Control Engineering

Chapter 2: Mathematical Modelling

 GALA YUZAWA, MARCH 2014

“It does not matter how slowly you go as long as you do not
stop.”
–Confucius
 Content
Block diagram

Transfer function

Signal flow graph

What is mathematical model?

definition: is a collection of mathematical

equation which represent behavior/ characteristic
of real system

In other word, we need a model of the plant so that we

can design an appropriate controller.
 Real Systems

Mechanical system is a system subjected by forces which cause

motion

Governed by Newton’s Law

Block diagram representation
How to get model of a system?

Block diagram
 Block diagram
definition: is a convenient tool to visualize the
systems as a collection of interrelated subsystems
that emphasize the relationship among the system
variables.

from the block diagram, the transfer function can

be obtained.
 Spring system
MATHEMATICAL MODELING OF DYNAMIC SYSTEMS
MATHEMATICAL MODELING OF DYNAMIC SYSTEMS

Mechanical Translational System

Translational
Mechanical Translational System mechanical system
1. Spring
1. Spring FS(t)
x(t) FS(t)
x(t)
k
k k
k

x(t)x(t)

Answer:

x(t) f(t) f(t) x(t)

k 1/k

xxi(t)
i(t) xxoo(t)
input =k ? (t) input = ?
output k= ? output = ?
 Spring system
xi(t) xo(t)
k

xi(t) 2. xi(t)-x0(t)
Damper f(t)
k
+
xi(t)
- x(t)

c
x0(t) c
 3. Mass
Mass system

x(t)
F(t)
m

Answer:
D2x(t)=a(t) Dx(t)=v(t)
f(t) x(t)
1/m 1/D 1/D

EXAMPLE I

Produce the block diagram for the mass-spring system s

 Produce the block diagram for the mass-spring system shown b

Mass-spring system
displacement xi as the input variable and displacement xo as the o

xi(t) xo(t)

k
m

Answer:
xi(t)-x0(t) f(t)
xi(t) x0(t)
k 1/mD2
+
-
 2.
Damper
Damper

xi(t)
x(t)

F(t)
Answer:

x(t) f(t)
cD
 EXAMPLE II
Produce the block diagram for the mass-spring-damper system shown below

Mass-spring-damper system
taking force Fa as the input variable and displacement x as the output variable.

x (t)
k

m Fa(t)

Answer:
Fa(t) x(t)
1/mD2
+
-
Fs(t)
+ k
+
Fd(t)
cD
Mechanical Rotational System
 Rotational stiffness
Mechanical Rotational System

Mechanical
4.
rotational system
Shaft stiffness

Torque applied on the disc:

θo(t)

θi(t)
EXAMPLE I k
6. Mass inertia
Answer:
Produce
tational the
systemblock
shown diagram
below for
if the mechanical
ock diagram for the mechanical rotational system shown be rotational sys
angular
le and displacement
angular θ
displacementi is
(t)- θtaken
o(t)
is as the input
ement θi(t)is taken as the input variable and angular τ variable
(t) and angul
θ(t)displacemen
aken as the output
put variable. + variable. k
-
tem shown below if J
θo(t) θ o (t)
ar displacement θo (t)
is
θi(t)
 Rotational damper
5. Viscous damper

B
θi(t) θo(t)

EXAMPLE I 6. Mass inertia

6. Mass inertia
Produce
tational the
Answer:
systemblock
shown diagram
below for
if the mechanical
ock diagram for the mechanical rotational system shown be rotational sys
angular
le and displacement
angular θ
displacementi is
(t)- θtaken
(t)is θ(t) as the input
oτ(t)
ement θi(t)is taken as the input variable and angular τ variable
(t) and angul
θ(t)displacemen
aken as the output
put variable. + variable. BD
J
-
tem shown below if J
θo(t) θ o (t)
ar displacement θo (t)
is
θi(t) EXAMPLE I
 Moment of inertia
6. Mass inertia

τ(t) θ(t)

6. 6.
Mass inertia Mass inertia
Answer:

τ(t) EXAMPLE I τ(t) θ(t)

θ(t)
Produce the1/JD2
block diagram for the mechanical rotational system show
angular displacement θi is taken as the input variable and angular displac
taken as the output variable.

J J
θo(t)
θi(t)
k
J
 i o
EXAMPLE I
5. Viscous damper
Produce the block diagram for the mechanical rotational system shown be

Rotational system
angular displacement θi is taken as the input variable and angular displaceme
taken as the output variable.
B
θi(t) θo(t)
θo(t)
θi(t)
k
J

B
6. Mass inertia

gram Answer:
for the mechanical rotational system shownsystem
below shown
if
ock diagram for the mechanical rotational be
is taken as the input variableτs(t)
(t)
and angular
θ(t) displacement θ o (t)
is
ement θi (t) is taken as the input variable and angular displacemen
able. 6. kMass inertia 1/JD2
put variable.
+ +
- -
J
t) τ(t)
f(t) θ(t) BD
θo(t)

J
 5. Viscous
5. damper
Viscous damper
B
θi(t) θi(t) θo(t
Gear train
3. Gear train
θi(t) θ i (t)
Gear ratio:
B
θ o(t
ωA,θA

τA ωB,θB

τB
C
rA
rB
Gear train
Gear ratio: 6. Force
Mass acting
6.inertia oninertia
Mass tooth of
ear3.train Gear train Gear ratio: both gears is :
Gear ω
n = train,θbA = Na/Nb
raA/r 6. Mass inertia
6. Mass inertia
Gear train EXAMPLE I F(t) = τ(t) a = τ(t)
a(t)/rθ(t) b(t)/rθ(t)
b
Gear ratio: Gear ratio:
ear
τA train
ωrAa,θA (t) =ωrBbω,θAB,θ
(t)A Produce the block diagram for the mechanical translational system sh
Gear ratio:
τ
ωA,θA Gear ratio:(t)= θ(t)
(t)
b (1/n) τ (t)
displacement xi is the input and displacement (t)
xo is the output.
a θ(t)
ωτAB τ,θω
ra (d/dt) A (t)
,θ= rb (d/dt)
ω B,θB (t) J xi J
τA A B B
Gear ratio:
k2
C ω ,θ
ra ω
ττAA τB A,θ
(t)A= rb ω Bτ
,θ
B B(t)BB J J
r a
 EXAMPLE I

Liquid level system

Produce the block diagram for the liquid level system shown below if inflow rate qi is
taken as the input variable and head h2 is taken as the output variable.

q(t)
qi

C1

C2
h1
qq1o(t) R1 R2 q2q(t) h2

Answer:
h2(t)
q(t) h1(t) - q1(t) h2(t)
1/C1D 1/R1 1/C2D
+ + +
- -
q1(t) q2(t)
1/R2
 Thermal system
Thermal System

Heater
pemanas
6. Mass inertia
Hot Fluid
bendalir panas

Cold Fluid
bendalir dingin Thermal Resistance,
τ(t)R = θ(t) / h0 (t)
6. insulator
penebat Mass inertia

Heat Balance Equation, Where,

J C – thermal capacitance (kcal/ºC)
R – thermal resistance (ºCsec/kcal)
hi(t) + τ(t) hi – heat input rate (kcal/sec)
θ(t)
hi – heat output rate (kcal/sec)
1/CD θ - temperature of outflowing liquid (
-
h0(t) J
1/R
Electrical System
 voltage Vi as the input variable and output voltage Vo as the output variable.

Electrical system
L C

R
Vi Vo

Vi(t) Vc(t) i(t) V0(t)

+ + CD R
- -

VL(t) LD
Block diagram manipulation method

after completing this subtopic, you should be able

to:

obtain the TF from the given block diagram

 Block diagram
• Three Elementary Block Diagrams
– Series connection
– Parallel connection
– Negative Feedback connection
 Block diagram
• Block diagram algebra
 Block diagram
Block Diagram Algebra
Block Diagram Algebra

A + A-B + A-B+C
+_ + + A-B+C
A A-B ++ A-B+C A A+C
+ +
_B A + A+C_ A-B+C
+C
C+ B_
B C
C B

C
+ A + A-B + A-B+C
A +C A-B+C
+ A _+
A-B++ A-B+C
A + _ A-B+C
B_ C
_B +
B C
B

G1 G2 G2 G1
 CC
C++

Block diagram
A + A-B ++
A-B A-B+C
A-B+C
AA ++ + A-B+C
A-B+C A + A-B + A-B+C
A + A-B+C _
__ ++
_
_ BB CC+
BB B C
B

G22 G
G22 G
G11
GG11 G
G1 G2 G2 G1

G1G2
G1G2
G G1G2
G
G11 G22 atau
atau
G1 G2 atau
G2G1
G2G1
G2G1

A A + C
A ++ G
C
C
A G
G
+
_
C
_ G A +_ C
A +_ C G
G B _
_B B G
B G
B
B G
Block diagram
AA CCC
AAA CCC GG
G
GGG
CCC
CCC G
GG

A
A C
CC
A C A G
AA G CC GG
GG
11 AA
AA 1 A
A G
G
G

A + C
A + C A + G C
A G + C A +± G C
A G + ± C G
G ±
± ± 1 B
±B 1 B
B G1 B
B G
G

A + C
A G1 + C
G1 + + A C
A
G Block diagram
+
±
C
A +
±
G
C

B
1
B
G

A + C
G1
+ A C
G1 + G1

G2

A + C
G
± A G C
1 m GH
H
 Block diagram

Exercise:
Find the transfer function of the following block
diagram

Y(s) 2s + 4
= 2
R (s) s + 2s + 4
 Block diagram
Exercise:
 Signal Flow Graph

• For a system with complex interrelationships, the block

diagram reduction is cumbersome and often quite difficult to
complete.
• Signal-flow graph is an alternative method for determining
relationship between system variables.
 Signal Flow Graph
Basic Concept

• A signal flow-graph consists of branches, which

represents system/subsystem transfer function,
and nodes which represent signal (input/output
point)

System

θ ( s ) = G ( s )V f ( s )

Input node Output node

 Signal Flow Graph
BLock Diagram to signal flow graph
 Signal Flow Graph
BLock Diagram to signal flow graph
 Signal Flow Graph
BLock Diagram to signal flow graph
Signal Flow Graph
 Signal Flow Graph
Examples:
 Signal Flow Graph
Terminologies

Signal flow graph terminologies which are used

to determine the transfer function

• Forward-path gain
• Loop gain
• Non-touching loop gain
 Signal Flow Graph
• Forward-path gain: The product of gains found by
traversing a path from the input node to the output
node of the signal-flow graph.
 Signal Flow Graph
• Loop gain: The product of branch gains by traversing a
path that starts at a node and ends at same node without
passing trough any other node more than once and
following the direction of the signal flow.
 Signal Flow Graph
• Nontouching loop: Loops that do not have any node in
common.
 Signal Flow Graph

• Nontouching loop gain: The product of loop gains from

nontouching loops taken two, three, four, etc.
 Signal Flow Graph

Loop1=G2*H1 ForwardPath1=G1*G2*G3*G4*G5*G7
Loop2=G4*H2 ForwardPath2=G1*G2*G3*G4*G6*G7
Loop3=G4*G5*H3
Nontouching Loop Gains:
Loop4=G4*G6*H3
Loop1*Loop2
Loop1 does not touch other loops.
Loop1*Loop3
Loops 2,3 & 4 have node V3 in common.
Loop1*Loop4
 Signal Flow Graph
Mason’s Gain Formula
• The transfer function T between output variable
Y(s) and input variable R(s) is

Y ( s ) ∑ k Pk Δ k
T (s) = =
R( s) Δ
Where:
K :number of forward path
Pk : the kth forward-path gain
 Signal Flow Graph
Mason’s Gain Formula

Y ( s ) ∑ k Pk Δ k
T (s) = =
R( s) Δ
Where:
Δ = System determinant
Δ 1 -Σ (all individual loop gain)
+ Σ (non-touching loop gain of two loops)
- Σ (non-touching loop gain of three loops)
+ …..
Δk =kth forward path determinant
 Signal Flow Graph

Mason’s Gain Formula

Δk = Δ -Σ loop gain terms in Δ that touch the kth forward

path.

In other words, Δk is formed by eliminating from Δ those loop

gain touch the kth forward path.
 Mason Rule
Example

C(s)
=?
R (s)
 Mason Rule
Step 1: Identify the forward path gains

Step 2: Identify the loop gains

Step 3: Identify the non-touching loop taken 2 at a

time

Step 4: Non-touching loop taken 3 at a time

Mason Rule
 Mason Rule
Example: Use Mason Rule to get transfer function

C(s)
=?
R (s)
 Mason Rule
Solution:
1. Draw signal nodes

2. Connect the nodes

 Mason Rule
3. Simplified signal flow graph
 Mason Rule
4. Solve for transfer function
 Summary
• Transfer Function is the ratio of the Laplace transform
of the output variable to the Laplace transform of the
input variable, with all initial conditions assumed to be
zero.
• A block diagram is a convenient tool to visualize the
systems as a collection of interrelated subsystems that
emphasize the relationships among the system variables.
• Signal flow graph and Mason’s gain formula are used to
determine the transfer function of the complex block
diagram.