ISTANBUL AYDIN UNIVERSITY

FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONICS ENGINEERING DEPT.

EEE362: CONTROL SYSTEMS

2. Modeling in Frequency Domain
[Transfer Function]

Instructor:
Assist. Prof. Dr. Mohammed ALKRUNZ
Electrical & Electronics Engineering Department
 Introduction,,,

Modeling:
 Converting physical system to some equations that
represent this system.
 This process of finding the mathematical equations
aims to determine their performance and transfer
functions.

Representation of a system:
1. Transfer Function (it will be given in this lecture)
2. State Space (it will be given in next lecture)
3. Other approaches (it will be given in other courses)
In this lecture, we will learn how to model a physical system by Laplace
Transform:
1. Electrical Systems
2. Mechanical Systems
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EEE362: Control Systems
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Recap from Laplace Transform:

𝑓(𝑡) → 𝐹 𝑠 = ℒ 𝑓(𝑡)
1
𝑓(𝑡) = 1 → 𝐹 𝑠 =
𝑠
𝑑𝑛
𝑓(𝑡) = 𝑛 𝑥(𝑡) → 𝐹 𝑠 = 𝑠 𝑛 𝑋(𝑠) Differentiation is like multiply by “s”
𝑑𝑡
𝑡
𝑋(𝑠)
𝑓 𝑡 = 𝑥 𝜏 𝑑𝜏 → 𝐹 𝑠 = Integration is like multiply by “1/s”
𝑠
0
𝐴
𝑓 𝑡 = 𝐴 𝑒 −𝑎𝑡 𝑢(𝑡) → 𝐹 𝑠 =
𝑠+𝑎

*You can recap the full table from the corresponding sources.
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EEE362: Control Systems
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Example:
𝑪(𝒔)
Find the transfer function “𝑮 𝒔 = 𝑹(𝒔)” which corresponding to the following
differential equation:

𝒅𝟑 𝒄(𝒕) 𝒅𝟐 𝒄(𝒕) 𝒅𝒄(𝒕) 𝒅𝟐 𝒓(𝒕) 𝒅𝒓(𝒕)

+𝟑 +𝟕 + 𝟓𝒄 𝒕 = +𝟒 + 𝟑𝒓(𝒕)
𝒅𝒕𝟑 𝒅𝒕𝟐 𝒅𝒕 𝒅𝒕𝟐 𝒅𝒕

Solution:

𝑠 3 𝐶 𝑠 + 3𝑠 2 𝐶 𝑠 + 7𝑠 𝐶 𝑠 + 5 𝐶 𝑠 = 𝑠 2 𝑅 𝑠 + 4𝑠 𝑅 𝑠 + 3 𝑅(𝑠)
𝐶 𝑠 𝑠 3 + 3𝑠 2 + 7𝑠 + 5 = 𝑅 𝑠 𝑠 2 + 4𝑠 + 3

𝑪(𝒔) 𝒔𝟐 + 𝟒𝒔 + 𝟑
=
𝑹(𝒔) 𝒔𝟑 + 𝟑𝒔𝟐 + 𝟕𝒔 + 𝟓

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Example:
Find the differential equation which corresponding to the following transfer
function:
𝑪(𝒔) 𝟐𝒔 + 𝟏
=
𝑹(𝒔) 𝒔𝟐 + 𝟔𝒔 + 𝟐
Solution:

𝐶 𝑠 𝑠 2 + 6𝑠 + 2 = 𝑅 𝑠 2𝑠 + 1
𝑠 2 𝐶 𝑠 + 6𝑠 𝐶 𝑠 + 2 𝐶 𝑠 = 2𝑠 𝑅 𝑠 + 𝑅(𝑠)

𝒅𝟐 𝒄(𝒕) 𝒅𝒄(𝒕) 𝒅𝒓(𝒕)

+ 𝟔 + 𝟐𝒄 𝒕 = 𝟐 + 𝒓(𝒕)
𝒅𝒕𝟐 𝒅𝒕 𝒅𝒕
Or you can write it as:
𝒄 𝒕 + 𝟔 𝒄 𝒕 + 𝟐 𝒄 𝒕 = 𝟐 𝒓 𝒕 + 𝒓(𝒕)

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Waveforms used in Control Systems:

1. Impulse 2. Step 3. Ramp 4. Parabola

1 2
𝑓 𝑡 = 𝛿(𝑡) 𝑓 𝑡 = 𝑢(𝑡) 𝑓 𝑡 = 𝑡 𝑢(𝑡) 𝑓 𝑡 = 𝑡 𝑢(𝑡)
2

1 1 1
𝐹 𝑠 =1 𝐹 𝑠 = 𝐹 𝑠 = 2 𝐹 𝑠 = 3
𝑠 𝑠 𝑠

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EEE362: Control Systems
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Example:
Find the Impulse Response and the Step Response of the following system:

𝒅𝟐 𝒚(𝒕) 𝒅𝒚(𝒕) 𝒅𝒙(𝒕)

+ 𝟏𝟐 + 𝟑𝟐 𝒄 𝒕 =
𝒅𝒕𝟐 𝒅𝒕 𝒅𝒕

Solution:
𝑠 2 𝑌 𝑠 + 12𝑠 𝑌 𝑠 + 32 𝑌 𝑠 = 𝑠 𝑋 𝑠
𝑌 𝑠 𝑠 2 + 12𝑠 + 32 = 𝑋 𝑠 𝑠

𝑌(𝑠) 𝑠 𝑠
= 2 =
𝑋(𝑠) 𝑠 + 12𝑠 + 32 𝑠+4 𝑠+8

𝒔
𝒀 𝒔 = × 𝑿(𝒔)
𝒔+𝟒 𝒔+𝟖

Dr. M. Alkrunz
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Solution (Cont.):

𝒔
𝒀 𝒔 = × 𝑿(𝒔)
𝒔+𝟒 𝒔+𝟖
For Impulse Response:

𝑥 𝑡 = 𝛿(𝑡) and then, 𝑋 𝑠 = 1

1
𝑠 𝐴 𝐵 𝑠
𝑌 𝑠 = × 𝑋(𝑠) = = +
𝑠+4 𝑠+8 𝑠+4 𝑠+8 𝑠+4 𝑠+8

𝑠
𝐴 = 𝑠 + 4 × 𝑌(𝑠) 𝑠=−4 = = −1
𝑠+8 𝑠=−4
−1 2
𝑌 𝑠 = +
𝑠+4 𝑠+8
𝑠
𝐵 = 𝑠 + 8 × 𝑌(𝑠) 𝑠=−8 = =2
𝑠+4 𝑠=−8 𝒚 𝒕 = −𝒆−𝟒𝒕 + 𝟐𝒆−𝟖𝒕 𝒖(𝒕)

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Solution (Cont.):

𝒔
𝒀 𝒔 = × 𝑿(𝒔)
𝒔+𝟒 𝒔+𝟖
For Step Response:

𝑥 𝑡 = 𝑢(𝑡) and then, 𝑋 𝑠 = 1 𝑠

1/𝑠
𝑠 1 𝐴 𝐵
𝑌 𝑠 = × 𝑋(𝑠) = = +
𝑠+4 𝑠+8 𝑠+4 𝑠+8 𝑠+4 𝑠+8

1 1
𝐴 = 𝑠 + 4 × 𝑌(𝑠) 𝑠=−4 = = 1/4 1/4
𝑠+8 𝑠=−4 4 𝑌 𝑠 = −
𝑠+4 𝑠+8
1 1 𝟏 −𝟒𝒕 𝟏 −𝟖𝒕
𝐵 = 𝑠 + 8 × 𝑌(𝑠) 𝑠=−8 = =− 𝒚 𝒕 = 𝒆 − 𝒆 𝒖(𝒕)
𝑠+4 𝑠=−8 4 𝟒 𝟒

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 Electrical Networks Transfer Functions,,,

Equivalent circuits for the electric networks, that we work with first, consist of three passive
linear components: resistors, capacitors, and inductors. The following table summarizes the
components and the relationships between voltage and current and between voltage and
charge under zero initial conditions.

Example:
𝑑𝑖(𝑡) 𝑉(𝑠)
For inductor: 𝑣 𝑡 = 𝐿 , this means that 𝑉 𝑠 = 𝐿 × 𝑠 𝐼(𝑠) or = 𝐿𝑠
𝑑𝑡 𝐼(𝑠)

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Example:
𝑽𝒐 (𝒔)
Find 𝑮 𝒔 = for the following given
𝑽𝒊𝒏 (𝒔)
electrical circuit:

Solution:
First, we should convert the circuit from its time-domain setting to the frequency domain
setting as follows:
𝟏 𝒔

𝑽𝒊𝒏 𝟏
𝟏 𝑽𝒐
𝒔

where:
𝟏 𝟏
𝑹→𝑹=𝟏 𝑳 → 𝒔𝑳 = 𝒔 𝑪→ =
Dr. M. Alkrunz 𝒔𝑪 𝒔
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EEE362: Control Systems
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Solution (cont.): 𝟏 𝒔
By mesh current method:

−𝑉𝑖𝑛 + 𝐼1 + 𝐼1 − 𝐼2 = 0 𝑽𝒊𝒏 𝟏
𝟏 𝑽𝒐
𝒔
𝟐𝑰𝟏 − 𝑰𝟐 = 𝑽𝒊𝒏 (1)
𝐼2 Loop 𝑰𝟏 Loop 𝑰𝟐
𝐼2 − 𝐼1 + 𝑠𝐼2 + =0
𝑠
𝐼2 1
𝐼2 − 𝐼1 + 𝑠𝐼2 + =0 then −𝐼1 + 𝐼2 1 + 𝑠 + =0
𝑠 𝑠
1 𝟏
−𝐼1 + 𝐼2 1 + 𝑠 + =0 ×2 or −𝟐𝑰𝟏 + 𝟐𝑰𝟐 𝟏 + 𝒔 + =𝟎 (2)
𝑠 𝒔

2 𝟏
By adding (1) to (2), then: 𝐼2 1 + 2𝑠 + = 𝑉𝑖𝑛 or 𝑰𝟐 = 𝑽𝒊𝒏
𝟐
𝑠 𝟏 + 𝟐𝒔 + 𝒔

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Solution (cont.): 𝟏 𝒔
𝟏
𝑰𝟐 = 𝑽𝒊𝒏 𝟏
𝟐 𝑽𝒊𝒏 𝟏 𝑽𝒐
𝟏 + 𝟐𝒔 + 𝒔
𝒔

𝟏
We know that: 𝑽𝒐 = 𝑰𝟐 Loop 𝑰𝟏 Loop 𝑰𝟐
𝒔

1 1 1 1
𝑉𝑜 = 𝐼2 = × 𝑉𝑖𝑛 = 2 𝑉
𝑠 𝑠 1 + 2𝑠 + 2 2𝑠 + 𝑠 + 2 𝑖𝑛
𝑠

𝑽𝒐 (𝒔) 𝟏
= 𝟐
𝑽𝒊𝒏 (𝒔) 𝟐𝒔 + 𝒔 + 𝟐

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Example:
𝑽𝑳 (𝒔)
Find 𝑮 𝒔 = for the following given
𝑽𝒊𝒏 (𝒔)
electrical circuit:

Solution:
By node voltage, we have one node:

𝟏
𝑉1 − 𝑉𝑖𝑛 𝑉1 𝑉1 𝟏 𝒔
+ + =0 𝑽𝟏
1 1 1 + 2𝑠 ∎
1+𝑠 1+𝑠
1 1 1 𝑉𝑖𝑛 𝟏
𝑉1 + + = 𝟏
1 1 1
1 + 𝑠 1 + 𝑠 1 + 2𝑠 1+𝑠 𝑽𝒊𝒏
𝟏 𝑽𝑳
𝟐𝒔
4𝑠 2 + 3𝑠 + 1 𝑉𝑖𝑛 𝒔
𝑉1 =
1 + 2𝑠 𝑠 + 1 1
1+𝑠
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𝟏
Solution (Cont.):
𝟏 𝒔
𝑽𝟏
∎
1
1 𝟏
𝑉1 1+𝑠 𝑠 2𝑠 + 1 𝟏
= = 𝑽𝒊𝒏
𝑉𝑖𝑛 4𝑠 2 + 3𝑠 + 1 4𝑠 2 + 3𝑠 + 1
1 + 2𝑠 𝑠 + 1 𝟏 𝑽𝑳
𝟐𝒔
𝒔
𝑠 2𝑠 + 1
or, 𝑉1 = 𝑉 (1)
4𝑠 2 + 3𝑠 + 1 𝑖𝑛
2𝑠 1 + 2𝑠
and, 𝑉𝐿 = 𝑉 or, 𝑉1 = 𝑉𝐿 (2)
1 + 2𝑠 1 2𝑠

Then, by substituting (2) into (1):

𝑉𝐿 𝑠 2𝑠 + 1 2𝑠 2𝑠 2 𝑉𝐿 (𝑠) 2𝑠 2
= × = =
𝑉𝑖𝑛 4𝑠 2 + 3𝑠 + 1 1 + 2𝑠 4𝑠 2 + 3𝑠 + 1 𝑉𝑖𝑛 (𝑠) 4𝑠 2 + 3𝑠 + 1
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𝟓𝑭
Example:
Write without solving the mesh and
node equations:
𝟏𝛀 2𝛀 𝟑𝑯
𝟏𝛀
Solution:
𝟒𝛀
By node voltage, we have 3 nodes:
𝟐𝑯
𝟏
𝟓𝒔

𝑽𝟐 𝑉1 = 𝑉𝑖𝑛 (1)
𝑽𝟏∎ ∎ ∎ 𝑽𝟑
𝟏 𝟐 𝟑𝒔 𝑉2 − 𝑉1 𝑉2 𝑉2 − 𝑉3
𝟏 + + =0 (2)
1 1 + 2𝑠 2 + 3𝑠
𝑽𝒊𝒏 𝟒 𝑽𝒐
𝑉3 − 𝑉1 𝑉3 − 𝑉2 𝑉3
𝟐𝒔 + + =0 (3)
1/5𝑠 2 + 3𝑠 4

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Solution:
By mesh current, we have 3 loops:

𝟏
𝟓𝒔 (1)
−𝑉𝑖𝑛 + 𝐼1 − 𝐼3 + 1 + 2𝑠 𝐼1 − 𝐼2 = 0
𝐼3 𝑽𝟐
𝑽𝟏∎ ∎ ∎ 𝑽𝟑
𝟏 𝟐 𝟑𝒔 1 + 2𝑠 𝐼2 − 𝐼1 + 2 + 3𝑠 𝐼2 − 𝐼3
𝟏 (2)
+ 4𝐼2 = 0
𝑽𝒊𝒏 𝐼1 𝐼2 𝟒 𝑽𝒐
𝟐𝒔

1 (3)
𝐼3 − 𝐼1 + 2 + 3𝑠 𝐼3 − 𝐼2 + 𝐼 =0
5𝑠 3

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 Mechanical System Transfer Functions,,,

In the previous lecture, we did discuss the modeling of the Electrical Systems in
the frequency domain. Namely, How we can find the transfer function for such
an electrical circuit. Today, we will investigate the Mechanical Systems.

Mechanical Systems:
Motivation Example: (Spring-Mass-Damper System)

Input Output
System
f(t) x(t)
B
Mass:
By applying Newton’s second law:
𝑓 𝑡 = 𝑚𝑎 𝑡 = 𝑚𝑣 𝑡 = 𝑚𝑥(𝑡)
𝑭 = 𝒎𝒂
𝒇𝒎 𝒕 = 𝒎𝒙(𝒕)
F: Force m: Mass a: Acceleration
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Input Output
System
f(t) x(t)
B
Spring:
𝑓𝑘 (𝑡)
K: is the stiffness of spring [N. m−1 ]
slope = K
𝒇𝒌 𝒕 = 𝑲 𝒙(𝒕)

𝑥(𝑡)

Damper:
𝑓𝐵 (𝑡) B: is the viscosity of damper

slope = B 𝑓𝐵 𝑡 = 𝐵 𝑣 𝑡 = 𝐵 𝑥 𝑡
𝒇𝑩 𝒕 = 𝑩 𝒙 𝒕
𝑣(𝑡) Dr. M. Alkrunz
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Free Body Diagram:

 To examine all affected forces.
 For every action, there is a reaction.

Then, for the previous mentioned example, the free body diagram is: B

𝑓𝑚 (𝑡) 𝑓𝑛𝑒𝑡 𝑡 = 𝑓 𝑡 − 𝑓𝑚 𝑡 − 𝑓𝑘 𝑡 − 𝑓𝐵 𝑡 = 0
𝑓𝑘 (𝑡)
𝑓 𝑡 = 𝑓𝑚 𝑡 − 𝑓𝑘 𝑡 − 𝑓𝐵 𝑡
𝑓𝐵 (𝑡)

OR:
𝑓 𝑡 = 𝑚 𝑥 𝑡 + 𝐵 𝑥 𝑡 + 𝐾 𝑥(𝑡)
𝐹 𝑠 = 𝑚 𝑠2𝑋 𝑠 +𝐵 𝑠𝑋 𝑠 +𝐾𝑋 𝑠
𝐹 𝑠 = 𝑋 𝑠 𝑚 𝑠2 + 𝐵 𝑠 + 𝐾 𝑋(𝑠) 1
=
𝐹(𝑠) 𝑚 𝑠 2 + 𝐵 𝑠 + 𝐾
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 Mechanical System Transfer Functions,,,

Therefore, to sum up and to create a direct table that illustrates the mechanical systems:

B B B

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Example:

Find 𝑮 𝒔 = 𝑿𝟐 (𝒔) 𝑭(𝒔), for the translational

mechanical network shown in figure.

Solution:
Free Body Diagram:
𝑥1 (𝑡)
𝑘 𝑋1 − 𝑋2 + 𝑠𝐵 𝑋1 − 𝑋2 + 𝑠 2 𝑀1 𝑋1 = 𝐹(𝑠)
𝐹(𝑠) 𝐹𝑘 𝑠 = 𝑘 𝑋1 − 𝑋2
𝑴𝟏 𝑋1 𝑀1 𝑠 2 + 𝐵 𝑠 + 𝐾 − 𝑋2 𝐵 𝑠 + 𝐾 = 𝐹(𝑠)
𝐹𝐵 𝑠 = 𝑠 𝐵 𝑋1 − 𝑋2
1kg
𝐹𝑀1 𝑠 = 𝑠 2 𝑀1 𝑋1 𝑋1 𝑠 2 + 𝑠 + 1 − 𝑋2 𝑠 + 1 = 𝐹(𝑠) (1)
𝑥2 (𝑡)
𝑘 𝑋2 − 𝑋1 + 𝑠𝐵 𝑋2 − 𝑋1 + 𝑠 2 𝑀2 𝑋2 = 0
𝐹𝑘 𝑠 = 𝑘 𝑋2 − 𝑋1
𝐹𝐵 𝑠 = 𝑠 𝐵 𝑋2 − 𝑋1
𝑴𝟐 𝑋2 𝑀2 𝑠 2 + 𝐵 𝑠 + 𝐾 − 𝑋1 𝐵 𝑠 + 𝐾 = 0
1kg
𝐹𝑀2 𝑠 = 𝑠 2 𝑀2 𝑋2 𝑋2 𝑠 2 + 𝑠 + 1 − 𝑋1 𝑠 + 1 = 0 (2)
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Solution: (Cont.)

𝑋1 𝑠 2 + 𝑠 + 1 − 𝑋2 𝑠 + 1 = 𝐹(𝑠) (1) 𝑋2 𝑠 2 + 𝑠 + 1 − 𝑋1 𝑠 + 1 = 0 (2)

From equation (2):

𝑠2 + 𝑠 + 1
𝑋1 = 𝑋2 (3)
𝑠+1

Then, substitute (3) into (1):

𝑠2 + 𝑠 + 1 2
𝑋2 𝑠 + 𝑠 + 1 − 𝑋2 𝑠 + 1 = 𝐹(𝑠)
𝑠+1
𝑠2 + 𝑠 + 1 2
𝑋2 − 𝑋2 𝑠 + 1 = 𝐹(𝑠)
𝑠+1
𝑠2 + 𝑠 + 1 2 𝑋2 (𝑠) 𝑠+1
𝑋2 − 𝑠 + 1 = 𝐹(𝑠) Just simplify it = 2 2
𝑠+1 𝐹(𝑠) 𝑠 𝑠 + 2𝑠 + 1

Dr. M. Alkrunz
15.03.2023 23
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Example:
Find 𝑮 𝒔 = 𝑿𝟐 (𝒔) 𝑭(𝒔), for the translational mechanical network shown in figure.

Solution:
Free Body Diagram:
𝑥3 (𝑡) 𝑥1 (𝑡) 𝑥0 = 0
Hint: Each mechanical
element should has “x”
before and after it.

𝑥1 (𝑡)
𝑥3 (𝑡) 𝑥2 (𝑡)
𝐹(𝑠) 2 𝑋2 − 𝑋3 5𝑠 𝑋1 − 𝑋2
2 𝑋3 − 𝑋2 𝑴
2𝑠 𝑋1
5𝑠 𝑋2 − 𝑋1 𝟏𝟎𝒌
10 𝑠 2 𝑋1
Dr. M. Alkrunz
15.03.2023 24
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Solution: (Cont.)
𝑥1 (𝑡)
𝑥3 (𝑡) 𝑥2 (𝑡)
𝐹(𝑠) 2 𝑋3 − 𝑋2 2 𝑋2 − 𝑋3 5𝑠 𝑋1 − 𝑋2
𝑴
2𝑠 𝑋1
5𝑠 𝑋2 − 𝑋1 𝟏𝟎𝒌
10 𝑠 2 𝑋1

Then,

2 𝑋3 − 𝑋2 = 𝐹(𝑠) −2𝑋2 + 2𝑋3 = 𝐹(𝑠) (1)

2 𝑋2 − 𝑋3 + 5𝑠 𝑋2 − 𝑋1 = 0 −𝑋1 5 𝑠 + 𝑋2 5𝑠 + 2 − 2𝑋3 = 0 (2)
5𝑠 𝑋1 − 𝑋2 + 2𝑠 𝑋1 + 10 𝑠 2 𝑋1 = 0 𝑋1 10𝑠 2 + 7𝑠 − 𝑋2 5 𝑠 = 0 (3)

From equation (3):

5𝑠
𝑋1 = 𝑋 (4)
10𝑠 2 + 7𝑠 2

Dr. M. Alkrunz
15.03.2023 25
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Solution: (Cont.)
Replace each “𝑥1 ” in equation (2) by equation (4), then:

5𝑠 2
−𝑋2 + 𝑋2 5𝑠 + 2 = 2𝑋3
10𝑠 2 + 7𝑠 25 𝑠 2 + 15 𝑠 + 7
𝑋3 = 𝑋2 (5)
25 𝑠 2 10 𝑠 + 7
𝑋2 5𝑠 + 2 − = 2𝑋3
10𝑠 2 + 7𝑠

Replace each “𝑥3 ” in equation (1) by equation (5), then:

2 25 𝑠 2 + 15 𝑠 + 7
−2𝑋2 + 𝑋2 = 𝐹(𝑠)
10 𝑠 + 7
50 𝑠 2 + 30 𝑠 + 14
𝑋2 − 2 = 𝐹(𝑠)
10 𝑠 + 7

50 𝑠 2 + 10 𝑠 𝑋2 (𝑠) 10 𝑠 + 7
𝑋2 = 𝐹(𝑠) Just simplify it =
10 𝑠 + 7 𝐹(𝑠) 10𝑠 5𝑠 2 + 1
Dr. M. Alkrunz
15.03.2023 26
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Example:
Find 𝑮 𝒔 = 𝑿𝟐 (𝒔) 𝑭(𝒔), for the translational mechanical network shown in figure.

frictionless
Solution:
Free Body Diagram:
𝑥1 (𝑡) 𝑥2 (𝑡)
𝐾1 𝑋1 𝐾3 𝑋2
𝑠 𝐵 𝑋1 − 𝑋2 𝑠 𝐵 𝑋2 − 𝑋1
𝐹(𝑠) 𝑴𝟏 𝑴𝟐
𝐾2 𝑋1 − 𝑋2 𝐾2 𝑋2 − 𝑋1
𝑠 2 𝑀1 𝑋1 𝑠 2 𝑀2 𝑋2
Dr. M. Alkrunz
15.03.2023 27
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Solution: (Cont.)

𝑥1 (𝑡)
𝐾1 𝑋1 𝐾1 𝑋1 + 𝐾2 𝑋1 − 𝑋2 + 𝑠 𝐵 𝑋1 − 𝑋2 + 𝑠 2 𝑀1 𝑋1 = 𝐹(𝑠)
𝐹(𝑠) 𝑠 𝐵 𝑋1 − 𝑋2
𝑴𝟏 𝑋1 𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 − 𝑋2 𝐵𝑠 + 𝐾2 = 𝐹(𝑠) (1)
𝐾2 𝑋1 − 𝑋2
𝑠 2 𝑀1 𝑋1

𝑥2 (𝑡)
𝐾3 𝑋2 𝐾3 𝑋2 + 𝐾2 𝑋2 − 𝑋1 + 𝑠𝐵 𝑋2 − 𝑋1 + 𝑠 2 𝑀2 𝑋2 = 𝐹(𝑠)
𝑠 𝐵 𝑋2 − 𝑋1
𝑴𝟐 −𝑋1 𝐵𝑠 + 𝐾2 + 𝑋2 𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3 = 0 (2)
𝐾2 𝑋2 − 𝑋1
𝑠 2 𝑀2 𝑋2

Dr. M. Alkrunz
15.03.2023 28
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Solution: (Cont.)

𝑋1 𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 − 𝑋2 𝐵𝑠 + 𝐾2 = 𝐹(𝑠) (1)

−𝑋1 𝐵𝑠 + 𝐾2 + 𝑋2 𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3 = 0 (2)
From equation (2):

𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3
𝑋1 = 𝑋2 (3)
𝐵𝑠 + 𝐾2

Replace each “𝑥1 ” in equation (1) by equation (3), then:

𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3
𝑋2 𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 − 𝑋2 𝐵𝑠 + 𝐾2 = 𝐹(𝑠)
𝐵𝑠 + 𝐾2

𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3
𝑋2 − 𝐵𝑠 + 𝐾2 = 𝐹(𝑠)
𝐵𝑠 + 𝐾2

Dr. M. Alkrunz
15.03.2023 29
EEE362: Control Systems
 Mechanical System Transfer Functions,,,

Solution: (Cont.)

𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3
𝑋2 𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 − 𝑋2 𝐵𝑠 + 𝐾2 = 𝐹(𝑠)
𝐵𝑠 + 𝐾2

𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3 − 𝐵𝑠 + 𝐾2 2
𝑋2 = 𝐹(𝑠)
𝐵𝑠 + 𝐾2

Then,

𝑋2 (𝑠) 𝐵𝑠 + 𝐾2
=
𝐹(𝑠) 𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1 + 𝐾2 𝑀2 𝑠 2 + 𝐵𝑠 + 𝐾2 + 𝐾3 − 𝐵𝑠 + 𝐾2 2

You can also simplify it more than the above version.

Dr. M. Alkrunz
15.03.2023 30
EEE362: Control Systems
 *Questions

Dr. M. Alkrunz
15.03.2023 31
EEE362: Control Systems
 *Thanks
Dr. M. Alkrunz
15.03.2023 32
EEE362: Control Systems