ELEN 30123

FEEDBACK CONTROL SYSTEM

POLYTECHNIC UNIVERSITY OF THE PHILIPPINES - MANILA, COLLEGE OF ENGINEERING, ELECTRICAL ENGINEERING DEPARTMENT

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CLASS INTRODUCTION
Week 1
Subject Agenda 01
Introduction
Basic classroom rules, subject grading system, and other important

and Learning reminders.

Objectives Review and Preview of the Principle

02 To familiarize commonly used electrical systems, flow charts,
mathematical methods like Differential Equations, Laplace
Transforms, and Introduction to Control Systems

Control System Analysis

03 To obtain mathematical model application to a system, time domain
and frequency domain analysis, block diagrams, and system
behavior analysis.

Design and Implementation

04 To obtain control system applications, design of the system with
preferable system output.

W4
Modeling in the Time Domain
Introduction, State Space
Representation, System
Conversion, Linearization
W5
Time Response
Introduction, System
Responses, State Equations,
Order Systems
Subject Timeline
W3
Modeling in the Frequency Domain Control Systems Introduction
Introduction, Laplace
Transform, Transfer Functions,
Electrical Network
Applications
W6
Reduction of Multiple Subsystems
Introduction, Block diagrams,
Analysis and design of
Feedback Systems, Signal flow
Graphs
W2 W1
Introduction
History, Role of Control System Classroom Interaction,
Engineer, Systems Instructors profile, rules and
configuration and Analysis, regulations and grading system
Design Process
W7
Steady State Errors Design
Introduction, Error Frequency Response
specifications, disturbances, Techniques, state space, digital
sensitivity Control System
Meet your
Instructor
BENSON G. PULGA
Class Instructor, REE
PUP Graduate Batch 2015
Former Student Assistant, 2014-2015
Worked in Property Management, 2015- Present
PUP EE Instructor, 2016 to Present
Adviser, PUP EE WIRED
Specialization; Industrial Motor Controls, Wiring Installations, Electrical
Equipment Repair and Maintenance

bensonpulga/facebook

(+63) 0965 199 0283

benson.pulga@gmail.com
 Grading System

ATTENDANCE

RESEARCH

ASSIGNMENTS

MAJOR EXAMS

QUIZZES

10% 10% 10% 40% 30%

 3C’s in Classroom Principle

Communication Consideration

Cooperation

Cooperation
PREVIEW OF SOME
ELECTRICAL SYSTEMS

WITH CONTROL SYSTEM

APPLICATIONS
 Water System
Elevated Tank
1 Potable Water Tank – 25,000 Gal
1 Flushing Water Tank - 33,000Gal

Booster Pump (Flushing)

Capacity: 5.5HP Water Supply
Cut in: 20psi 2 - 5.5HP Booster Pump for Flushing Water
BSOCC
Cut out: 40psi 2 - 4HP Booster Pump for Potable Water
Quantity: 2 units Both units supplying water for 16th to 23rd floor
Booster Pump (Potable) running at the same time.
Capacity: 4HP
Cut in: 20psi
Cut out: 40psi Transfer Pumps
Quantity: 2 units Total of 4 units transfer pumps, 2 units 20 HP
Function: Cistern Tank transfer pump for potable water, 2 units 25
Increases water pressure HP for flushing water , functioning 2 at a
Water from BWC flows time, distributes water from cistern to fill
for the higher floors (16th
– 23rd Floor) separately to cistern tank. each overhead tank.

Cistern Tank Cistern Tank

(Potable) (Flushing)
66,000 gallons 99,000 gallons
 Fire Alarm and Detection System
Fire Alarm / Manual Push Station
FLOW SWITCH Activates evacuation alarm for relevant area or
Detects water flowing in the zone. (1 unit per floor)
system and causes the FDAS
Annunciator
to sound the alarm. Indicates the affected area through lighted
LED. (1 unit per floor)
SUPERVISORY SWITCH
Detects the unauthorized Smoke Light Indicator
Indicates the affected room through
operation of main control lighted LED. (1 unit per room)
valve and causes the FDAS
to sound the alarm.

Alarm Sequence:
• Pre-alarm – FACP will indicate Fire Alarm Control Panel Smoke Detectors
activated initiating device. The controlling component of the Sends signal to FACP once
• Positive Alarm – affected floor will fire alarm system. Activates alarm the effects of fire (smoke)
sound the alarm after 15 sec. sequence once it received signal have been detected.
that pre-alarm was not from initiating devices.
Addressable Quantity per area:
acknowledged.
Loop 1 – BSO retail Common Area:
• General Alarm – FACP will sound Loop 2 – Basement 2- 6th Floor EE Rooms 1 pc.
the general alarm after 5 Loop 3 – 7th Floor- 10th Floor Telco Rooms 1 pc.
minutes. that positive alarm was Loop 4 – 11th Floor- 15th Floor AHU Rooms 1 pc.
not acknowledged. Loop 5 – 16th Floor- 19th Floor Hallways 1 pc.
Loop 6 – 20th Floor- Roofdeck Roof deck/GF 1 pc.
 Fire Protection System
Supervisory / Tamper Switch Fire Hose Cabinet
Detects the unauthorized High pressure water outlets located in
different areas. (2 cabinet per floor)
operation of main control valve
and causes the FDAS to sound
the alarm.

Flow Switch
Detects water flowing in
the system and causes the
FDAS to sound the alarm. Pressure Gauge
Indicates system pressure.

Wet Stand Pipe

Serves as water outlet Sprinkler Head
for firefighters Discharges water when the effects of fire have been
(Pressurized) detected.
68°C for hallway/rooms, 80°C for kitchen. @175 psi
JOCKEY PUMP No. of Sprinkler Heads
Capacity: 5 HP FIRE PUMP Fire Exits 1 unit/floor
cut in: 230 psi Capacity:
cut out: 240 psi 100hp
Type: Submersible Cut in: 215psi Dry Stand Pipe
Serves as water inlet for
AFSS Tank firefighters.
4500 gallons
 Building Electrical System

To major equipment and To EE Room per Floor (Tenant)

common area

MVSG (Medium Voltage Switch Pad Mounted Transformer Low Voltage Switch Gear
Gear) 34,500V 34,500V - 400V 400VAC, 3P, 4W, 60 Hz
 HVAC System
Condenser Pump
COOLING TOWER
is used to pump warm water
A cooling tower is a heat
outside to the cooling tower. rejection device, which extracts
Chiller waste heat to the atmosphere
It is the main source that though the cooling of a water
provides chilled water for Air- stream to a lower temperature.
conditioning system.
Secondary Pump is a pump
designated for each chiller used
to return the chilled water from
AHU to be chilled again.

AIR HANDLING UNIT Primary Pump

(AHU) Equipment are the pumps used to deliver the
installed to condition chilled water to the AHU units
air to the building going to the tenants.
thru the supply air
duct and returns air
thru Return Air Duct. Cistern Tank
20,000 gallons
 Assignment and Reminders
1. Review Advance Mathematics. (Differential Equations, Laplace
Transforms, Transfer Functions)
2. Review Circuit Analysis 1,2 and 3.
3. Short Quiz before our class next week.
THANK YOU
 ELEN 30123
FEEDBACK CONTROL SYSTEM
POLYTECHNIC UNIVERSITY OF THE PHILIPPINES - MANILA, COLLEGE OF ENGINEERING, ELECTRICAL ENGINEERING DEPARTMENT

http://www.free-powerpoint-templates-design.com
 Summary Quiz

1. Give other name for input.

2. Give other name for output.

3-4. Give atleast 2 advantage of control system.

5. Person credited for Root Locus Technique.

6-7. Classification of control system based on feedback path

8-10. Give atleast 3 difference of Open and closed Loop control system.
Principles of Control System Analysis
Week 2
 Control System History of Control Benefits in
Applications System studying Control
Systems

Basic Features and

Analysis and Design
Configurations of Design Process
Objectives
Control System

TOPIC AGENDA
AND
LEARNING
OBJECTIVES
 Principles of Control System
Control System Definition
➢ A control system consists of subsystems and processes (or plants)
assembled for the purpose of controlling the outputs of the processes.
➢ A control system provides an output or response for a given input or
stimulus.
Other used names for Input;
Some Applications; ➢ Stimulus
➢ Desired Response
• Body system – Pancreas (blood sugar control), Eyes (follows moving ➢ Reference
object), Hands (Grasp the object), etc. ➢ i/p
➢ x (t)
• Space Explorations (Guidance, Navigation and Control)

• Personal and Public Mobility (Land, Air, and Sea Transportation) Other used names for Output;
➢ Response
➢ Actual response
• Manufacturing Plant (Equipment Operation)
➢ Controlled variable
➢ o/p
• Building System Automation
➢ y (t)
• Home Appliances and Devices
 Principles of Control System
Control System Sample Application
 Principles of Control System
Control System Advantages
➢ We build control systems for four primary reasons;

1. Power Amplification (Gain) – A system that requires large amount of power to its output.
 Principles of Control System
Control System Advantages
➢ We build control systems for four primary reasons;

2. Remote Control – A system that can compensate for human disabilities.

It is also useful in remote or dangerous locations.
 Principles of Control System
Control System Advantages
➢ We build control systems for four primary reasons;

3. Convenience of Input form – A system used to provide convenience by changing the form of the input.
 Principles of Control System
Control System Advantages
➢ We build control systems for four primary reasons;
4. Compensation for disturbances – A system that able to yield the correct output even with a disturbance or a
system that measures the amount of disturbance then return the process commanded by input.

* disturbances such as Noise, Errors, Outside forces (wind, dusts, power fluctuations etc.)
 Principles of Control System
Control System Background

• Stability criterion for a third-order system based on the

coefficients of the Differential Equations.
• “A Treatise on the Stability of a Given State of Motion”
• The General Problem of Stability of Motion.
• Routh-Hurwitz Criterion for Stability.

• Analysis of feedback amplifiers, sinusoidal frequency analysis

and design techniques.

• Walter R Evans - Graphical technique to plot the roots of a

characteristic equation of a feedback system whose
parameters changed over a particular range of values..
 Principles of Control System

Control System Engineer

Project development from Space shuttle control systems
concept through design and
testing.

Control engineer can be

working with sensors and
Performs hardware selection, motors as well as electronic,
design, and interface, including pneumatic and hydraulic
total subsystem design. circuits.
 Principles of Control System
Response Characteristics and System Configuration
1. Transient Response – Instantaneous change of the input against the gradual change of the output.

2. Steady State Response – Approximation to the commanded or desired response.

3. Steady State Error – The accuracy of the output that could make it different from the input.
4. Stability – Characteristics of input with less or zero natural responses.
 Principles of Control System
Classification of Control System
1 Based on type of signal used
1. Continuous time control system – signals are continuous 2. Discrete-time control system – there exists one or more
in time discrete (intervals) time signals.
 Principles of Control System
Classification of Control System
2 Based on number of inputs and outputs
1. SISO (Single Input and Single Output) – control system with 2. MIMO (Multiple Inputs and Multiple Outputs) – control
one input and one output. systems with more than one input and outputs.
 Principles of Control System
Classification of Control System
2 Based on number of inputs and outputs
 Principles of Control System
Classification of Control System
3 Based on feedback path

1. Open-Loop Control System – output is not fed-back to the input. The control action is independent of the desired
output.
 Principles of Control System
Classification of Control System
2. Closed Loop Control System – output is fed-back to the input. The control action is dependent on the desired output.

*The error detector produces an error signal, which is the difference between the input and the feedback signal. This feedback signal is obtained from
the block (feedback elements) by considering the output of the overall system as an input to this block. Instead of the direct input, the error signal is
applied as an input to a controller.

So, the controller produces an actuating signal which controls the plant. In this combination, the output of the control system is adjusted automatically
till we get the desired response. Hence, the closed loop control systems are also called the automatic control systems.
 Principles of Control System
Classification of Control System
Difference of Open Loop and Close Loop Control system

Open Loop Control System Closed Loop Control System

Control action is independent of Control action is dependent of

the desired output the desired output.
Feedback path is not present Feedback path is present.
These are also called as non- These are also called
feedback control systems. as feedback control systems
Easy to design Difficult to design

These are economical. Expensive

Inaccurate Accurate
 Principles of Control System
Control System Analysis and Design Objective
Control system is dynamic: It responds to an input by undergoing a transient response before reaching a
steady-state response that generally resembles the input.

1. Producing the desired transient response – Analyzing the system for its existing transient
response and adjust the parameters or design components to yield a desired transient response.

2. Reducing of steady-state errors – Analyzing a system’s steady state error, then design corrective
action to reduce the steady state error.

3. Achieving system stability – Analyzing a system for its “useful and effective operation” where,
the natural response must approach to zero (leaving only the forced response) or oscillate.

*Total response = Natural Response + Forced Response

Natural Response – describes the way the system dissipates or acquires energy(dependent only to the system, not in input).
Forced Response - disturbances/error (dependent on the input).

Transient response is the sum of the natural and forced responses, while the natural response is large.
Steady state response is the sum of the natural and forced responses, but the natural response is small.
 Principles of Control System
The Design Process
Create a Schematic Develop a Mathematical Model (Block
3 4 Diagram)
Approximations about the system and neglecting
certain phenomena. Mathematically modelling a system using differential
equation (transfer function) via Laplace Transform.

Reduce the Block Diagram

Draw a Functional Block Diagram
Component parts of the system (Function and
Hardware), showing their interconnection.
5 Reduction of large system’s block
2 diagram to a single block with a
mathematical description that represents
the system from its input to its output.

Analyze and Design

Determine a physical system and
Evaluate the time response of a system
specifications from the 6
1 START for a given output.
requirements. Transient response, Steady state, Steady
Overall concept/description of the system. state errors, Stability.
 Summary Quiz

1. Give other name for input.

2. Give other name for output.

3-4. Give atleast 2 advantage of control system.

5. Person credited for Root Locus Technique.

6-7. Classification of control system based on feedback path

8-10. Give atleast 3 difference of Open and closed Loop control

system.
THANK YOU!
Modeling in Frequency Domain
Week 3
TOPIC AGENDA AND
L E A R N I N G
O B J E C T I V E S

Discuss the Linearity in Control

System

Introduction to the Transfer Review the Laplace and Inverse

Function in Control System Laplace Transform Formulas and
Theorems.
 Linearity in Control System
Block Diagram Representation of a System

Input Output
System
r (t) c (t)
Block diagram where the input, output and system are distinct and separate parts

Input Output
System System System
r (t) c (t)
Block diagram representation of an interconnection of subsystem.

Note: The input, r(t), stands for reference input. The output, c(t), stands for controlled variable.
 Linearity in Control System
Linearity of the Control System
r₁(t) G₁ c₁(t) ; c₁(t) = G₁r₁(t)

r₂(t) G₂ c₂(t) ; c₂(t) = G₂r₂(t)

r₁(t) G₁
c₃(t) ; c₃(t) = G₁r₁(t) + G₂r₂(t)
r₂(t) G₂ c₃(t) = c₁(t) + c₂(t)
 Linearity in Control System
Types of Feedback
Feedback plays an important role to improve the performance of the control system.

Positive Feedback
The positive feedback adds the reference input, R(s) and feedback output.

C(s) = [ R(s) + C(s)H ] G

= G R(s) + G C(s) H

C(s) (1 – GH) = GR(s)

T= Output = C(s) = __G___
Input R(s) (1 - GH)
 Linearity in Control System
Types of Feedback

Negative Feedback
The negative feedback adds the reference input, R(s) and feedback output.

C(s) = [ R(s) - C(s)H ] G

= G R(s) – G C(s) H

C(s) (1 + GH) = GR(s)

T= Output = C(s) = __G___
Input R(s) (1 + GH)
 Transfer Function
Transfer Function
Transfer function of a control system is the ratio of Laplace transform of output to Laplace transform of input.

Transfer Function = L { C ( t ) }
L{R(t)}
with zero initial conditions

Transfer Function with Positive Feedback Transfer Function with Negative Feedback

T= Output = C(s) = __G___ T= Output = C(s) = __G___

Input R(s) (1 - GH) Input R(s) (1 + GH)
 Transfer Function
The Laplace Transform
The Laplace transform, named after its inventor Pierre-Simon
Laplace (/ləˈplɑːs/), is an integral transform that converts a function
of a real variable (t) (often time) to a function of a complex variable
(s) (complex frequency). The transform has many applications in
science and engineering because it is a tool for solving differential
equations.In particular, it transforms differential equations into
algebraic equations and convolution into multiplication.

The Laplace Transform Equation

L {c₁F₁(t) + c₂F₂(t)} = c₁ L {F₁(t)} + c₂ L {F₂(t)}

The Laplace Transform Equation dealing with Constants, C.
 Transfer Function
The Laplace Transform
 Transfer Function
Problem Exercises
I. Find the Laplace Transform of the following;

1. Find L {eᵅᵗ} 6. Find L {t² + 4t - 5}

2. Find L {1} 7. Find L {t³ - t² + 4t}
3. Find L {t} 8. Find L {e¯²ᵗ+ 4e¯³ᵗ}
4. Find L {sin at} 9. Find L {3e⁴ᵗ- e¯²ᵗ}
5. Find L {cos at} 10. Find L {t¯½}

II. Find the Inverse Laplace Transform of the following;

15 3𝑠
1. Find L¯¹ { } 5. Find L¯¹ { }
2
𝑠 +4𝑠+13 𝑠 2 +4𝑠+13
𝑠+1 𝑠
2. Find L¯¹ { } 6. Find L¯¹ { }
2
𝑠 +6𝑠+25 𝑠 2 +6𝑠+13

1 1
3. Find L¯¹ {2 } 7. Find L¯¹ { }
𝑠 +2𝑠+10 𝑠 2 +4𝑠+4
2𝑠 −3
1 8. Find L¯¹ { }
4. Find L¯¹ {2 } 𝑠 2 −4𝑠+8
𝑠 −4𝑠+8
 Transfer Function
Electric Network Transfer Functions
Components and the relationships between voltage and current and between voltage and charge under zero initial conditions

Note; v(t) = V(volts), i(t) = A(amps), q(t) = Q(coulombs), C = F(Farads), R = Ω(ohms),G = mhos, L = H(Henries)
 Transfer Function
Sample Electrical Network
THANK YOU!
Modeling in Frequency Domain
Week 4
Topic Agenda and Learning Objectives
Inverse Laplace Review using Partial
01
Fraction Expansion

Laplace Transform of a Differential

02
Equation

System Response from the Transfer

03
Function

04 Electric Network transfer Functions

 Transfer Function
Partial Fraction Expansion
Algebraic conversion of complicated function to a sum of simpler terms which we can determine the Laplace transform of each term.
Conditions:
F(s) = N(s) ; where N(s) < D(s), direct partial fraction expansion can be made.
D(s)
; where N(s) > D(s), N(s) must be divided by D(s) successively until the result
has a remainder whose numerator is of order less than its denominator.

I. Sample problems
𝑠 3 +𝑠 2 +6𝑠+7 15𝑠 3 +2𝑠 2 +7
1. Find L¯¹ { } 4. Find L¯¹ { }
𝑠 2 +𝑠+5 𝑠+1

3𝑠 3 +6𝑠 2 +2𝑠+1 4𝑠 3 +𝑠+2

2. Find L¯¹ { } 5. Find L¯¹ { }
𝑠 2 +2𝑠−15 (𝑠+2)²

7𝑠 3 +4𝑠 2 +2𝑠+12
3. Find L¯¹ { 2 }
𝑠 +4𝑠−18
 Transfer Function
Partial Fraction Expansion
CASE 1. Roots of the denominator of F(s) are Real and Distinct.
Each factor of the denominator is raised to unity power.
𝑎 𝐾₁ 𝐾₂
= (𝑠+𝑎) + (𝑠+𝑏) ; where K is called residues.
(𝑠+𝑎)(𝑠+𝑏)

CASE 2. Roots of the denominator of F(s) are Real and Repeated.

One or same factor of the denominator is/are raised to an integer power higher than 1.
𝑎 𝐾₁ 𝐾₂ 𝐾₃
= (𝑠+𝑎) + +
(𝑠+𝑎)(𝑠+𝑏)² 𝑠+𝑏 (𝑠+𝑏)²

CASE 3. Roots of the denominator of F(s) are Complex or Imaginary.

One or same factor of the denominator have complex roots.
𝑎 𝐾₁ 𝐾₂𝑠+𝐾₃
= +
𝑠(𝑠 2 +𝑎𝑠+𝑏) 𝑠 (𝑠 2 +𝑎𝑠+𝑏)
 Transfer Function
Partial Fraction Expansion
I. Sample problems
𝑠 2 −7 2𝑠 2 +5𝑠−4
1. Find L¯¹ {3 2 } 6. Find L¯¹ { }
𝑠 +4𝑠 +3𝑠 𝑠 3 +𝑠 2 −𝑠

5𝑠 3 − 6𝑠−3 2𝑠 2 +1
2. Find L¯¹ { 3 } 7. Find L¯¹ { }
𝑠 (𝑠+1)² 𝑠(𝑠+1)²

16 4𝑠+4
3. Find L¯¹ { } 8. Find L¯¹ { }
𝑠 (𝑠²+4)² 𝑠 2 (𝑠−2)

1 1
4. Find L¯¹ { } 9. Find L¯¹ { }
𝑠 2 +𝑎𝑠 𝑠³(𝑠 2 +1)

𝑠+2 5𝑠−2
5. Find L¯¹ { } 10. Find L¯¹ { }
2
𝑠 −6𝑠+8 𝑠 2 (𝑠+2)(𝑠−1)
 Transfer Function
Laplace Transform Solution of a Differential Equation

𝑛
where, 𝑓 denotes the nth derivative of the function f.

For first-order derivative: For first-order derivative:

𝑑𝑦 𝑑𝑐(𝑡) 𝑑𝑟(𝑡)
L{f′(t)} = sL{f(t)} − f(0) 𝑓′(𝑡) = 𝑑𝑥 = 𝑑𝑡
= 𝑑𝑡

For second-order derivative: For second-order derivative:

L{f′′(t)} = s²L{f(t)} − sf(0) − f′(0) 𝑑²𝑦 𝑑²𝑐(𝑡) 𝑑²𝑟(𝑡)
𝑓′′(𝑡) = = =
𝑑𝑥² 𝑑𝑡² 𝑑𝑡²

For third-order derivative: For third-order derivative:

𝑑³𝑦 𝑑³𝑐(𝑡) 𝑑³𝑟(𝑡)
L{f′′′(t)}=s³L{f(t)} −s²f(0) − sf′(0) − f′′(0) 𝑓′′′(𝑡) = = =
𝑑𝑥³ 𝑑𝑡³ 𝑑𝑡³

𝑡 𝐹 (𝑠)
L[‫׬‬−0 𝑓 𝑡 𝑑𝑡 ] = Transform of an integral equation
𝑠
 Transfer Function
The Transfer Function and System Response
1. Formulation of system representation by establishing a viable definition for a function that algebraically relates a system’s output to its input.
2. This function will allow separation of the input, system and output into three separate and distinct parts.
3. The function will allow us to algebraically combine mathematical representations of subsystems to yield a total system representation.

𝑎𝑛 𝑠 𝑛 𝐶 𝑠 + 𝑎𝑛−1 𝑠 𝑛−1 𝐶 𝑠 +. . +𝑎0 𝐶 𝑠 = 𝑏𝑚 𝑠 𝑚 𝑅 𝑠 + 𝑏𝑚−1 𝑠 𝑚−1 𝑅(𝑠)+. . +𝑏0 𝑅(𝑠)

𝐶 𝑠 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 +. . +𝑎0 = 𝑅 𝑠 (𝑏𝑚 𝑠 𝑚 + 𝑏𝑚−1 𝑠 𝑚−1 +. . +𝑏0 )
Simplified general nth order, linear, time invariant differential equation

Input 𝑏𝑚 𝑠 𝑚 + 𝑏𝑚−1 𝑠 𝑚−1 +. . +𝑏0 Output

R (s) 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 +. . +𝑎0 C (s)
Block diagram where the input, output and system are distinct and separate parts

𝐶(𝑠) 𝑏𝑚 𝑠 𝑚 + 𝑏𝑚−1 𝑠 𝑚−1 +. . +𝑏0

=𝐺 𝑠 =
𝑅(𝑠) 𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 +. . +𝑎0

C(s)= 𝑅(𝑠)𝐺 𝑠
 Transfer Function
The Transfer Function and System Response
Sample Problem
𝑑𝑐(𝑡)
1. Find the transfer function represented by; +2c(t) = r(t)
𝑑𝑡
Solution;
𝑑𝑐(𝑡) C(s) = R(s) G(s)
+2c(t) = r(t)
𝑑𝑡
1 1
s C(s) +2C(s) = R(s) C(s) = 𝑠 ( 𝑠+2 )

C(s) [s + 2] = R(s) 1 𝐴 𝐵
C(s) = = 𝑠 + 𝑠+2
𝑠(𝑠+2)
𝐶(𝑠) 1
= G(s) = Transfer Function G(s)
𝑅(𝑠) 𝑠+2 1 1/2 1/2
C(s) = = - 𝑠+2
𝑠(𝑠+2) 𝑠

1 1
c(t) = − 𝑒 −2𝑡 System Response c(t)
2 2
 Transfer Function
The Transfer Function and System Response
Sample Problem
𝑑³𝑐(𝑡) 𝑑²𝑐(𝑡) 𝑑𝑐(𝑡) 𝑑2 𝑟(𝑡) 𝑑𝑟(𝑡)
2. Find the transfer function represented by; +3 +7 +5c(t) = +4 + 3r(t)
𝑑𝑡³ 𝑑𝑡² 𝑑𝑡 𝑑𝑡² 𝑑𝑡

𝑑²𝑐(𝑡) 𝑑𝑐(𝑡) 𝑑𝑟(𝑡)

3. Find the transfer function represented by; +6 +2c(t) = 2 + r(t)
𝑑𝑡² 𝑑𝑡 𝑑𝑡

𝑠
4. Find the ramp response for a system whose transfer function is G(s) =
(𝑠+4)(𝑠+8)

𝑠 −13
5. Find the ramp response for a system whose transfer function is G(s) =
𝑠²(𝑠+12)(𝑠+7)
 Transfer Function
Electric Network Transfer Functions
Application of the transfer function to the mathematical modeling of electric circuits including passive networks and operational
amplifier circuits.
Components and the relationships between voltage and current and between voltage and charge under zero initial conditions

Note; v(t) = V(volts), i(t) = A(amps), q(t) = Q(coulombs), C = F(Farads), R = Ω(ohms),G = mhos, L = H(Henries)
 Transfer Function
Simple Circuits via Mesh Analysis
1. Solution via Differential Equation
Using Kirchhoff’s voltage law by writing the differential equation of the components first then taking Laplace transform
of the transformed circuit.

Sample Problem.
Find the transfer function relating the capacitor voltage,
Vc(s) to the input voltage, V(s).
 Transfer Function
Simple Circuits via Mesh Analysis
2. Solution via Impedance Transfer Function
Using Kirchhoff's voltage Law and obtaining direct Laplace transform to the transformed circuit.
Taking Laplace transform of the equations in the voltage-current column in previous table, assuming zero initial conditions.

For Capacitor (C) ; For Resistor (R) ; For Inductor (L) ;

1
V(s) = 𝐶𝑠 𝐼(s) V(s) = 𝑅𝐼(s) V(s) = 𝐿𝑠 𝐼(s)
For Impedance (Z) ;
1
𝑉(𝑠) 1 ( ) I(s) = V(s)
Z(s) = (𝐶𝑠 + R + Ls ) I(s) = V(s) 1
1
𝐼(𝑠) For parallel circuit
For series circuit 𝐶𝑠+R+Ls

[sum of the impedances] I(s) = [sum of applied voltages]

Summarized steps for getting Impedance Transfer Function
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), Vc(s),
respectively.
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.
 Transfer Function
Simple Circuits via Mesh Analysis
1. Solution via Impedance Transfer Function

Sample Problem.
Find the transfer function relating the capacitor voltage,
Vc(s) to the input voltage, V(s).

1
V(s) = 𝐿𝑠 𝐼 s , V(s) = 𝑅𝐼 s , V(s) = 1 𝐼 s Vc(s) = I(s) 𝐶𝑠
𝐶𝑠
1
Z(s) = (Ls + 𝑅 +
1
) V(s) = Cs Vc(s)(Ls + 𝑅 + 𝐶𝑠), V(s) = Vc(s)(s²LC + 𝑠𝑅𝐶 + 1),
𝐶𝑠
1
1 𝐼(𝑠) 1 𝑉𝑐(𝑠) 1 𝑉𝑐(𝑠)
V(s) = I(s) (Ls + 𝑅 + ), = = , = 𝐿𝐶
𝐶𝑠 𝑉(𝑠) Ls+𝑅+ 1 𝑉(𝑠) s²LC+𝑠𝑅𝐶+1 𝑅 1
𝐶𝑠 𝑉(𝑠) s²+ 𝐿 𝑠+𝐿𝐶
THANK YOU!
 ELEN 30123
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POLYTECHNIC UNIVERSITY OF THE PHILIPPINES - MANILA, COLLEGE OF ENGINEERING, ELECTRICAL ENGINEERING DEPARTMENT

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Modeling in Frequency Domain
Week 5
Topic Agenda and Learning Objectives

Basic AC/DC Circuits Computation

01
Review

Identification of Current and Voltage in

02
each junction of a Circuit
 Transfer Function
Review of DC Circuits Computation
Solution via Loop Rule (Junction)
-I +I

c. Voltage typically flows from “-” to “+”, indication of Voltage lift,

V will have “+” sign.(Gain)

d. If voltage flows from “+” to “-”, it indicates of Voltage drop (voltage

consumption, V will have “-” sign.(Drop)

+V -V
Steps in Solving a simple DC Circuits using Loop Rule.
1. Identify the Current and Voltage Sign Rule in a Circuit.
a. Current typically flows from “+” to “-”, indication of Current lift, I
will have “+” sign.
b. If current flows from “-” to “+”, it indicates Current drop, I
will have “-” sign.
 Transfer Function
Review of DC Circuits Computation
Steps in Solving a simple DC Circuits using Loop Rule.
2. Choose the direction of current flow in the circuit. If there’s 3. Properly identify the sign of every component once you
two or more loops, it is recommended to have same directions. chose the direction of current flow..
Wrong directions will only indicate “-” sign in current.

4. Solve the circuit by using Ohm’s Law.

Note:
Sum of Iin = Sum of Iout
Sum of Voltages in the circuit = 0
 Transfer Function
Review of DC Circuits Computation
Sample Circuit Problems
1. Find the Current I1 in the circuit and voltage drop in each components

Solution;
I1 = 12 volts / 60 ohms Voltage Drop = I x R
I1 = 0.2 amps 𝑉𝐷 = 0.2 amps x 60 ohms
𝑉𝐷 = 12 V
 Transfer Function
Review of DC Circuits Computation
Sample Circuit Problems
2. Find the Current I2, I4, I5 in the circuit , voltage drop in each components
and voltage in each nodes 1-8
 Transfer Function
Review of DC Circuits Computation
Sample Circuit Problems
3. Find the Current I1 in the circuit , voltage drop in each components and
voltage in each nodes 1-0
 Transfer Function
Review of DC Circuits Computation
Sample Circuit Problems
3. Find the Current I1 in the circuit , voltage drop in each components and
voltage in each nodes 1-8

2 3

5
1 4

8 6
7
THANK YOU!