In the next step of the process, we sum up the voltage around the loop assuming zero
initial conditions which leads to the following equation:
1
𝑑𝑖(𝑡) 1
𝐿 𝑑𝑡
+ 𝑅𝑖(𝑡) + 𝐶
∫ 𝑖(τ)𝑑τ = 𝑣(𝑡)
0

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

Then we change variables from current to charge using, i(t) = dq(t)/dt

2
𝑑 𝑞(𝑡) 𝑑𝑞(𝑡) 1
𝐿 2 + 𝑅 𝑑𝑡
+ 𝐶
𝑞(𝑡) = 𝑣(𝑡)
𝑑𝑡

The voltage-charge relationship for a capacitor is.

𝑞(𝑡) = 𝐶𝑣𝑐(𝑡)

Then we substitute our 2nd equation with the voltage-charge relationship for a capacitor.
2
𝑑 𝑣𝑐(𝑡) 𝑑𝑣𝑐(𝑡)
𝐿𝐶 2 + 𝑅 𝑑𝑡
+ 𝑣𝑐(𝑡) = 𝑣(𝑡)
𝑑𝑡

Then we take the Laplace transform assuming zero initial condition, with simplification and
re-arranging of terms we obtain the equation. (𝐿𝐶𝑠2 + 𝑅𝐶𝑠 + 1) 𝑉𝑐(𝑠) = 𝑉(𝑠)
And finally we solve for the transfer function Vc(s)/V(s)
𝑉𝑐(𝑠) 1/𝐿𝐶
𝑉(𝑠)
= 2 𝑅 1
(1. 4)
𝑠 + 𝐿 𝑠+ 𝐿𝐶

SCILAB

Assuming values of R = 3 Ohms, L = 1 H, and C = 1 F. Using Scilab to generate our output function, we
have the following code:

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

The method begins by creating the Laplace variable s and then using it to form P as
described by equation (1.4). The next step would be to convert it to a continuous-time linear
transfer function, by using the syslin() command. Setting the values of t, we then get Vo using
the csim() function. Plotting Vo with respect to time, we get:

We can observe that the system can be manipulated with changing values of the
resistance, inductance and capacitance just by inputting the new values in the equation.

2 Objectives
● The students will be able to find the Laplace transformation of the transfer functions and its
inverse and then verify it using the Scilab software.
● The students will be able to find the transfer function for linear time-invariant electrical
networks, mechanical systems & electromechanical systems and then verify it using the
Scilab software.

3 List of equipment/software
● Personal Computer
● Installation of SCILAB
● Ballpoint pen and calculator

4 Pre-Lab Assignment
Solve for the transfer functions for each diagram: (A) Electrical Network, (B) Mechanical
System, (C) Electromechanical System. Write your solutions and answers in the space provided.

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

4.1 Part A. Electrical Network

Problem: Find the transfer function relating the inductor voltage, VL(s), to the input
voltage, V(s) in Figure 1.

Figure 1

Solution:

Answer:

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

4.2 Part B. Mechanical System

Problem: Find the transfer function, G(s) = X2(s)/F(s) for the translational mechanical
system shown in Figure 2.

Figure 2

Solution:

Answer:

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

4.3 Part C. Electromechanical System

Problem: Find the transfer function, 𝐺(𝑠) = θ𝐿(𝑠)/𝐸𝑎(𝑠), for the motor and load shown in
Figure 3. The torque-speed curve is given by 𝑇𝑚 =− 8ω𝑚 + 200 when the input voltage is 100
volts.

Figure 3

Solution:

Answer:

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

5 Laboratory
5.1 Scilab Activity 1

Using the Scilab software and the transfer functions derived in Part III:
1. Plot the output response vo(t) of each system (Part A, Part B, and Part C) in Scilab
assuming a step input.
PART A

PART B

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

PART C

2. Use csim() function and assume a step input (1/s). Plot its output.
PART A

9
Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

PART B

PART C

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

3. Choose the range of t starting from 0 and the intervals such that you can see the steady
state. How does the time range and interval affect the plot of the output?

PART A

11
Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

PART B

PART C

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

4. Draw the response of each in the space provided below and compare the plots of step 1
and step 2. What can you observe?

Electrical Network
STEP 1

STEP 2

The results are the same.

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

Mechanical System
STEP 1

STEP 2

The results are the same.

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

Electromechanical System
STEP 1

STEP 2

The results are the same.

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

5.2 Scilab Activity 2

Using the Scilab code provided in the example above:
1. Assign new values of R, L and C.
R= 2 ;L=5 ; C =1
2. Input the new values to the equation.

3. Plot the Vo versus time graph. What can you observe?

4. What conclusion can you make on the use of Scilab in Modeling Control Systems?
Answer: With new values for R, L, and C, we can observe that the larger the values of
L and C are, the longer it takes to reach the system's steady state.

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Name: ESPRA, COLANCE, JALON, DABLEO Course and Year: BSEE – 3RD YEAR
EEE160.1 Section: W56 Laboratory Schedule: WEDNESDAY

6 Results and Discussion

Answer the following questions.
1. What can you conclude on your findings in this laboratory activity?

Using a simulator like SciLab makes it easier for us to analyze, visualize, and
incorporate mathematical equations. With the use of it, we can execute the equations
and portray it graphically which allows us to understand its behaviors by experimenting
its values and such

When Modeling Control Systems in the Frequency Domain Using Transfer

Functions, we can accurately plot the output graph with respect to time using Scilab and
its built-in functions such as syslin and csim. Furthermore, when the value of C is varied
in an Electrical (RLC) System, the time it takes to reach its steady-state is longer than
when its value is less than the values of R and L.

2. How was the function, csim(), used in obtaining response equations? What can you say
about its accuracy?
The csim function is called in this way: csim(‘step’, t, s1). The step string function
which is used for step response calculation. The ‘t’ is the real vector specifying in times
while the ‘s1’ being the transfer function.

The accuracy of the function is determined by the values of t. The lower the
interval value of t, the more accurate the output will be.

3. What are the limitations of the csim function in Scilab?

The csim() function is limited to step and impulse response calculations. As well as the
(t) must be defined.

7 REFERENCES

● CONTROL SYSTEMS ENGINEERING (Sixth Edition)

Norman S. Nise, California State Polytechnic University, Pomona

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