School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-371 : Control Systems
Lecture#03
Transfer Functions of Physical Systems
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition

Instructor: Ms Neelma Naz

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What is the Control System Engineer trying
to achieve? (Analysis and Design Objectives)

• First, understand the broader picture of the

application to best apply a suitable control system.
• A good control system is a system that will
– generate a response quickly and without oscillation
(good transient response),
– have low error once settled (good steady-state
response),
– and will not oscillate wildly or damage that system
(stability).

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 Chapter#02
Transfer Functions of
Physical Systems

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 Ways to Study a System

System

Experiment with Experiment with a

actual System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

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 Model
•
A model is a simplified representation or
abstraction of reality.
•
Reality is generally too complex to model
exactly.

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

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 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

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 White Box Model
• When input and output and internal dynamics
of the system is known.

d n c(t ) d n1c(t ) d m r (t ) d m1r (t )

u(t) an
dt n
 a n 1 White Box
dt n1
   a 0 c (t )  bm
dt m
 bm 1
dt m1
   b0 r (t )
y(t)

• One should know complete knowledge of the

system to derive a white box model.
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Transfer Functions of
Electrical Networks

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 The input, r(t), stands for reference input.
The output, c(t), stands for controlled variable

Physical Laws are used to derive mathematical models of the systems:

Kirchhoff's voltage law : The sum of voltages around a closed path equals zero.
Kirchhoffs current law : The sum of electric currents flowing from a node
equals zero.
Newton's laws : The sum of forces on a body equals zero; the sum
of moments on a body equals zero.
Kirchhoffs and Newton's laws lead to mathematical models that describe the
relationship between the input and output of
dynamic systems. One such model is the linear,
time-invariant differential equation.

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 d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
 an 1 n 1
   a0 c(t )  bm m
 bm 1 m 1
   b0 r (t )
dt dt dt dt

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 Electrical Circuit Components

V (s) V (s) V (s) 1

R  sL 
I (s) I (s) I ( s ) sC

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Table 2.3

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Table 2.3

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 1 t
v(t )  Ri (t )   i ( )d
C 0
dq (t )
As i (t ) 
dt
dq (t ) 1
v(t )  R  q (t )
dt C
q (t )  C vc (t )
V(s) VC(s) dvc (t )
G(s) v(t )  RC  vc (t )
dt

VC ( s ) 1
V ( s )  RCsVC ( s )  VC ( s )
G (s)   RC
V ( s ) s  1 RC
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 di(t ) 1 t
v(t )  L  Ri (t )   i ( )d
dt C 0
dq (t )
As i (t ) 
dt
d 2 q (t ) dq(t ) 1
v(t )  L 2  R  q (t )
d t dt C
q (t )  C vc (t )
V(s) VC(s) d 2 vc (t ) dvc (t )
G(s) v(t )  LC 2
 RC  vc (t )
dt dt

V ( s )  LCs 2VC ( s )  RCsVC ( s )  VC ( s )

VC ( s ) 1
 2 LC

V ( s ) s  R L s  1 LC

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 V(s) VC(s)
G(s)

VC ( s ) 1 VC ( s ) 1
 RC  2 LC

V ( s ) s  1 RC V ( s ) s  R L s  1 LC

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Laplace-transformed network

1
Z ( s )  Ls  R 
Cs
V (s)  Z (s) I (s)

Trnasform  1 
V ( s )   Ls  R   I ( s )
 Cs 
I (s) 1

V (s)  1 
 Ls  R  
 Cs 
How do we find Vc(s) ???
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Modeling Complex Circuits via
Mesh Analysis
Example 2.10

a. Two-loop electrical
network;

b. transformed
two-loop electrical
network;

c. block diagram

How do we find the transfer function ??? 20

Modeling Complex Circuits via
Mesh Analysis

R1 I1 ( s )  LsI1 ( s )  LsI 2 ( s )  V ( s )

1
LsI 2 ( s )  R2 I 2 ( s )  I 2 ( s )  LsI1 ( s )  0
Cs

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Modeling Complex Circuits via Mesh Analysis

R1  Ls   Ls 
  I1 ( s )  V ( s )
 1   I ( s)   0 
  Ls  Ls  R2    2   
  Cs 
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 R1  Ls   Ls 
  I1 ( s )  V ( s )
 1   I ( s)   0 
  Ls  Ls  R2    2   
  Cs 
Using Cramer's rule

R1  Ls  V ( s ) R1  Ls   Ls
  Ls 0    1 
 Ls  
I 2 (s)     Ls R2 
 Cs 


LCs 2
I 2 (s)  V (s)
R1  R2 LCs  R1R2C  L s  R1
2

I 2 (s) LCs 2
G (s)  
V ( s ) R1  R2 LCs 2  R1R2C  L s  R1

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 Home Assignment
(Submit)

Modeling Complex Circuits via

Nodal Analysis

Work out Example 2.11

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Figure 2.9
Three-loop electrical network

 2s  2  I1 ( s)   2s  1 I 2 ( s)  I 3 ( s)  V ( s) These eqns can be solved

  2 s  1 I1 ( s )  9 s  1 I 2 ( s )  4 sI 3 ( s )  0 simultaneously to determine
the desired transfer function
 1
 I1 ( s )  4 sI 2 ( s )   4 s  1   I 3 ( s )  0
 s

I1 ( s )
G1 ( s ) 
V (s)

I 2 (s)
G2 ( s ) 
V (s)

I3 (s)
G3 ( s ) 
V (s) 25
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