Control Systems Engineering: Chapter 2: Modeling in The Frequency Domain

Control Systems Engineering 033
Chapter 2: Modeling in the Frequency Domain

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Dr.-Ing. Witthawas Pongyart
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Learning Outcomes:
• Find the Laplace transform of time functions and the
inverse Laplace transform
output
(Sections 2.1-2.2)
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• Find the transfer function

input
from a differential
equation and solve the differentialWuellner
equation using
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transfer function (Section 2.3)
• Find the transfer function for
Jamrodginfundlsibchivismwbonn
– linear, time-invariant electrical networks (Section 2.4)

– linear, time-invariant translational mechanical systems
– time-invariant rotational mechanical systems
– gear systems with no loss and for gear systems with loss
Learning Outcomes: (cont.)
• Find the transfer function for
– linear, time-invariant electrical networks (Section 2.4)
– linear, time-invariant translational mechanical systems
– time-invariant rotational mechanical systems
– gear systems with no loss and for gear systems with loss
– electromechanical systems
– Produce analogous electrical and mechanical circuits
– Linearize a nonlinear system in order to find the transfer
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function
Case Study:
• Given the antenna azimuth position control system
shown on the front
output
endpapers, you will be able to
find the transferinput
function of each subsystem.
• Given a model of a human leg or a nonlinear
electrical circuit, you will be able to linearize the
model and then find the transfer function.
Modeling in the Frequency Domain
What is the Transfer Function?
• Transfer function is the ratio of the Laplace transform
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of the output signal to the input signal with the initial
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conditions as zero. Wlw
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II Modeling in the Frequency Domain Diff
Example 2.4: Transfer Function for a Differential Equation
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nofond transfer function
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output
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place
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Note: p
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Example 2.6: Find the transfer function relating the capacitor
voltage, vC(t), to the input voltage, v(t).
Solution: Assuming all initial conditions = 0
Wwwwwwww
- Apply KVL v Ritt
Hi
di (t ) f i 1 t Ii t
c'layifty
L  Ri (t )   i ( )d  v(t )
dt C 0
oynow ich ice
di (t ) dvC (t )
Ku iwinnini L O  Ri (t )  vC (t )  v(t ) iC (t )  C  i (t )
dt O dt O
Wosownwhimaguvati
d 2vC (t ) dvC (t ) Differential Eq.
LC 2
 RC  vC (t )  v(t )
dt dt
laplace
LCs 2VC (s)  RCsVC (s)  VC (s)  V (s) Algebraic Eq.

Lfddftf s2fi's dtoo Ico
voltage, VC(s), to the input voltage, V(s).
- Apply KVL di (t )
L  Ri (t )  vC (t )  v(t )
dt
d 2vC (t ) dvC (t ) dvC (t )
LC 2
 RC  vC (t )  v(t ) iC (t )  C  i (t )
dt dt dt
LCs 2VC (s)  RCsVC (s)  VC (s)  V (s) Algebraic Eq.
How
ddwworfrtoi.N.im
( LCs2  RCs  1)VC (s)  V (s)

transfer function
VC ( s) 1
out 
Tn V ( s ) ( LCs 2  RCs  1)
- Apply KVL di (t )
L  Ri (t )  vC (t )  v(t )
dt
2 disowning transfer function
d vC (t ) dvC (t )
LC  RC  vC (t )  v (t ) 1. Write the differential
dt 2 dt equations for the system.
LCs 2VC (s)  RCsVC (s)  VC (s)  V (s) 2. Apply Laplace Transform
( LCs2  RCs  1)VC (s)  V (s) 3. Solve the equations for the
Transfer function.
VC ( s) 1

V ( s) ( LCs 2  RCs  1)
2 i Modeling in the Frequency Domain
Electrical Network Transfer Functions
- Let us now develop a technique for simplifying the solution for
future problems. Assuming zero initial conditions.
z Y
KVL KIL
in
- Let us now develop a technique for simplifying the solution for
future problems. Assuming zero initial conditions.
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ietHt Laplace
All of the elements have

this form.
innin Mobb z Mono
see Modeling in the Frequency Domain
- Apply KVL
Noierstime domain
1
s domain Lz
sLI ( s )  RI ( s )  I (s)  V (s)
sC
I ( s)  sCVC ( s)
waters us's vis's
LCs 2VC (s)  RCsVC (s)  VC (s)  V (s)

rowwowvis's
( LCs2  RCs  1)VC (s)  V (s)
inquaint transferfunction
VC ( s) 1

V ( s) ( LCs 2  RCs  1)
- We summarize the steps as follows:
1. Redraw the original network showing all time variables, such as
v(t), i(t), and vc(t), as Laplace transforms V(s), I(s), and Vc(s),
respectively. Assuming zero initial conditions.
2. Replace the component values with their impedance values. This
replacement is similar to the case of dc circuits, where we
represent resistors with their resistance values.
3. Solve the equations for the transfer function.
impedance
G
s domain undonetransfer
VC ( s)
 G( s)
V ( s)
redraw in Laplace is domain

883 Modeling in the Frequency Domain
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- Note: Not only the KVL and KCL, we can also use the Mesh and
Nodal analysis to determine the transfer function.
Example 2.8: Repeat Example 2.6 using nodal analysis and without
writing a differential equation. mu
Solution: We assume that currents leaving the node are positive and
currents entering the node are negative. Hence,
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Vas't VC ( s ) VC ( s )  V ( s ) vis
 0
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on
veil cuisinestis
1/ sC R  Ls
Ku Ics's c'Ickes's
VC ( s) 1

V ( s) ( LCs 2  RCs  1)
node
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lest
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wisyrydz Modeling in the Frequency Domain
- For some simple circuit, the transfer function can be determined
via voltage division.
• Example 2.9: Repeat Example 2.6 using voltage division and the
transformed circuit. murmur
Solution: We assume that currents leaving the node are positive and
currents entering the node are negative. Hence,
1/ sC
VC ( s)  V (s)
( R  Ls  1/ sC )
VC ( s) 1

2
Wuccionnaion V ( s ) ( LCs 2
 RCs  1)
L
vacs's
T Vci
untwisoon cultrate Worm
In
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• To solve complex electrical networks—those with multiple loops
and nodes — using mesh analysis, we can perform the following
steps: WW
pr u
1. Replace passive element values with their impedances. iz
2. Replace all sources and time variables with their Laplace source1time
a
transform. valsVu's Laplace
3. Assume a transform current and a current direction in each mesh.

4. Write Kirschoff’s voltage law around each mesh.
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5. Solve the simultaneous equations for the output.
6. Form the transfer function.
• Example 2.10: Given the network of Figure 2.6(a), find the
transfer function,I2(s)/V(s). output
input
Solution: Assuming all initial conditions = 0, and draw the
transformed circuit. uurunwwww
i Ves's 1Rages't LsIsis'tIds'll o transform Csdomain impedance
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or
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owmeshtonged
transfer function,I2(s)/V(s).
Solution: Write Kirchoff’s voltage law around each mesh.
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wind me
R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s )
1 1 I 2 ( s)
1
?
V ( s)
01 LsI 2 ( s)I R2 I 2 ( s)  sC I 2 ( s) lLsI1 ( s)l 0
Note : we have to eleminate I1 ( s) from the equations.

Solution: Write Kirschoff’s voltage law around each mesh.
R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s ) ( R1  Ls) I1 ( s)  V ( s)  LsI 2 ( s)

our8mVhis
1 V ( s )  LsI 2 ( s )
LsI 2 ( s)  R2 I 2 ( s )  I 2 ( s )  LsI1 ( s )  0 I1 ( s ) 
sC ( R1  Ls )

Solution: Write Kirschoff’s voltage law around each mesh.
MIIp aortatwo
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6th
V ( s )  LsI 2 ( s )
R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s ) I1 ( s ) 
( R1  Ls )
1 V ( s )  LsI 2 ( s )
LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s )  Ls ( )0
sC R1  Ls

Solution: Write Kirchoff’s voltage law around each mesh.
1 V ( s )  LsI 2 ( s ) 1
Hagel random
LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s )  Ls ( )0
sC R1  Ls
1
( R1  Ls )( LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s ))  Ls (V ( s )  LsI 2 (s ))
sC
1
( R1  Ls )( R2 I 2 ( s )  I 2 ( s ))  R1LsI 2 ( s )  LsV ( s )
sC
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• Example 2.10: Before leaving the example, we notice a pattern
first illustrated by Eq. (2.72). The form that Eq. (2.80) take is.
R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s )

1
LsI 2 ( s)  R2 I 2 ( s )  I 2 ( s )  LsI1 ( s )  0
sC
282mi Garrow 8NM table Iowa eds's vcs
• In order to handle multiple-node electrical networks using nodal
analysis, we can perform the following steps:
1. Replace passive element values with their admittances.
2. Replace all sources and time variables with their Laplace
transform.
3. Replace transformed voltage sources with transformed current
sources.
4. Write Kirschoff’s current law at each node.
5. Solve the simultaneous equations for the output.
6. Form the transfer function.
887
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• Example 2.11: Find the transfer function, Vc(s)/V(s), for the circuit
in Figure 2.6(b). Use nodal analysis. www
Solution: Write Kirschoff’s current law for each node.
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• Example 2.11: Find the transfer function, Vc(s)/V(s), for the circuit
in Figure 2.6(b). Use nodal analysis.
Solution: Write Kirschoff’s current law for each node.
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Transfer Function : Operational Amplifiers
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• An operational amplifier, pictured in Figure 2.10(a), is an
electronic amplifier used as a basic building block to implement
transfer functions. It has the following characteristics:
1. Differential input: v2(t) – v1(t)
2. High input impedance: Zi = ∞ (ideal)
3. Low output impedance: Zo = 0 (ideal)
4. High constant gain amplification: A = ∞ (ideal)
• The output, vo(t), is given by
vo(t)=A(v2(t)-v1(t))
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2Amplifier
Transfer Function : Operational Amplifiers
• To build the transfer function, the operational amplifiers are
mostly applied in the following circuit :
– Inverting Amplifier
– Non inverting Amplifier
888.1
inverting
Transfer Function : Inverting Operational Amplifier Circuit
• Example 2.14 Find the transfer function, Vo(s)/Vi(s), for the circuit
given in Figure 2.11. wasd domain i g
is
• Solution Mr
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a
Zz Ritz
Transfer Function : Inverting Operational Amplifier Circuit
given in Figure 2.11.
• Solution
Note: The resulting circuit is called a PID controller and can be

used to improve the performance of a control system.
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noninverting Modeling in the Frequency Domain
Transfer Function : Noninverting Operational Amplifier Circuit
given in Figure 2.13.
• Solution
sdomain
Sfg
mechanical
Conclusion:
• In this section, we found transfer functions for multiple-loop and
multiple-node electrical networks, as well as operational
amplifier circuits.
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• In the next section we begin our work with mechanical systems.
We will see that many of the concepts applied to electrical
networks can also be applied to mechanical systems.
• This revelation will give you the confidence to move beyond this
textbook and study systems not covered here, such as hydraulic
or pneumatic systems.
88g
Burrotosnow Modeling in the Frequency Domain
Mechanical System Transfer Functions
nor
- Since there are two types of the movement in mechanical
separated in twowww
system, this topic iswww groups:
1. Translational Mechanical System Transfer Functions bothshoes
2. Rotational Mechanical System Transfer Functions 09h28
- However, both of them are based on the same concept.
- The mechanical systems are mostly composed of three
components, namely: Mass, Spring and Damper.
- The properties or the components are listed in the table 2.4.
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diff diff
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shock w w
damp spring
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- The spring constant K determines the relationship between the
displacement x(t) and the force f(t).
- The damping constant or coefficient of viscous friction fv
determines the relationship between the velocity v(t) and the
force f(t).
- The damping constant or coefficient of viscous friction fv
determines the relationship between the velocity v(t) and the
force f(t).
- The damper are always used along with the spring, to provide
good oscillation !
- The relationship between the displacement x(t) and the force f(t)
are determined according to Newton’s 2nd Law.
• The force-displacement relationships for springs, viscous
dampers, and mass are listed in the table 2.4.
Mrisoguagno
Transfer Function—One Equation of Motion
• Example 2.11: Find the transfer function, X(s)/F(s), for the system
in the figure. (Ignorepp cg.sns4
the force due to the gravity)
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Solution:
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1. Draw the free-body diagram
2. Place on the mass all forces felt by the mass
3. Write the differential equation of motion using Newton's law to
sum to zero all of the forces
shown on the mass vets Alfa
2
d x(t ) 9
 f (t )  m
dt 2
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Transfer Function—One Equation of Motion
• Example 2.11: Find the transfer function,
X(s)/F(s), for the system in the figure.
(Ignore the force due to the gravity)
Solution: (cont.)
4. Taking the Laplace transform, assuming zero initial conditions
5. Solve the equation for the transfer function yields
Concept of Mechanical Impedance
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Note:
Transfer Function—Two Degrees of Freedom
Example 2.17: Find the transfer function, X2(s)/F(s), for the system.
mounts
Solution:
- The system has two degrees of freedom, since each mass can be
moved in the horizontal direction while the other is held still.
- Thus, two simultaneous equations of motion will be required to
describe the system.
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Solution: (For the M1) If we hold M2 still and move M1 to the right.
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Then hold M1 still and move M2 to the right
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spring
springerinov amimmi
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massaironin fins
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mass
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Solution: The total force on M1 is the superposition.
82hrs1 [M1s2  ( fv1  fv3 )s  ( K1  K2 )]X1 (s)  ( fv3s  K2 ) X 2 (s)  F (s)

Solution: (For the M2) If we hold M1 still and move M2 to the right.
Then hold M2 still and move M1 to the right
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EBD x to FBD Xz1
20 two
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[M1s2  ( fv1  fv3 )s  ( K1  K2 )]X1 (s)  ( fv3s  K2 ) X 2 (s)  F (s)
∆
882
8880 Modeling in the Frequency Domain
Solution: The total force on Mass is the superposition.
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[M1s2  ( fv1  fv3 )s  ( K1  K2 )]X1 (s)  ( fv3s  K2 ) X 2 (s)  F (s)

Note: The form of the equations is similar to electrical mesh equations:
Solution: The total force on Mass is the superposition.
WOSM2
by inspection
Note: The form of the equations is similar to electrical mesh equations:

882
modulo Modeling in the Frequency Domain
Example 2.18 :Equations of Motion by Inspection
Write the equations of motion for the mechanical network.
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Control Systems Engineering: Chapter 2: Modeling in The Frequency Domain

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Control Systems Engineering: Chapter 2: Modeling in The Frequency Domain

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Control Systems Engineering 033

Chapter 2: Modeling in the Frequency Domain

• Find the transfer function

– linear, time-invariant electrical networks (Section 2.4)

LCs 2VC (s)  RCsVC (s)  VC (s)  V (s) Algebraic Eq.

( LCs2  RCs  1)VC (s)  V (s)

All of the elements have

LCs 2VC (s)  RCsVC (s)  VC (s)  V (s)

redraw in Laplace is domain

Modeling in the Frequency Domain

3. Assume a transform current and a current direction in each mesh.

i Ves's 1Rages't LsIsis'tIds'll o transform Csdomain impedance

Ls Hd 464 1Runs't t Egg p

Note : we have to eleminate I1 ( s) from the equations.

R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s ) ( R1  Ls) I1 ( s)  V ( s)  LsI 2 ( s)

Note : we have to eleminate I1 ( s) from the equations.

Note : we have to eleminate I1 ( s) from the equations.

Note : we have to eleminate I1 ( s) from the equations.

R1I1 (s)  LsI1 (s )  LsI 2 (s )  V (s )

vis't Sz1dg Vols't

Note: The resulting circuit is called a PID controller and can be

Modeling in the Frequency Domain

82hrs1 [M1s2  ( fv1  fv3 )s  ( K1  K2 )]X1 (s)  ( fv3s  K2 ) X 2 (s)  F (s)

[M1s2  ( fv1  fv3 )s  ( K1  K2 )]X1 (s)  ( fv3s  K2 ) X 2 (s)  F (s)

Note: The form of the equations is similar to electrical mesh equations:

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