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Control Systems

Mathematical Models of Systems (Ch. 02)

Seunghun Baek

Department of Electronic Engineering

Prof. Seunghun Baek
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Mathematical Models of Systems:

▶ 물리시스템의 수학적 모델은 일반적으로 으로 표현된다.

▶ 물리 시스템을 고찰하고 필요한 가정을 한 뒤 를 통해 선형 미분

방정식을 얻는다.

▶ 선형 근사하여 선형 방정식으로 표현된 물리 시스템을 하여 복소

주파수 영역에서 해석 및 설계를 진행한다.
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Linear Systems:

▶ Linear systems are characterized by that are linear in the

dependent variables, linear in their derivatives with respect to the independent
variable (time), and linear in the input function.
𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
e .g. + 𝑎1 + 𝑎0 𝑦(𝑡) = 𝑟(𝑡)
𝑑𝑡 2 𝑑𝑡

▶ If a system is homogeneous and additive ( ), it is a linear system.

▶ A non-linear system can be approximated by a linear system using

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Linear Systems:
𝐹 𝑥1 (𝑡) = 𝑦1 (𝑡), 𝐹 𝑥2 (𝑡) = 𝑦2 (𝑡)
𝑥1 (𝑡) 𝑦1 (𝑡)
System
𝐴𝑥1 (𝑡) 𝐴𝑦1 (𝑡)
▶ Homogeneity
𝐹 𝐴𝑥1 (𝑡) = 𝐴𝑦1 (𝑡), 𝐹 𝐵𝑥2 (𝑡) = 𝐵𝑦2 (𝑡)
𝑥1 (𝑡) 𝑦1 (𝑡)
𝑥2 (𝑡) System 𝑦2 (𝑡)
▶ Additivity 𝑥1 (𝑡) + 𝑥2 (𝑡) 𝑦1 (𝑡) + 𝑦2 (𝑡)

𝐹 𝑥1 𝑡 + 𝑥2 (𝑡) = 𝑦1 𝑡 + 𝑦2 (𝑡)

𝑥1 (𝑡) 𝑦1 (𝑡)
▶ Superposition (중첩의 원리) 𝑥2 (𝑡) System 𝑦2 (𝑡)
𝐴𝑥1 (𝑡) + 𝐵𝑥2 (𝑡) 𝐴𝑦1 (𝑡) + 𝐵𝑦2 (𝑡)
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Time-invariant Systems:
▶ 𝐹 𝑥(𝑡) = 𝑦 𝑡
𝑥(𝑡) 𝑦(𝑡)
System
𝐹 𝑥(𝑡 − 𝑎) = 𝑦(𝑡 − 𝑎) 𝑥(𝑡 − 𝑎) 𝑦(𝑡 − 𝑎)

▶ 시스템의 특성이 시간에 따라 변하지 않으므로 같은 입력에 대하여 시간에 상관없

이 같은 출력을 갖는다.
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Causal Systems:
▶ A causal system is a system where the output depends on past and current inputs
but not future inputs. (Wikipedia)

▶ All physical real-time systems are (인과 관계) because a real-world

system cannot react to the future.

▶“It is not possible to physically realize a non-causal system operating in real time”

▶ 시스템이 출력이 현재와 과거 입력에 의하여 결정된다.

ℎ 𝑡 = 0, ∀𝑡 < 0, ℎ 𝑡 : impulse response
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Causal Linear-Time-invariant Systems:

▶ We can solve them.

▶ Physical systems are approximated accurately by an LTI model.

▶ LTI Systems can be simply characterized by its response of an impulse function.

( transfer function in the frequency domain).
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Mathematical Models of Systems:

▶ 병렬 RLC 회로를 미분방정식으로 수학적 모델링한다면?

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Complex Numbers:
▶ A complex number represents the amplitude and phase of a sinusoid.
𝑥 ∈ ℝ, 𝑦 ∈ ℝ

𝐼𝑚
직교 좌표식
𝑟𝑒𝑐𝑡𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑓𝑜𝑟𝑚 𝑧 = 𝑥 + 𝑗𝑦
𝑅𝑒 𝑧 = 𝑥 𝑦 𝑟
ቆ
𝐼𝑚 𝑧 = 𝑦 = 𝑟 𝑠𝑖𝑛(∅)
극좌표식 ∅
𝑧 = 𝑟∠∅ 𝑥 𝑅𝑒
𝑝𝑜𝑙𝑎𝑟 𝑓𝑜𝑟𝑚
= 𝑟 𝑐𝑜𝑠(∅)
𝑟= 𝑥2 + 𝑦2
൮ 𝑦
∅ = 𝐴𝑟𝑐𝑡𝑎𝑛( )
𝑥
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Complex Exponential Functions:

▶ Euler's formula is a mathematical formula in complex analysis that establishes
the fundamental relationship between the trigonometric functions and the complex
exponential function. Euler's formula states that for any real number 𝑥

▶ A complex number represents the and of a sinusoid.

𝑒 𝑗𝑥 = , 𝑥∈ℝ
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Complex Exponential Functions:

𝐴 𝑒 𝑗𝑥 = +𝑗
𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑝𝑎𝑟𝑡

cos 𝑥 =

𝑠𝑖𝑛 𝑥 =
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Complex Functions:
▶ A complex-valued function.
𝑓: ℂ → ℂ

e. g.) 𝑓 𝑠 = 𝑠 2 + 1, 𝑠 = 𝜎 + 𝑗𝜔, 𝑠 ∈ ℂ
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Reference:
Modern control systems, Richard C. Dorf, Robert H. Bishop

http://web.mit.edu/2.14/www/Handouts/Handouts.html