Control Systems

Ruqia Ikram

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 Module 2

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Technology (IST)
Modeling in The Frequency Domain

Introduction
Laplace Transform Review
The Transfer Function
Translational Mechanical Transfer Function
Rotational Mechanical Transfer Function
Transfer Functions for the System with Gears
Electromechanical Systems Transfer Function
Nonlinearities
Linearization

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Introduction

After obtaining schematic of control system, the next step is to develop

mathematical model from schematics of physical system.

Two methods that can be used for developing this model are
 Transfer Functions in the frequency domain
 State Equations in the time domain

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Laplace Transform Review
A system represented by a differential equation is difficult to model as a block
diagram.
Significance of Laplace transform
 Represent the input, output, and system as separate entities.
 Their interrelationship is simply algebraic.

The Laplace transform is defined as

𝑠 = 𝜎 + 𝑗𝜔 , a complex number
𝐹 𝑠 is called the Laplace transform of 𝑓 𝑡

The notation for the lower limit means that even if f(t) is discontinuous at t =0,
we can start the integration prior to the discontinuity as long as the integral
converges.
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Laplace Transform Review
The inverse Laplace transform, which allows us to find 𝑓 𝑡 given 𝐹 𝑠 is

Where 𝑢 𝑡 is a unit step function

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Laplace Transform Review
Table relating f(t) to F(s) for specific cases.

Correction
𝑛!
𝑠 𝑛+1

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Laplace Transform Review
Laplace transform of unit impulse (Dirac delta) function 𝛿 𝑡

∞
𝐹 𝑠 = 𝛿(𝑡)𝑒 −𝑠𝑡 𝑑𝑡
0−

By using the property of impulse function

𝛿 𝑡 − 0 𝑒 −𝑠𝑡 = 𝛿 𝑡 − 0 𝑒 −𝑠(0)
∞
𝐹 𝑠 = 𝛿(𝑡 − 0)𝑒 −𝑠(0) 𝑑𝑡
0−

∞
= 0−
𝛿 𝑡 𝑑𝑡 = 1

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Laplace Transform Review
Laplace transform of unit step function 𝑢 𝑡

∞
𝐹 𝑠 = 𝑢(𝑡)𝑒 −𝑠𝑡 𝑑𝑡
0−

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Laplace Transform Review

Laplace transform of sinusoidal function sin(𝜔𝑡)𝑢 𝑡

∞
𝐹 𝑠 = sin 𝜔𝑡 𝑢(𝑡)𝑒 −𝑠𝑡 𝑑𝑡
0−

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Laplace Transform Review

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Laplace Transform Review

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Laplace Transform Review

Using the Laplace transform pairs of Table 2.1 and the Laplace transform
theorems of Table 2.2, derive the Laplace transforms for the following time
functions:

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Partial-Fraction Expansion

 To find the inverse Laplace transform of a complicated function convert the

function to a sum of simpler terms for which we know the Laplace transform
of each term using Partial-Fraction Expansion.
 Partial-fraction expansion can only applied if order of numerator N(s) is less
than the order of denominator D(s).
 If the order of N(s) is greater than or equal to the order of D(s), then N(s)
must be divided by D(s) successively.

 On the basis of roots of Laplace transform, three different cases that will be
discussed for partial fraction expansion are as follow:
 Roots of the Denominator of F(s) Are Real and Distinct
 Roots of the Denominator of F(s) Are Real and Repeated
 Roots of the Denominator of F(s) Are Complex or Imaginary

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Partial-Fraction Expansion

Rules for Partial Fraction Expansion

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Partial-Fraction Expansion

Roots of the Denominator of F(s) Are Real and Distinct

An example of an F(s) with real and distinct roots in the denominator is

2
𝐹(𝑠) =
(𝑠 + 1)(𝑠 + 2)

2 𝐴 𝐵
= +
(𝑠 + 1)(𝑠 + 2) 𝑠 + 1 𝑠 + 2

2 2
𝐹 𝑠 = −
𝑠+1 𝑠+2

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Partial-Fraction Expansion

Roots of the Denominator of F(s) Are Real and Repeated

An example of an F(s) with real and repeated roots in the denominator is

2
𝐹(𝑠) =
(𝑠 + 1)(𝑠 + 2)2

2 𝐴 𝐵 𝐶
= + +
(𝑠 + 1)(𝑠 + 2)2 𝑠 + 1 (𝑠 + 2)2 𝑠 + 2

2 2 2
𝐹 𝑠 = − 2−
𝑠+1 𝑠+2 𝑠+2

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Partial-Fraction Expansion

Roots of the Denominator of F(s) Are Complex or Imaginary

An example of F(s) with complex roots in the denominator is

3
𝐹(𝑠) =
𝑠(𝑠 2 + 2𝑠 + 5)

3 𝐴 𝐵𝑠 + 𝐶
= +
𝑠(𝑠 2 + 2𝑠 + 5) 𝑠 (𝑠 2 + 2𝑠 + 5)

The last term can be shown to be the sum of the Laplace transforms of an
exponentially damped sine and cosine.

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Partial-Fraction Expansion

Similarly,

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Partial-Fraction Expansion

Example:
Given the following differential equation, solve for y(t) if all initial conditions are zero.

𝑑𝑦
𝓛 = 𝑠𝑌 𝑠 − 𝑌 0 − = 𝑠𝑌 𝑠
𝑑𝑡

𝑑2 𝑦
𝓛 = 𝑠 2 𝑌 𝑠 − 𝑠𝑌 0 − − 𝑌 ′ 0 − = 𝑠 2 𝑌 𝑠
𝑑𝑡 2

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Partial-Fraction Expansion

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Reference
Chapter 2, Control Systems Engineering, Norman S Nise, 6th edition.

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