1

ME-341 Control Systems

Week - 3
Mathematical Foundation

Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore

2
Text Books:

Automatic Control Systems by Farid Golnaraghi and B.C Kuo, 9th

edition, John Wiley & Sons.

Reference Books:
Modern Control Systems by Richard C. Dorf and Robert H. Bishop,
12th edition, Prentice Hall.

System Dynamics by Katsuhiko Ogata, 4th edition, Pearson Prentice

Hall

3
Chapter 1 (Review)
Introduction to Control Systems
System:
• An interconnection of elements and devices for a
desired purpose.
• An element or device (plant or process) to be controlled Process/Plant
can be represented by a block. Input /Actuator/Con Output
vertor
• Identify the Major elements/components/devices in
each system.

Examples:
Heater Bicycle Motor

Heater Bicycle Motor

Electric Heat Force Speed Electric
4 Torque
Energy Energy Energy
 Differential Equation.
 Single input and Single output
(SISO) Systems
B. C. Kuo

Bicycle is a System State Equation.

 Multiple input and
multiple output (MIMO)
Bicycle systems.

x(t)

System (Process/Plant,
Bicycle
Force Speed Actuator, Controller and
f(t)
Measurement) are
usually modelled as
Develop its Mathematical Model. Differential Equations
 Differential Equation.
 Single input and Single output (SISO)
Systems

State Equation.
B. C. Kuo  Multiple input and multiple
output (MIMO) systems.

Bicycle is a System 𝟐
 𝑴 𝒅 𝒙(𝒕 ) =𝒇 (𝒕 )  System (Process/Plant, Actuator,
x(t) 𝟐
𝒅𝒕 Controller and Measurement) are
usually modelled as Differential
 ʆ [ 𝑴 𝒙 ¨( 𝒕 ) ]= ʆ [ 𝒇 (𝒕 ) ] Equations
𝟐
𝑴
  𝒔 𝑿 ( 𝒔 ) =𝑭 (𝒔)
f(t) 𝟏
  ( 𝒔 )=
𝑿 𝟐
𝑭 (𝒔)
𝑴𝒔 Transfer Function Modeling.
 Relation b/w input and output
  𝟏 variable is described in
F(s) X(s) Laplace Transform.
𝑴 𝒔𝟐

Transfer Function Modeling

Solution:
Take the Lapace Transform of both sides

R(s) Y(s)

Transfer Function Modeling

Solution:
Take the Lapace Transform of both sides

R(s) Y(s)

Transfer Function Modeling

A Dynamical system is described in the following differential
equation, Develop its Transfer Function

R(s)
  𝟏 F(s)
𝟐
𝒔 +𝟓 𝒔+ 𝟒 9
Solution: Transfer Function Modeling
Take the Lapace Transform of both sides

f(t) = ???
Solution:
Take the Lapace Transform of both sides

R(s) Y(s)

Transfer Function Modeling

Homework/Practice Problems (B.C. Kuo)
Laplace Transform
2.16
2.18

Solve differential equation by Laplace Transform

2.22

Inverse Laplace Transform

2.26

Find Transfer Function

2.29

11
End of Lecture

Jaza k Allah
Question and Answer
12