Mathematical Problem of

Chapter 1 &
Mathematical Modeling of a
System (Transfer function in
frequency domain)
Chapter 1- problem 1 & 2, page-24
Chapter 2- 2.1 to 2.6
Ref. Book: “Control System Engineering”-Norman S. Nise

Prepared By: Md. Ahsanul Hoque

Lecturer, EEE, IIUC
* Problem 1: A variable resistor, called a potentiometer, is
shown in Figure P1.1. The resistance is varied by moving a
wiper arm along a fixed resistance. The resistance from A to
C is fixed, but the resistance from B to C varies with the
position of the wiper arm. If it takes 10 turns to move the
wiper arm from A to C, draw a block diagram of the
potentiometer showing the input variable, the output
variable, and (inside the block) the gain, which is a constant
and is the amount by which the input is multiplied to obtain
the output. [Section 1.4: Introduction to a Case Study]
 * Solution of problem 1: As we know The resistance
from A to C is fixed, but the resistance from B to C
varies with the position of the wiper arm & it takes 10
turns to move the wiper arm from A to C, so

Problem 2: A temperature control system operate s by sensing the

difference between the thermo stat setting and the actual
temperature and then opening a fuel valve an amount proportional
to this difference. Draw a functional closed-loop block diagram
similar to Figure 1.9(d) identifying the input and output
transducers, the controller, and the plant. Further, identify the
input and output signals of all subsystems previously described.
[Section 1.4: Introduction to a Case Study]
* Solution of problem 2:
 Our Focus on this chapter
* To develop mathematical models from schematics of physical
systems there are two methods:
* (1) transfer functions in the frequency domain
* (2) state equations in the time domain or State Space
representation.
In chapter 1 we have seen some system which can be expressed using
differential equation in terms of input & output. For example

Figure : a
Write down the input-output differential equation for this circuit in
Figure: a terms of the input voltage x(t) and the output voltage y(t).
 Laplace Transform overview
*The Laplace transform is defined as

Where s=σ+jω a complex variable. Thus, knowing f(t) and

that the integral in above equation exists, we can find a
function, F(s), that is called the Laplace transform of f(t).
The notation for the lower limit means that even if f(t) is
discontinuous at t=0, we can start the integration prior to the
discontinuity as long as the integral converges. Thus, we can
find the Laplace transform of impulse functions. This
property has distinct advantages when applying the Laplace
transform to the solution of differential equations where the
initial conditions are discontinuous at t=0.
 Partial Fraction Expansion
* Case 1. Roots of the Denominator of F(s)Are Real and Distinct

Do example 2.3, chapter 2

* Case 2. Roots of the Denominator of F(s) Are Real and Repeated
* Case 3. Roots of the Denominator of F(s) Are Complex or Imaginary
See Page: 41, Chapter 2 & help file

Case 4. order of numerator polynomial equals order of denominator

See Help file
 Transfer Function of System

* Now we know the technique of partial fraction expansion so solve

any differential equation. So to represent a system mathematically
we have input, output, a mathematical model.
* To define Transfer Function: A transfer function is a
mathematical representation, in terms of spatial or temporal
frequency, of the relation between the input and output of
a linear time-invariant system with zero initial conditions and
zero-point equilibrium. With optical imaging devices, for example,
it is the Fourier transform of the point spread function (hence a
function of spatial frequency) i.e. the intensity distribution caused
by a point object in the field of view.
* The transfer function can be represented as a block diagram, as
shown in Figure 2.2, with the input on the left, the output on
the right, and the system transfer function inside the block.
Notice that the denominator of the transfer function is identical
to the characteristic polynomial of the differential equation. To
find C(s) we can write,
C(s)=R(s)G(s)
Transfer Function of a Electrical network
 Electrical Circuits Analogs

See Mechanical system:

http://www.cs.mun.ca/av/old/teaching/cs/notes/trans_printout.pdf
Example: Using Differential Equation (DE)
A free-body diagram is a sketch
of an object of interest with all
the surrounding objects
stripped away and all of the
forces acting on the body
shown. The drawing of a free-
body diagram is an important
step in the solving of mechanics
problems since it helps to
visualize all the forces acting on
a single object. The net external
force acting on the object must
be obtained in order to apply
Newton's Second Law to the
motion of the object.
The free body in a free body
diagram is not free of
constraints, it is just that the
constraints have been replaced
by arrows representing the
forces and moments they
generate.
Example: Problem stated in Frequency Domain
Linearly Independent Motion (Topic-2.5, Nise)
Example 2.17
Situation a) Consider the forces on M1

…… (1)
Situation b) Consider the forces on M2

…… (2)

From (1) & (2) we can find the transfer function

 Rotational Mechanical System
Rotational mechanical systems are handled the same way as translational
mechanical systems, except that torque replaces force and angular
displacement replaces translational displacement
Non linearization &
linearization