Chapter 2: System Modelling

Topics

1. What is Modelling

2. Transfer Function of a System (a Recap)

3. Mathematical Modelling

K.V. Rop@SkillsArray Control Systems I 2

 Ways to Study a System
System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

K.V. Rop@SkillsArray Control Systems I 3

 What is a Model?

A model is a simplified representation Mathematical Model What is a model used for?

or abstraction of reality.
Reality is generally too complex to copy exactly. A set of mathematical equations (e.g., differential eqs.) Simulation
Much of the complexity is actually irrelevant in that describes the input-output behavior of a system. Prediction/Forecasting
problem solving. Prognostics/Diagnostics
Design/Performance Evaluation
Control System Design

K.V. Rop@SkillsArray Control Systems I 4

 Types of Models

Model

Physical Mathematical Computer

Static Dynamic Static Dynamic Static Dynamic

K.V. Rop@SkillsArray Control Systems I 5

 Example: A heat radiating system
Black Box Model
◼ When only input and output are known.
◼ Internal dynamics are either too
complex or unknown.

Input Output Heat Raadiating System

35

Temperature in Degree Celsius (y)

30 Room Temperature
Valve Room
quadratic Fit
Position Temperature (oC)
25
0 0
◼ Easy to Model 2 3 20 y = 0.31*x 2 + 0.046*x + 0.64

4 6 15
6 12
10
8 20
5
10 33
0
0 2 4 6 8 10
Valve Position (x)

K.V. Rop@SkillsArray Control Systems I 6

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

u(t) y(t)

◼ Easier than white box Modelling.

K.V. Rop@SkillsArray Control Systems I 7

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

dy(t ) du(t ) d 2 y(t )

u(t) =3 − y(t)
dt dt dt 2

◼ One should know have complete knowledge of the system to derive a white box model.

K.V. Rop@SkillsArray Control Systems I 8

 Comparison
Black Box Modelling Grey Box Modelling White Box Modelling

Purely data-driven; no knowledge of internal Combines partial physical understanding with Fully physics-based; relies on known system
Definition
structure data equations

Complete knowledge of internal mechanisms

System Knowledge No internal insight; treats system as a black box Partial knowledge of system dynamics
and structure

Input-output data only (e.g., regression, neural Theoretical equations with unknown Fundamental laws (e.g., Newton’s,
Model Basis
networks) parameters fitted using data Kirchhoff ’s, thermodynamics)

Transparency Opaque; hard to interpret Semi-transparent; some interpretability Fully interpretable and explainable

Often simpler to use, but can be complex if Medium complexity due to mix of theory and Can be very complex depending on the
Complexity
deep learning is involved estimation physical model

Depends heavily on quality and amount of Often accurate and generalizes better due to High accuracy if model structure and
Accuracy
training data structure parameters are correct

Limited to systems with known or derivable

Flexibility Highly flexible; adaptable to unknown systems Moderate flexibility
physical models

- Load forecasting using LSTM - HVAC control using thermal equations + - RLC circuit modeling using Kirchhoff ’s
Engineering Examples - Fault detection using SVM sensor data Laws
- System ID with ARX - Induction motor modeling - DC motor using Newton’s Laws

K.V. Rop@SkillsArray Control Systems I 9

 Different Types of Lumped-Parameter Models

System Type Model Type

Linear Time
Invariant Transfer function

Nonlinear Input-output differential equation

Linear State equations

K.V. Rop@SkillsArray Control Systems I 10

 Transfer Function of a System
◼ Transfer Function is the ratio of Laplace transform of the output to the Laplace
transform of the input. Considering all initial conditions to zero.

Plant Output
Input ℒ 𝑟 𝑡 =𝑅 𝑠
(system) c(t) ℒ 𝑐 𝑡 =𝐶 𝑠
r(t)
g(t) ℒ 𝑔 𝑡 =𝐺 𝑠

◼ Then the transfer function G(S) of the plant is given as

𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑜𝑓 𝑂𝑢𝑡𝑝𝑢𝑡 𝐶 𝑠
R(s) G(S) C(s) 𝐺 𝑠 = =𝑅
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑜𝑓 𝐼𝑛𝑝𝑢𝑡 𝑠

K.V. Rop@SkillsArray Control Systems I 11

 Differential Laplace Transforms
𝑑𝑥(𝑡)
ℓ = 𝑠𝑋(𝑆) − 𝑥(0)
𝑑𝑡

𝑑2 𝑥(𝑡) 2
𝑑𝑥(0)
ℓ 2
= 𝑠 𝑋(𝑆) − 𝑥(0) −
𝑑𝑡 𝑑𝑡

𝑑𝑛 𝑥(𝑡) 𝑛 𝑋(𝑆) − 𝑠 𝑛−1 𝑥(0) − ⋯ − 𝑥 𝑛−1 (0)

ℓ = 𝑠
𝑑𝑡 𝑛

Where x(0) is the initial condition of the system.

K.V. Rop@SkillsArray Control Systems I 12

 Example: RC Circuit

◼ u is the input voltage applied at t=0

◼ y is the capacitor voltage

◼ If the capacitor is not already charged then

y(0)=0.
◼ since
1 1
𝑦 0 = ×𝑞 𝑡 = ×𝑞 0 =0
𝑐 𝑐

K.V. Rop@SkillsArray Control Systems I 13

 Integral Laplace Transforms
1
ℓ න𝑥(𝑡)𝑑𝑡 = 𝑋(𝑆)
𝑠

◼ The time domain integral becomes division by s in frequency domain.

K.V. Rop@SkillsArray Control Systems I 14

 Example
◼ Consider the following ODE where y(t) is ◼ Considering Initial conditions to zero in
input of the system and x(t) is the output. order to find the transfer function of the
system
𝑑 2 𝑥(𝑡) 𝑑𝑦(𝑡) 𝑑𝑥(𝑡)
𝐴 =𝐶 −𝐵 𝐴𝑠 2 𝑋(𝑠) = 𝐶𝑠𝑌(𝑠) − 𝐵𝑠𝑋(𝑠)
𝑑𝑡 2 𝑑𝑡 𝑑𝑡
or
𝐴𝑥′′(𝑡) = 𝐶𝑦′(𝑡) − 𝐵𝑥′(𝑡) ◼ Rearranging the above equation
𝐴𝑠 2 𝑋(𝑠) + 𝐵𝑠𝑋(𝑠) = 𝐶𝑠𝑌(𝑠)
◼ Taking the Laplace transform on either sides
𝑋(𝑠)[𝐴𝑠 2 + 𝐵𝑠] = 𝐶𝑠𝑌(𝑠)
𝐴[𝑠 2 𝑋(𝑠) − 𝑠𝑥(0) − 𝑥′(0)]
= 𝐶[𝑠𝑌(𝑠) − 𝑦(0)] − 𝐵[𝑠𝑋(𝑠) − 𝑥(0)] 𝑋(𝑠) 𝐶𝑠 𝐶
= =
𝑌(𝑠) 𝐴𝑠 2 + 𝐵𝑠 𝐴𝑠 + 𝐵

K.V. Rop@SkillsArray Control Systems I 15

 Example
Determine the transfer function of the RC network shown below. Assume that the
capacitor is not initially charged.
Solution
𝑣𝑅 𝑡 = 𝑅. 𝑖 𝑡 𝑣𝐶 𝑡 = 𝑦 𝑡

𝑑𝑦(𝑡) 𝑑𝑦(𝑡)
Current through capacitor, 𝑖 𝑡 = 𝐶 = since C=1F
𝑑𝑡 𝑑𝑡
𝑑𝑦(𝑡)
𝑣𝑅 𝑡 = 𝑅. 𝑖 𝑡 = 1.
𝑑𝑡

𝑑𝑦(𝑡)
𝑢 𝑡 = + 𝑦 t = 𝑦 ′ + 𝑦(𝑡)
𝑑𝑡
Transfer Function
1
𝐺 𝑠 =
𝑠+1
K.V. Rop@SkillsArray Control Systems I 16
 Example
Obtain the transfer function of a differential equation below. The equation gives the
relationship between the input x(t) and the output y(t).

𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡) 𝑑𝑥(𝑡)

2
+3 + 2𝑦 𝑡 = 3 − 𝑥(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡
Solution
The Laplace transform and assume zero initial conditions
𝑠 2 𝑌 𝑠 + 3𝑠𝑌 s + 2𝑦 𝑠 = 3sX 𝑠 − 𝑋 𝑠

𝑌 𝑠 3𝑠 − 1
𝐺 𝑠 = = 2
𝑋 𝑠 𝑠 + 3𝑠 + 2

K.V. Rop@SkillsArray Control Systems I 17

 Transfer Function
◼ In general

◼ Where x is the input of the system and y is the output of the system.

◼ When order of the denominator polynomial is greater than the numerator polynomial
the transfer function is said to be ‘proper’.
K.V. Rop@SkillsArray Control Systems I 18
 Summary

◼ Transfer function helps us to check

✓ The stability of the system

✓ Time domain and frequency domain characteristics of the system

✓ Response of the system for any given input

K.V. Rop@SkillsArray Control Systems I 19

 Exercise
◼ u(t) and y(t) are the input and output respectively of a system defined by following ODE.
Determine the Transfer Function. Assume there is no any energy stored in the system.
6𝑢′′(𝑡) − 3𝑢(𝑡) + න𝑦(𝑡)𝑑𝑡 = −3𝑦′′′(𝑡) − 𝑦(𝑡)

K.V. Rop@SkillsArray Control Systems I 20

 Modeling of Electrical Systems
◼ The basic passive elements of electrical systems are resistance, inductance and
capacitance

K.V. Rop@SkillsArray Control Systems I 21

 Basic Elements of Electrical Systems
Symbol V-I Relation I-V Relation Laplace
transform
S-Domain

v R (t ) = i R (t )R v R (t )
Resistor i R (t ) = VR ( s ) = I R ( s ) R
R
1 dvc (t ) 1
Capacitor vc (t ) =  ic (t )dt ic (t ) = C Vc ( s ) = Ic (s)
C dt Cs

diL (t ) 1
Inductor v L (t ) = L iL (t ) =  v L (t )dt VL ( s ) = LsI L ( s )
dt L

K.V. Rop@SkillsArray Control Systems I 22

 Example
The two-port network shown in the following figure has vi(t) as the input voltage and vo(t)
as the output voltage. Find the transfer function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

K.V. Rop@SkillsArray Control Systems I 23

 Solution
Re-arrange both equations as:
vi( t) i(t) C vo(t) 1
𝑉𝑖 (𝑠) = 𝐼(𝑠)(𝑅 + )
𝑠𝐶
𝑠𝐶𝑉𝑜 𝑠 = 𝐼 𝑠
Apply KVL
1 Substitute I(s) in equation on left
𝑣𝑖 (𝑡) = 𝑖(𝑡)𝑅 + ‫𝑡𝑑)𝑡(𝑖 ׬‬ 1
𝐶
𝑉𝑖 (𝑠) = 𝑠𝐶𝑉𝑜 (𝑠)(𝑅 + )
1
𝑠𝐶
𝑣𝑜 (𝑡) = 𝐶 ‫𝑡𝑑)𝑡(𝑖 ׬‬
𝑉𝑜 (𝑠) 1
Taking Laplace transform of both equations, =
𝑉𝑖 (𝑠) 𝑠𝐶(𝑅 + 1 )
considering initial conditions to zero yields 𝑠𝐶
1 𝑉𝑜 (𝑠) 1
𝑉𝑖 (𝑠) = 𝐼(𝑠)𝑅 + 𝐼(𝑠) =
𝑠𝐶 𝑉𝑖 (𝑠) 1 + 𝑠𝑅𝐶
1 The system has one pole at
𝑉𝑜 (𝑠) = 𝐼(𝑠)
𝑠𝐶 1
1 + 𝑅𝐶𝑠 = 0 ⇒𝑠=−
𝑅𝐶
K.V. Rop@SkillsArray Control Systems I 24
 Example - Continuation
Design an Electrical system that would place a pole at -3 if added to another system.
𝑉𝑜 (𝑠) 1
=
𝑉𝑖 (𝑠) 1 + 𝑠𝑅𝐶
The system has one pole at
1
1 + 𝑅𝐶𝑠 = 0 ⇒𝑠= −
𝑅𝐶 vi( t) i(t) C v2(t)

Therefore,
1
− = −3
𝑅𝐶

𝑖𝑓 𝑅 = 1 𝑀Ω 𝑎𝑛𝑑 𝐶 = 333 𝑝𝐹

K.V. Rop@SkillsArray Control Systems I 25

 Example
Determine the transfer function of the network below. Hence, determine the voltage U2 (t)
when the inputs are
i. U1(t) = 5
ii. U1(t) = 5t
iii. U1(t) = 5t2

K.V. Rop@SkillsArray Control Systems I 26

 Solution
5
i. When U1(t) = 5. 𝑈1 𝑠 = since ℓ[1] = 1/s
s
5
𝑈2 𝑠 =
𝑠 + 0.5
Apply KVL Take inverse Laplace
𝑈2 𝑡 = 5𝑒 −0.5𝑡
1 1
𝑈1 (𝑠) = 𝐼(𝑠)𝑅 + 𝑠 𝐼(𝑠) = 𝐼 𝑠 + 2
𝑠

𝑈2 (𝑠) = 2𝐼(𝑠)
ii. U1(t) = 5t
𝑈2 𝑠 Solve this.
𝐼 𝑠 = Ans: 𝑈2 𝑡 = 10 − 10𝑒 −0.5𝑡
2
Transfer Function
𝑈2 𝑠 1 iii. U1(t) = 5t2
𝑈1 (𝑠) = +2 Solve this.
2 𝑠
Ans: 𝑈2 𝑡 = 20𝑡 − 40 + 40𝑒 −0.5𝑡
𝑈2 𝑠 s
=
𝑈1 𝑠 𝑠 + 0.5

K.V. Rop@SkillsArray Control Systems I 27

 Example
Find the transfer function G(S) of the following two port network.

vi(t) i(t) C vo(t)

K.V. Rop@SkillsArray Control Systems I 28

 Solution
Simplify network by replacing multiple
components with their equivalent Transform Impedance (Resistor)
transform impedance.
iR(t) IR(S)
+ +
Transformation
L vR(t) ZR = R VR(S)
Z
Vi(s) I(s) C Vo(s) - -

Transform Impedance (Capacitor) Transform Impedance (Inductor)

IL(S)
ic(t) Ic(S) iL(t)
+ + +
+

vc(t) ZC(S)=1/sC Vc(S) vL(t) ZL=sL VL(S)

LiL(0)
- - -
-

K.V. Rop@SkillsArray Control Systems I 29

 Solution
1 1 1 1 1
= + = +
𝑍 𝑍𝑅 𝑍𝐿 𝑅 𝑠𝐿
L

𝑠𝑅𝐿 Z
𝑍= Vi(s) I(s) C Vo(s)
1 + 𝑠𝑅𝐿

𝑠𝑅𝐿
𝑍= 1 1
1 + 𝑠𝑅𝐿
L 𝑉𝑖 𝑠 = 𝐼 𝑠 𝑍 + 𝐼 𝑠 =𝐼 𝑠 𝑍+
𝑠𝐶 𝑠𝐶
Z
1
𝑉𝑜 (𝑠) = 𝐼(𝑠)
Vi(s) I(s) C Vo(s) 𝑠𝐶
1 1
𝑉𝑜 (𝑠) 𝐼(𝑠)
= 𝑠𝐶
= 𝑠𝐶
𝑉𝑖 (𝑠) 1𝐼 𝑠 𝑍 + 1 1
𝑍+
𝑠𝐶 𝑠𝐶
K.V. Rop@SkillsArray Control Systems I 30
 Mechanical Systems
Mechanical systems are of two types:
✓ Translational ✓ Rotational
─ Linear Motion ─ Rotational Motion
❑ The motion of the body is along a straight line ❑ The motion of the body is about its own axis
or curved path

K.V. Rop@SkillsArray Control Systems I 31

 Translational Mechanical System
◼ Basic Elements of Translational Mechanical Systems

Translational Spring Translational Mass Translational Damper

ii) iii)
i)

K.V. Rop@SkillsArray Control Systems I 32

 1. Mass
◼ Translational Mass is an inertia force.
◼ A mechanical system without mass does not exist.

◼ If a force F is applied to a mass and it is displaced to x meters then the relation b/w
force and displacements is given by Newton’s law.
𝐹 = 𝑀𝑎(𝑡)
where, F – force, M – Mass, & a – acceleration x(t )
In terms of velocity
𝑑𝑣 𝑡 F (t )
𝐹𝑀 = 𝑀 M
𝑑𝑡
In terms of displacement
𝑑2 𝑥 𝑡
𝐹𝑀 𝑡 = 𝑀
𝑑𝑡 2
K.V. Rop@SkillsArray Control Systems I 33
 2. Spring Force
◼ A spring stores the potential energy.
◼ The restoring force of the spring is proportional to
the displacement

◼ If FK is the applied force

𝐹𝐾 𝑡 ∝ 𝑥 𝑡 = 𝐾𝑥 𝑡

◼ F ∝displacement

𝐹𝐾 𝑡 = 𝐾 න 𝑢 𝑡 dt

◼ where K is stiffness of spring (Spring Constant)

expressed in N/m
K.V. Rop@SkillsArray Control Systems I 34
 3. Damping Force (Damper)
◼ When the viscosity or drag is not negligible in a system, we often model them
with the damping force.
◼ All the materials exhibit the property of damping to some extent.
◼ If damping in the system is not enough then extra elements (e.g. Dashpot) are
added to increase damping.
◼ F ∝ velocity
𝑑
𝐹𝐷 𝑡 = 𝐵𝑣 𝑡 = 𝐵 𝑥 𝑡
𝑑𝑡

✓ B – Damping coefficient given as N/m/sec

─ dashpot e.g. piston
✓ X(t) is the dashpot displacement (x2 – x1)

K.V. Rop@SkillsArray Control Systems I 35

 Examples of Dampshots

Door Vehicle
Stoppers Suspension

Bridge Flyover
Suspension Suspension

K.V. Rop@SkillsArray Control Systems I 36

 Summary

K.V. Rop@SkillsArray Control Systems I 37

 Example
x2
Consider the following system
x1 k B
F M

Mechanical Network
x1 k x2 At node x1

F = k ( x1 − x2 )
F ↑ M B At node x 2

0 = k ( x2 − x1 ) + Mx2 + Bx
2

K.V. Rop@SkillsArray Control Systems I 38

 Mechanics of Rotational Motion
◼ Rotational motion of a body is defined as the motion of a body about a fixed axis.
1. Inertial Torque
2. Damping Torque
3. Spring Torque

K.V. Rop@SkillsArray Control Systems I 39

 1. Inertia Torque
◼ Inertia (J) is the property of an element that stores the 
kinetic energy of rotational motion. J T
◼ The Inertia Torque TI is the product of moment of inertia
I and angular acceleration a(t)
𝑇𝐼 𝑡 = 𝐽𝑎(𝑡)

𝑑
𝑇𝐼 𝑡 = 𝐽 𝜔 𝑡
𝑑𝑡

𝑑2
𝑇𝐼 𝑡 = 𝐽 2 𝜃 𝑡
𝑑𝑡
✓ 𝜔 𝑡 is the angular frequency and 𝜃 𝑡 is the angular displacement.
✓ Unit of torque = N.m
K.V. Rop@SkillsArray Control Systems I 40
 2. Damping Torque 3. Spring Torque
◼ Damping Torque TD(t) is the product of ◼ Spring Torque Tθ(t) is the product of
damping coefficient B and angular velocity torsional stiffness and angular displacement
ω
𝑇𝐷 𝑡 = 𝐵𝜔 𝑡 𝑇𝜃 𝑡 = 𝐾𝜃

𝑇 = 𝐶(𝜃ሶ1 − 𝜃ሶ2 ) 𝑇 = 𝑘(𝜃1 − 𝜃2 ) 𝑡

𝑑 𝑢𝑛𝑖𝑡𝑠 𝑜𝑓 𝐾 = 𝑁 − 𝑚/𝑟𝑎𝑑
𝑇𝐷 𝑡 = 𝐵 𝜃 𝑡
𝑑𝑡
1
C 2
1
2 T

K.V. Rop@SkillsArray Control Systems I 41

 Summary of Rotational Elements

K.V. Rop@SkillsArray Control Systems I 42

 Example

1 k1 2 B2
3 B4
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4

K.V. Rop@SkillsArray Control Systems I 43

 Comparison between translational and rotational
mechanical systems
Aspect Translational System Rotational System
Type of Motion Linear (straight-line) motion Angular (rotational) motion
Displacement Linear displacement Angular displacement
Velocity Linear velocity v(t) Angular velocity, ω(t)
Acceleration Linear acceleration a(t) Angular acceleration α(t)
Driving Force Force, F(t) Torque, τ(t)
Mass Property Mass, m Moment of inertia, J
Friction Element Viscous damping coefficient, B Rotational damping coefficient, Br
Spring Element Spring constant (stiffness), K Torsional spring constant, Kr
Newton's Law F=ma τ=Jα
Car moving straight, elevator
Example Electric motor shaft, rotating gears
system

K.V. Rop@SkillsArray Control Systems I 44

 D'Alembert's Principle ◼ States that “for any body, the algebraic sum of
externally applied forces and the forces resisting
motion in any given direction is zero”
Translational System
Rotational System

External Forces F(t) External Forces T(t)

Resisting Forces: (negative because they oppose the direction) Resisting Forces: (negative because they oppose the direction)
𝑑2 𝑑2
i. Inertial Force 𝐹𝑀 𝑡 = −𝑀 𝑥 𝑡 i. Inertial Force 𝑇𝐼 𝑡 = −𝐽 2 𝜃 𝑡
𝑑𝑡 2 𝑑𝑡
𝑑 𝑑
ii. Damping Force 𝐹𝐷 𝑡 = −𝐵 𝑥 𝑡 ii. Damping Force𝑇𝐷 𝑡 = −𝐵 𝜃 𝑡
𝑑𝑡 𝑑𝑡
iii. Spring Force 𝐹𝐾 𝑡 = −𝐾𝑥 𝑡 iii. Spring Force𝑇𝜃 𝑡 = −𝐾𝜃 t
According to D'Alembert's Principle According to D'Alembert's Principle
𝐹 𝑡 + 𝐹𝑀 𝑡 + 𝐹𝐷 𝑡 + 𝐹𝐾 𝑡 = 0 𝑇 𝑡 + 𝑇𝐼 𝑡 + 𝑇𝐷 𝑡 + 𝑇𝜃 𝑡 = 0
𝑑2 𝑑 𝑑2 𝑑
𝐹 𝑡 − 𝑀 2 𝑥 𝑡 − 𝐵 𝑥 𝑡 − 𝐾𝑥 𝑡 = 0 𝑇 𝑡 − 𝐽 2 𝜃 𝑡 − 𝐵 𝜃 𝑡 − 𝐾𝜃(𝑡) = 0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
2 2
𝑑 𝑑 𝑑 𝑑
𝐹 𝑡 = 𝑀 2 𝑥 𝑡 + 𝐵 𝑥 𝑡 + 𝐾𝑥 𝑡 𝑇 𝑡 = 𝐽 2 𝜃 𝑡 + 𝐵 𝜃 𝑡 + 𝐾𝜃(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
In Laplace In Laplace
𝐹 𝑠 = 𝑠 2 𝑀𝑋 𝑠 + 𝑠𝐵𝑋 𝑠 + 𝐾𝑋 𝑠 𝑇 𝑠 = 𝑠 2 𝐽𝜃 𝑠 + 𝑠𝐵𝜃 𝑠 + 𝐾𝜃(𝑠)

K.V. Rop@SkillsArray Control Systems I 45

 Procedure for writing Mechanical Systems’ Models

1 2 3 4 5
Assume the system is Assume that the Draw the free body Apply newton’s las Rearrange the
in equilibrium system is given same diagram of forces of motion to each equation in suitable
arbitrary exerted on each mass diagram, using form to be solved
displacement if in the system convection that any
distributing forces force acting in the
are present direction of assumed
displacement is
positive

K.V. Rop@SkillsArray Control Systems I 46

 Example
Derive the transfer function for the system below given M=20 Kg, B=30 N/m/s and K =
20N/m

Solution
𝑑2 𝑑
𝐹 𝑡 = 𝑀 2 𝑥 𝑡 + 𝐵 𝑥 𝑡 + 𝐾𝑥 𝑡
𝑑𝑡 𝑑𝑡

𝐹 𝑠 = 𝑠 2 𝑀𝑋 𝑠 + 𝑠𝐵𝑋 𝑠 + 𝐾𝑋 𝑠 = 𝑋 𝑠 𝑠 2 𝑀 + 𝑠𝐵 + 𝐾
Input = Force, Output = resistance
𝑋 𝑠 1 1
𝑇𝐹 = = 2 =
𝐹 𝑠 𝑠 𝑀 + 𝑠𝐵 + 𝐾 20𝑠 2 + 30𝑠 + 20

K.V. Rop@SkillsArray Control Systems I 47

 Example
For the figure shown, draw the free body diagram and write the
differential equation

Solution
For Mass 1 For Mass 2
𝑑2 𝑑2
Inertial Force 𝐹𝑀 𝑡 = −𝑀1 𝑑𝑡 2 𝑥1 𝑡 • Inertial Force 𝐹𝑀 𝑡 = −𝑀2 𝑑𝑡 2 𝑥2 𝑡
𝑑 𝑑
Damping force 𝐹𝐷 𝑡 = −𝐵1 𝑑𝑡 𝑥1 − 𝑥2 𝑡 • Damping force 𝐹𝐷 𝑡 = −𝐵2 𝑑𝑡 𝑥2 𝑡
Spring force 𝐹𝐾 𝑡 = −𝐾1 𝑥1 − 𝑥2 𝑡 • Spring force 𝐹𝐾 𝑡 = −𝐾2 𝑥2 𝑡
𝑑2 𝑑
𝑑2 𝑑 𝐹 𝑡 = 𝑀2 2 𝑥2 + 𝐵2 𝑥2 𝑡 + 𝐾2 𝑥2 𝑡
𝐹 𝑡 = 𝑀1 2 𝑥1 + 𝐵1 𝑥 − 𝑥2 𝑡 + 𝐾1 𝑥1 − 𝑥2 𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑡 𝑑𝑡 1
𝑑2 𝑑 𝑑2 𝑑
𝑀1 𝑑𝑡 2 𝑥1 + 𝐵1 𝑑𝑡 𝑥1 − 𝑥2 𝑡 + 𝐾1 𝑥1 − 𝑥2 𝑡 = 𝑀2 𝑑𝑡 2 𝑥2 + 𝐵2 𝑑𝑡 𝑥2 𝑡 + 𝐾2 𝑥2 𝑡

K.V. Rop@SkillsArray Control Systems I 48

 Analogous System
Mechanical (Translational) Electrical (Voltage) Mechanical (Rotational)
1. Force-voltage analogy Force (F) Voltage (V) Torque (T)
Velocity (v = dx/dt) Current (i=dq/dt) Angular velocity (ω)
Mass (M) Inductance (L) Moment of Inertia (J)
Damper (B) Resistance (R) Rotational damper (B)
Spring (K) Inverse of Capacitance (1/C) Torsional spring (K)
Displacement (x) Charge (q) Angular displacement (θ)

Mechanical (Translational) Electrical (Current) Mechanical (Rotational)

2. Force-current analogy
Force (F) Current (I) Torque (T)
Velocity (v=dx/dt) Voltage (V=dφ/dt) Angular velocity (ω=dθ/dt)
Mass (M) Capacitance (C) Moment of Inertia (J)
Damper (B) Conductance (1/R) Rotational damper (B)
Spring (K) Reciprocal of Inductance (1/L) Torsional spring (K)
Displacement (x) Magnetic flux linkage (ψ) Angular displacement (θ)

K.V. Rop@SkillsArray Control Systems I 49

 Example
For the system shown below,
1. Write the systems equation
2. Draw the Force-current analogy analogous circuit

K.V. Rop@SkillsArray Control Systems I 50

 Solution
1. Write the systems equation 1. Draw the Force-current analogy analogous circuit
𝐹 𝑠 = 𝑠 2 𝑀𝑋 𝑠 + 𝑠𝐵𝑋 𝑠 + 𝐾𝑋 𝑠
Its analogy
2
1 1
𝐼 𝑠 = 𝑠 𝐶𝜑 𝑠 + 𝑠 𝜑 𝑠 + 𝜑 𝑠
𝑅 𝐿

Let
𝑑2 𝑑
𝐹 𝑡 = 𝑀 2 𝑥 𝑡 + 𝐵 𝑥 𝑡 + 𝐾𝑥 𝑡 𝑉 𝑠 = 𝑠𝜑 𝑠
𝑑𝑡 𝑑𝑡 1 1
In Laplace 𝐼 𝑠 = 𝑠𝐶𝑉 𝑠 + 𝑉 𝑠 + 𝑉 𝑠
𝐹 𝑠 = 𝑠 2 𝑀𝑋 𝑠 + 𝑠𝐵𝑋 𝑠 + 𝐾𝑋 𝑠 𝑅 𝑆𝐿

𝐹 𝑠 = 𝑋 𝑠 𝑠 2 𝑀 + 𝑠𝐵 + 𝐾

K.V. Rop@SkillsArray Control Systems I 51

 Example
Draw the electrical analogous circuit of the Solution
systems shown below

K.V. Rop@SkillsArray Control Systems I 52

 Example
Draw the electrical analogous circuit of
the systems shown below using
1. Force-voltage analogy
2. Force-current analogy

Solution
Force-voltage analogy Force-current analogy
B2 and B3=0 since wheels are frictionless

K.V. Rop@SkillsArray Control Systems I 53

 Modeling of Electromechanical Systems - D.C Drives

K.V. Rop@SkillsArray Control Systems I 54

 Example: Field Controlled D.C Motor
Rf Ra La
Combing previous equations and taking Laplace transform
if (considering initial conditions to zero) results in the
Lf T J ea following mathematical model:
ef m B ω 𝐸𝑓 (𝑠) = 𝑅𝑓 𝐼𝑓 (𝑠) + 𝑠𝐿𝑓 𝐼𝑓 (𝑠)
൝
𝐽𝑠Ω(𝑠) + 𝐵Ω(𝑠) = 𝐾𝑓 𝐼𝑓 (𝑠)
Thus,
Applying KVL at field circuit Ω(𝑠) 𝐾𝑓
𝑑𝑖𝑓 =
𝐸𝑓 (𝑠) 𝐽𝑠 + 𝐵 (𝐿𝑓 𝑠 + 𝑅𝑓 )
𝑒𝑓 = 𝑖𝑓 𝑅𝑓 + 𝐿𝑓
𝑑𝑡 If angular position θ is output of the motor
Mechanical Subsystem Rf Ra La

𝑇𝑚 = 𝐽ωሶ + 𝐵ω if
Power Transformation ef Lf Tm J ea
B θ
Torque-Current:
𝑇𝑚 = 𝐾𝑓 𝑖𝑓 𝜃(𝑠) 𝐾𝑓
where Kf: torque constant =
𝐸𝑓 (𝑠) 𝑠 𝐽𝑠 + 𝐵 (𝐿𝑓 𝑠 + 𝑅𝑓 )

K.V. Rop@SkillsArray Control Systems I 55