Control Systems - Mathematical Models
The control systems can be represented with a set of mathematical equations known as
mathematical model. These models are useful for analysis and design of control
systems. Analysis of control system means finding the output when we know the input and
mathematical model. Design of control system means finding the mathematical model
when we know the input and the output.
The following mathematical models are mostly used.
Differential equation model
Transfer function model
State space model
Let us discuss the first two models in this chapter.
Differential Equation Model
Differential equation model is a time domain mathematical model of control systems.
Follow these steps for differential equation model.
Apply basic laws to the given control system.
Get the differential equation in terms of input and output by eliminating the
intermediate variable(s).
Example
Consider the following electrical system as shown in the following figure. This circuit
consists of resistor, inductor and capacitor. All these electrical elements are connected in
series. The input voltage applied to this circuit is vi and the voltage across the capacitor
is the output voltage vo .
Mesh equation for this circuit is
di
vi = Ri + L + vo
dt
dv o
Substitute, the current passing through capacitor i=c dt
in the above equation.
dvo d2 vo
⇒ vi = RC + LC 2 + vo
dt dt
d2 vo R dvo 1 1
⇒ + ( ) + ( ) v o = ( ) vi
dt2 L dt LC LC
The above equation is a second order differential equation.
Transfer Function Model
Transfer function model is an s-domain mathematical model of control systems. The
Transfer function of a Linear Time Invariant (LTI) system is defined as the ratio of
Laplace transform of output and Laplace transform of input by assuming all the initial
conditions are zero.
If x(t) and
y(t) are the input and output of an LTI system, then the corresponding Laplace
transforms are X(s) and Y (s).
Therefore, the transfer function of LTI system is equal to the ratio of Y (s) and X(s).
Y (s)
i. e. , T ransfer F unction =
X(s)
The transfer function model of an LTI system is shown in the following figure.
Here, we represented an LTI system with a block having transfer function inside it. And
this block has an input X(s) & output Y (s).
Example
Previously, we got the differential equation of an electrical system as
d2 vo R dvo 1 1
+ ( ) + ( ) v o = ( ) vi
dt2 L dt LC LC
Apply Laplace transform on both sides.
1 1
s2 Vo (s) + ( ) Vo (s) + ( ) Vo (s) = ( ) Vi (s)
sR
L LC LC
1 1
⇒ {s2 + ( )s + } Vo (s) = ( ) Vi (s)
R
L LC LC
1
Vo (s) LC
⇒ = 1
Vi (s) s2 + ( R )s +
L LC
Where,
vi (s) is the Laplace transform of the input voltage vi
vo (s) is the Laplace transform of the output voltage vo
The above equation is a transfer function of the second order electrical system. The
transfer function model of this system is shown below.
Here, we show a second order electrical system with a block having the transfer function
inside it. And this block has an input Vi (s) & an output Vo (s).
