College of Engineering

Course Title: Introduction to Control System

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Chapter-2: Control system modeling and representation

1 Introduction

2 Modeling of Electrical system

3 Modeling of Mechanical system

4 Analogous systems

5 Modeling of Electromechanical system

6 Fluid System

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 Introduction

Introduction

Mathematical Model: the set of mathematical equations describ-

ing the dynamic behaviour of the system.

The reasons to study mathematical model of the system is:

simulation and animation: test desired motions without
resorting to real experimentation
Analysis and synthesis of suitable control algorithms

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 Modeling of Electrical system

Modeling of Electrical system

The basic elements of electrical system are resistor, inductor, and
capacitor
Resistor

The mathematical model is given by ohm’s law,

v (t) = Ri(t)

Inductor

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Modeling of Electrical system

The input output relations are given by Faraday’s law,

di(t)
v (t) = L
dt

Capacitor

Z
1
v (t) = idt
C
Transfer function: it is the ratio of the laplace transform of output
response to the laplace transform of input (excitation) assuming all
the initial conditions to be zero.

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Modeling of Electrical system

Example1. Consider the network shown in the Fig. below. Obtain

the relation between the applied voltage and the current in the form
of (a) Differential equation (b) Transfer function

a) Using Kirchhoff’s voltage law

Z
di(t) 1
Ri(t) + L + i(t)dt = v (t)
dt C
b) Transfer function
Q(s) C
=
V (s) LCs 2 + RCs + 1
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Modeling of Electrical system

Example 2. Consider the parallel RLC network excited by a current

source. Find the (a) differential equation representation and (b)
transfer function representation of the system.

a) Using Kirchhoff’s current law

Z
v (t) dv (t) 1
+C + v (t)dt = i(t)
R dt L

b) Transfer function

ψ(s) L
=
I (s) LCs 2 + LGs + 1

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 Modeling of Mechanical system

Modeling of Mechanical system

Mechanical systems are classified into two types: translational and
rotational

Translational Mechanical system

There are three elements which are dominantly involved in the anal-
ysis of translational motion. These are mass, spring and damper

Mass: This represents an element which resists the motion

due to inertia. According to Newton’s second law of motion,
the inertia force is equal to mass times acceleration.

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Modeling of Mechanical system

Spring: The second element which opposes motion is the

spring. The restoring force of a spring is proportional to the
displacement.

f = KX
Here X2 is the displacement of end A, whereas X1 is the displacement
of end B.
If the force is applied at end B, X = X1 − X2 , we get

f = K (x1 − x2 )

If the force is applied at end A, X = X2 − X1 , we get

f = K (X2 − X1 )
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Modeling of Mechanical system

Damper: This is an element which opposes motion due to

friction.
Coulomb frictional force: the sliding friction between dry
surfaces
Viscous friction: friction between a solid body and a fluid
medium. Viscous friction is proportional to velocity.

Since f is directly proportional to velocity of the fluid

dx d
f =D = D (X1 − X2 )
dt dt
Damping coefficient is denoted by D, B or f
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Modeling of Mechanical system

Example: Determine the mathematical model and the transfer func-

tion of the system shown in the fig. below

Vertical Spring and Hanging Mass

Consider a vertical spring on which we hang a mass m; it will
stretch a distance ∆x because of the weight of the mass

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Modeling of Mechanical system

That stretch is given by ∆x = mg

k . k is the spring constant.
Now pull the mass down an additional distance x ′ , The spring is now
exerting a vertical force of
Fspring = kx
= k(∆x + x ′ ) = kx ′ + mg
Therefor the total net force contributed by the spring is given by
Fnet = Fspring − mg
Fnet = kx ′
Example: Write the equations describing the motion of the me-
chanical system. Also find the transfer function XF1(s)
(s)
.

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Modeling of Mechanical system

Rotational Mechanical system

There are many similarities between translational and rotational sys-
tem. The three basic elements of rotational motion are inertia (J),
damper (B) and spring (K)

Inertia (J)
The relation between torque and angular acceleration is given
by,

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Modeling of Mechanical system

Damper (D or B)
The torque and angular velocity relation is given by,

Spring (k)
The relation between torque and angular displacement is given
by,

Example: write the mathematical model and transfer function of

the rotational mechanical system given below

T = J θ̈ + B θ̇ + K θ
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 Analogous systems

Analogous systems
Analogous systems have the same type of equations, but they
have different physical appearance. Mechanical systems, fluid
systems, thermal systems etc. may be governed by the same types
of equations as that of electrical circuits.

Thus if an analogous electrical circuit is visualized for a given me-

chanical system, it is easy to predict the behavior of the system using
the well-developed mathematical tools of electrical engineering.

Designing and constructing a model is easier in electrical

systems.
The values of the elements can be changed, because electrical
components are cheap
Making experimentation is easy with electrical circuits
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Analogous systems

There are two methods to get an analogous system.

force-voltage (f-v) analogy
Let us consider a mechanical (both translational and rotational) and
an electrical system, as shown in the fig.

Using Kirchhoff’s voltage law

Z
di(t) 1
Ri(t) + L + i(t)dt = v (t)
dt C
1
Lq̈ + R q̇ + q = v (t)
C
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Analogous systems

force-current (f-i) analogy

Using Kirchhoff’s voltage law

Z
v (t) dv (t) 1 1 1
+C + v (t)dt = i(t) = C ψ̈ + ψ̇ + ψ
R dt L R L

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Analogous systems

Representation by nodal method

This method is very simple to get mathematical models and mechan-

ical circuits of both rotational and translational mechanical systems.

Let us consider a mechanical system shown in the fig.

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Analogous systems

To find the mechanical circuit the following steps are followed

Step 1: the total number of node is equal to the total
number of displacement, i.e., 2
One reference node is taken in addition, i.e., total number of
node becomes 3.
Step 2: M1 is connected between x1 and reference. M2 is
connected between x2 and reference.
Step 3: K1 is connected between x1 and x2 . K2 is connected
between x2 and reference.
Step 4: B1 is connected between x1 and x2 . B2 is connected
between x2 and reference.
Step 5: the force f is connected between x1 and reference
because f is connected to M1 .

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Analogous systems

Example1: Find the f-v and f-i analogy of the above mechanical
system.

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Analogous systems

example2: Obtain mathematical model and the electrical analogy

(f-v and f-i analog circuits) for the mechanical system shown.

It is possible to transmit mechanical energy from one part of a

system to another via devices such as gear trains, chain driver and
lever.

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Analogous systems

Gear Train
Gears are mechanical coupling devices used for speed reduction or
magnification of torque. These are analogous to transformers in
electrical systems.

Let us consider a gear train with

N1 -number of teeth on the first gear

N2 -number of teeth on the second gear
T1 -the input torque on the first gear
T2 -the input torque on the second gear
r1 -the radius of the first gear
r2 -the radius of the second gear
θ1 -the angular displacement of the first gear
θ2 -the angular displacement of the second gear

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Analogous systems

The relationships between primary and secondary quantities are based

on the following principles.

1. The number of teeth N on the gear is proportional to the radius

r of the gear

r1 N1
=
r2 N2 23 / 35
Analogous systems

2. The linear distance traversed along the surface of each gear is

same. If the angular displacements of the two gears are θ1 and θ2
respectively, then

3. The work done by one gear is same as that of the other. The
work done T θ is analogous to W = Fx. If There is no loss, we can
write
T1 θ1 = T2 θ2
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Analogous systems

Example: Replace the given mechanical system shown in the fig.

below by its equivalent mechanical system referred to primary side

From the above 3 rules we can write

r1 T1 N1 θ2
= = =
r2 T2 N2 θ1
The equilibrium equations for the mechanical system is given by

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Analogous systems

Where Tm is the motor torque driving the shaft of the gear, T1

is the torque available for the primary gear, T2 is the torque at the
secondary gear, TL is the load torque and J2 is the moment of inertia
of secondary gear and the load.

Exercise: Obtain the transfer function for the following mechanical

system

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Analogous systems

Chain Driver

Rule 2 and Rule 3 are applicable to chain drivers also

r1 T1 θ2
= =
r2 T2 θ1

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Analogous systems

Lever

Using the law of moment, we can write

F1 l1 = F2 l2

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 Modeling of Electromechanical system

Modeling of Electromechanical system

DC MOTOR CONTROL

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Modeling of Electromechanical system

ARMATURE-CONTROLLED DC MOTOR

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Modeling of Electromechanical system

Exercise: drive the transfer function of field based DC–motor con-

trol Vθ(s)
f (s)

Exercise: from the armature controlled d.c. motor given below.

Determine the transfer function VθLa(s)
(s)

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 Fluid System

Fluid System
Resistance of Liquid-Level Systems
Consider the flow through a short pipe connecting two tanks as
shown in Figure

The resistance for liquid flow in such a pipe is defined as the

change in the level difference necessary to cause a unit change in
flow rate.
change in level diffrence ∆(H1 − H2 )
Resistance(R) = =
change in flow rate ∆Q
Where H1 and H2 are the height/level of first and second tank, R
is the resistance in flow of liquid and Q is the flow rate
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 Fluid System

Capacitance of Liquid-Level Systems

The capacitance of a tank is defined to be the change in quantity
of stored liquid necessary to cause a unity change in the height.

change in liquid stored

capacitance(C ) =
change in height
Capacitance (C) is cross sectional area (A) of the tank.

The equilibrium equation governing the liquid level system is

Rate of change of fluid volume in the tank = flow in - flow out
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Fluid System

Example: find the transfer function Q0 (s)/Qi (s) and H(s)/Qi (s)
of the fluid system shown below

Example: Consider the liquid level system shown in following

Figure. In this system, two tanks interact. Find transfer function
Q2 (s)/Q(s).

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Fluid System

Exercise: Write down the system differential equations

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