Mathematical Modelling of

Control System
BY Saurabh Korgaonkar
• What is a Mathematical Model
– In order to study and examine a control System, it is necessary to
have some type of equivalent representation of the system
– Consists of Deriving a Physical Model and then applying the laws
of Physics to derive a mathematical Equation
• Most Control systems contain mechanical, electrical or both
components
• These Physical systems are converted into mathematical
models based on Transfer function approach
• From Mathematical Point of view , Mechanical and
electrical systems are exactly analogous to each other
– Equivalent electrical system can be shown for each mechanical
system and vis-a-versa.
 Analysis of Mechanical System
• In mechanical System motion can be of
Different types
– Translation
– Rotational
– Combination of Both (Screw)
• Equations Governing such motion in
mechanical systems are govern often by
directly or indirectly by Newton’s law of
Motion
 Translation Motion
• Motion is in straight line
• System are characterised by
– Linear displacement
– Velocity
– Acceleration
• Following elements are dominantly involved in
the Analysis of Translation motion systems
– Mass
– Spring
– Friction
 Mass
• This is the property of the system itself which stores
the kinetic energy of the translation motion
• Mass has no power to store the potential energy
• It is measured in Kilograms
• Displacement of the mass takes place in the direction
of the applied force results in inertial force
• Force is always proportional to acceleration produced
in mass by the applied force
 Mass
• As mass cannot store Potential Energy,
– There cannot be consumption of force in masses
– Eg. If two masses M1 and M2 are directly in
contact with each other and if Force F(t) is applied
to mass M1 then M2 will also be displace by same
amount as M1
 Spring
• In mechanical Systems, there can be an actual
spring or indication of spring due to an elastic
cable or belt
• Spring has the property to store potential energy
• Force required to cause to displacement is directly
proportional to the net displacement in the spring
 Spring
• If the spring is connected between two masses
M1 and M2 and a force F(t) is applied to mass
M1
• M1 will get displaced by x1 and M2 by x2
• K spring constant will store some amount of
force in the form of potential energy resulting
in difference in displacement
 Friction
• Whenever there is motion , there exists a Friction
• Friction is non-linear and can be divided into three
types
– Viscous friction
– Static Friction
– Coulomb Friction
• Viscous Friction is dominant out of the three
• Viscous friction is assumed to be linear with
frictional constant ‘B’
 Friction

• If friction is between two moving bodies M1

and M2, the frictional forces is given by
Comparison between translation and
Rotational system
 Equivalent Mechanical System
(Node basis)
• It is always better to draw an equivalent
mechanical system from given mechanical
system
Equivalent Mechanical System
Mathematical model of Mechanical
System
 Importance of Laplace
• The control systems can be classified as electrical
mechanical hydraulic thermal and so on.
• All the systems can be described by integral or
differential equations of various order.
• Mathematically it is difficult to solve such
equations in the time domain.
• Laplace converts such integral-differential
equations into simple algebric equations.
• Then by eliminating the unwanted variable , the
required variable is s domain can be obatined
• Then by using the laplace inverse, time domain
function for the required function can be obatined
Electrical systems
Resistor ->

Inductance - >

Capacitance - >
Mathematical Model of an LCR circuit
 F - V Analogy
• In electrical and Mechanical System , there exists a
fixed analogy and their exists a similarity between
their equilibrium equations.
• Hence it is possible to draw an electrical system which
will behave exactly similar to the given mechanical
system, this is called electrical analogous of
mechanical system
• It is advantageous to obtain electrical analogous of the
given mechanical system as we are well familiar with
the method of analysing the electrical network of
mechanical systems
• There are two methods of obtaining electrical
analogous networks , namely
– 1. Force voltage analogy
– 2. Force current analogy
 F - V analogy
• In this method , to the force in mechanical
system, voltage is considered a analogous
• Accordingly we will find the other analogous
terms
• Mechanical ->
• Electrical ->
F – V analogy
F – V Analogy
F – I analogy
F – I Analogy
Example