CT2

Mathematical Modeling
S UBHASH PATEL
EC
2012
S UBHASH PATEL (EC)
2012
1 / 40
Transfer Function
Definition : The ratio of the Laplace transform of the output to the Laplace transform of
input under the assumption of zero initial condition is defined as the transfer
function of the given system
r(t)
System g(t)
c(t) Output
r(t) Input
g(t) System Function
L {c(t)} = C(s)
Laplace of input
Laplace of output
C(s)
=
R(s)
Transfer Function G(s) =
L {r(t)} = R(s)
L {g(t)} = G(s)
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2012
2 / 40
Laplace Transform
1
Laplace of Unit Step input

r(t)
t
2
t0
=0
t<0
L {r(t)} = R(s)
1
=
S
Laplace of Ramp input

R(t)
kt
t
3
r(t) = 1
r(t) = kt
t0
=0
t<0
L {r(t)} = R(s)
1
= 2
S
Laplace of Unit Impulse

L { (t)} = 1
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2012
3 / 40
Transfer Function
Definition The transfer function of a linear, time-invariant, differential equation system is
defined as the ratio of the Laplace of the output to the Laplace transform of the
input under the assumption that all initial conditions are zero.
Consider a system with input x(t) and output y(t) with differential equation as given bellow,
a0
dn1 y
dy
dn x
dn1 x
dx
dn y
+ a1 n1 + + an1 + an y = b0 n + b1 n1 + + bm1 + bn x
n
dt
dt
dt
dt
dt
dt
L {Output}
L {Input}
Y(s)
=
X(s)
Transfer Function = G(s) =
b0 sm + b1 sm1 + +bm1 s + bm
a0 sn + a1 sn1 + +an1 s + an
The highest order of denominator of transfer function is n, thus system is called nth-order
System
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2012
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Transfer Function
The transfer function of the system is a mathematical model of the system and it is an
alternate method of expressing the differential equation.
The transfer function is a property of a system itself, independent of the magnitude and
nature of the input or driving function
The transfer function includes the units necessary to relate the input to the outpu, however
it does not provides any information about the physical structure of the system.
If the transfer function of the system is known, the output or response of the system can be
studied for various inputs in a view towards understanding the response of the system.
If the transfer function of the system is unknown, it can be obtained by establishing
relation between the known input and measured output.
S UBHASH PATEL (EC)
2012
5 / 40
Impulse Response Function
Consider the system with following transfer function
G(s) =
Y(s)
X(s)
Y(s) = X(s)G(s)
Now, taking impulse as input

x(t) = (t)
X(s) = 1
Y(s) = G(s)
Y(s) and thus G(s) is called the impulse response function
S UBHASH PATEL (EC)
2012
6 / 40
Block Diagram of Close-Loop System

B(s)
= H(s)
C(s)
C(s)
Feedforward transfer function =
= G(s)
E(s)
B(s)
Open-loop Transfer function =
= G(s)H(s)
E(s)
Feedback Transfer Function =
Summing
Point
R(s)
Branch
Point
Closed-Loop Transfer Function
E(s)
+_
G(s)
B(s)
H(s)
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C(s)
C(s)
G(s)E(s)
=
R(s)
E(s) + B(s)
G(s)E(s)
=
E(s) + E(s)G(S)H(s)
G(s)
=
1 + G(s)H(s)
2012
7 / 40
Industrial Control System
Automatic Controller
Error Detector
Set Point
Output
+_
Amplifer
Actuator
Plant
Actuating
error signal
Sensor
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2012
8 / 40
Classification of Industrial Controller
Two-position or on-off controllers
Proportional Controller
Integral Controller
Proportional-plus-integral controller
Proportional-plus-derivative controller
Proportional-plus-integral-plus-derivative controller
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2012
9 / 40
Two Position Control or On-off Control Action

The actuating element has only two fixed positions, which are, in many cases on and off.
Relatively simple and widely used in industries.
e
+_
e
u
+_
Output of actuator u(t) remains at either a maximum or minimum value depending upon
the error signal.
u(t) = U1
for e(t) 0
= U2
for e(t) < 0
Example : Liquid level control system
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2012
10 / 40
Proportional Control Action

The relation between the output of controller u(t) and the actuating error signal e(t) can be
given by,
u(t) = Kp e(t)
in Laplace-transformed quantities,
U(s)
= Kp
E(s)
The proportional controller is essentially and amplifier with adjustable gain.
+_
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Kp
2012
11 / 40
Integral Control Action

The relation between the output of controller u(t) and the actuating error signal e(t) can be
given by,
Z t
u(t) = Ki
e(t) dt
0
U(s) Ki
=
E(s)
s
Ki is an adjustable constant.

e
-+
@
@

6
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Ki
s
2012
12 / 40
Proportional-Plus-Integral Control Action

The control action of a proportional-plus-integral controller is defined by,
u(t) = Kp e(t) +
Kp
Ti
Z t
e(t) dt
0

1
U(s)
= Kp 1 +
E(s)
Ti s
Ti is called integral time.

e
-+
@
@

6
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1
Kp 1 +
Ti s
2012
13 / 40
Proportional-Plus-Derivative Control Action

The control action of a proportional plus derivative controller is defined by,
u(t) = Kp e(t) + Kp Td
de(t)
dt
The transfer function is,

U(s)
= KP (1 + Td s)
E(s)
Td is called derivative time.

e
-+
@
@

6
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KP (1 + Td s)
2012
14 / 40
Proportional-Plus-Integral-Plus-Derivative Control Action

The control action of a proportional plus integral plus derivative controller is defined by,
u(t) = Kp e(t) +
Kp
Ti
Z t
0
e(t)dt + Kp Td
de(t)
dt
The transfer function is,

U(s)
1
= KP 1 +
+ Td s
E(s)
Ti s
Td is called derivative time, Ti is called integral time and Kp is called proportional gain.

e
-+
@
@

6
S UBHASH PATEL (EC)
- K (1 + 1 + T s)
P
d
Ti s
2012
15 / 40
Mathematical Modeling of Electrical & Electronics Systems

R
Vi
Vo
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2012
16 / 40

R
Laplace Transform of these equations,

Vi
Vo
Vi Vo
R
di
Vo = L
dt
i=
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I(s) =
Vi (s) Vo (s)
R
= [Vi (s) Vo (s)]
1
R
Vo (s) = SL(s)
2012
16 / 40

R
Laplace Transform of these equations,

Vi
Vo
I(s) =
= [Vi (s) Vo (s)]
Vi Vo
R
di
Vo = L
dt
i=
Vi (s)
1
R
Vo (s) = SL(s)

Vi (s) Vo (s)
- +@
@
@

6
S UBHASH PATEL (EC)
Vi (s) Vo (s)
R
I(s)
R
Ls
-V (s)
o
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16 / 40
Vi
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Vo
2012
17 / 40
Vi
Vi
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Vo

1
Vi (s) Vo (s)
-+
- 1
@
Cs
R + Ls
@

6
- Vo
2012
17 / 40
R1
Vi
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R2
C1
C2
Vo
2012
18 / 40
R1
Vi
Vi (s)

-+

6
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R2
C1
1
R1
?

-+

1
sC1
C2

-+

6
Vo
1
R2
1
sC2
-Vo (s)
2012
18 / 40
Find the transfer function of following network
R1
Vi
S UBHASH PATEL (EC)
R2
C1
C2
Vo
2012
19 / 40
Mathematical Modeling of Mechanical Systems

Mass :
A force applied to a mass produced the acceleration of mass. According to the Newtons
second low,
F(t) = Ma
dv(t)
dt
d2 x(t)
=M
dt2
=M
Reference
x(t)
v(t)
b
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F(t)
2012
20 / 40
Mathematical Modeling of Mechanical System
Spring :
The spring is considered to be an element which stores the potential energy
It is used to provide restoring force
x(t)
F(t) = Kx(t)
Reference
v(t)
Z t
=K
F(t)
K
x1(t)
x2(t)
v1(t)
v2(t)
v(t)dt
F(t) = K [x1 (t) x2 (t)]

Z t
=K
F(t)
a
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[v1 (t) v2 (t)] dt
2012
21 / 40
Viscous Friction
It is the force of friction between moving surfaces separated by viscous fluid or the force
between a solid body and a fluid medium.
It represent the linear relation between the applied force and velocity.
x(t)
F(t) = Bv(t)
Reference
v(t)
=B
F(t)
dx(t)
dt
B
x1(t)
x2(t)
v1(t)
v2(t)
F(t) = B [v1 (t) v2 (t)]

=B
F(t)
d(x1 (t) x2 (t))

dt
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2012
22 / 40
Moment of Inertia :
T(t) = J(t)
d(t)
dt
d2 (t)
=J
dt2
=J
Reference
(t)
J
T(t) = Applied Torque (N m)
T(t)
(t) = angular acceleration (rad/sec2 )

(t) = angular velocity (rad/sec)
(t) = angular displacement (rad)
J = Moment of Inertia (kg m2 )
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2012
23 / 40
Torsional Spring :
Reference
F(t) = K (t)
T(t)
Z t
=K
K (t)
T(t)
F(t) = K [1 (t) 2 (t)]

Z t
2 (t)
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(t)dt
=K
K (t)
1
[1 (t) 2 (t)] dt
2012
24 / 40
Viscous Friction
F(t) = B(t)
Reference
(t)
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d (t)
dt
F(t) = B [1 (t) 2 (t)]
1 (t)
2 (t)
=B
T(t)
=B
T(t)
d(1 (t) 2 (t))

dt
2012
25 / 40
Find the transfer function of following mechanical system
F(t) = M
F(s) = Ms2 X(s) + BsX(s) + kX(s)
d2 x(t)
dx(t)
+B
+ kx(t)
dt
dt2
x(t)
M
F(s) = (Ms2 + Bs + k)X(s)

X(s)
1
=
F(s) Ms2 + Bs + k
F(t)
S UBHASH PATEL (EC)
2012
26 / 40

B
(t)
J
T(t)
k
J
d2 (t)
d (t)
+B
+ k (t) = T(t)
2
dt
dt
Js2 (s) + Bs (s) + k (s) = T(s)

(s)
1
=
T(s) Js2 + Bs + k
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2012
27 / 40
Force-Voltage Analogy
Consider the series RLC circuit exited by voltage V(t)
di 1 t
+
i dt
dt C 0
dq
d2 q 1
= R +L 2 + q
dt
C
dt
Z
V(t) = Ri + L
V(s) = s2 LQ(s) + sRQ(s) +
1
Q(s)
C
Consider the simple translation system with Mass, spring and damper component excited
with force F(t)
F(s) = s2 MX(s) + sBX(s) + KX(s)
Comparing the equations of F(s) and V(s) gives following analogy

1
FV, XQ, ML, BR, K
C
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2012
28 / 40
Consider simple rotational system,

T(s) = s2 J (s) + sB (s) + k (s)
Comparing above equation with equation of series RLC circuit
1
TV, Q, JL, BR, K
C
Translational
Force - F
Mass - M
Damper - B
Electrical
Voltage - V
Inductance - L
Resistance - R
Spring - K
Elasticity - D =
Displacement - x
Charge - q
Displacement -
Velocity - V
dq
Current - i =
dt
Velocity -
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Rotational
Torque - T
Inertia - J
Damper - B
1
C
Spring - K
2012
29 / 40
Force-Current Analogy
Consider parallel RLC circuit exited with the help of the current source
V 1
dv
+
v dv + C
R L
dt
1 d 1
d2
=
+ +C 2
R dt
L
dt
1
1
2
I(s) = s C(s) + s (s) + (s)
R
L
Z
i(t) =
Consider the simple translation system with Mass, spring and damper component excited
with force F(t)
F(s) = s2 MX(s) + sBX(s) + KX(s)
Comparing above equation with equation of series RLC circuit

1
1
FI, X , MC, B ,K
R
L
S UBHASH PATEL (EC)
2012
30 / 40
Consider simple rotational system,

T(s) = s2 J (s) + sB (s) + k (s)
Comparing above equation with equation of parallel RLC circuit
1
1
TI, , JC, B , K
R
L
Translational
Force - F
Mass - M
Damper - B
Spring - K
Displacement - x
Velocity - V
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Electrical
Current - i
Capacitance - C
1
Conductance R
1
Inverse of Inductance =
L
Flux -
d
voltage - v =
dt
Rotational
Torque - T
Inertia - J
Damper - B
Spring - K
Displacement -
Velocity -
2012
31 / 40

x1
k1
M1
f1
x(output)
f
M2
F(t)
f2
M2 s2 x(s) + f2 sx(s) + fs [x(s) x1 (s)] + K [x(s) x1 (s)] = F(s)

h
i
x(s) M2 s2 + f2 s + fs + k x1 (s) [fs + k] = F(s)
M1 s2 x1 (s) + f1 sx1 (s) + fs [x1 (s) x(s)] + K [x1 (s) x(s)] + K1 x1 (s) = 0
h
i
x(s) [fs + k] + x1 (s) M1 s2 + fs + f1 s + k + k1 = 0
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2012
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Node Diagram
x1
k1
M1
x(output)
f
M2
x1
F(t)
k1
f1
f1
x
k
M1
M2
F(t)
f2
1/k1
1/k
M1
M2
1/k
1/f
1/f1
f2
M1
1/k1
M2
1/f 2
f(t)
f1
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f2
+
_ f(t)
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L2
L1
B1
M2
M1
K1
B2
F(t)
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L2
F(s) = s2 M1 x1 (s) + sB1 x1 (s)
L1
B1
F 0 (s) = s2 M2 x2 (s) + sB2 x2 (s) + K2 x2 (s)

F(s)L1 = F 0 (s)L2
M2
M1
K1
B2
F 0 (s) L1
=
F(s)
L2
x2 (s)
L1 s(M1 s + B1 )
=
x1 (s) L2 (s2 M2 + sB2 + K2 )
F(t)
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2012
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L2
L1
B1
Find the equivalent electric circuit using

force-voltage analogy
M2
M1
K1
B2
Find the equivalent electric circuit using

force-current analogy
F(t)
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2012
35 / 40
K0
T(t)
0
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K1
B1
K2
J
B2
B3
2012
36 / 40
K0
T(t)
0
K1
B1
K2
J
B2
B3
Force-voltage Analogy
J1
T(t)
1/K0
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B1
J2
1/K1
B2
J3
1/K2
B3
2012
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K0
T(t)
0
K1
B1
K2
J
B2
B3
Force-voltage Analogy
J1
T(t)
1/K0
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B1
J2
1/K1
B2
J3
1/K2
Force-current Analogy
B3
2012
36 / 40

M2
K1
K2
F(t)
M1
B2
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Mathematical Modeling

S UBHASH PATEL (EC)

Transfer Function G(s) =

S UBHASH PATEL (EC)

Laplace of Unit Step input

Laplace of Ramp input

Laplace of Unit Impulse

Transfer Function = G(s) =

S UBHASH PATEL (EC)

Impulse Response Function

Consider the system with following transfer function

Now, taking impulse as input

Y(s) and thus G(s) is called the impulse response function

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Block Diagram of Close-Loop System

Closed-Loop Transfer Function

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Industrial Control System

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Classification of Industrial Controller

Two-position or on-off controllers

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Two Position Control or On-off Control Action

for e(t) < 0

Example : Liquid level control system

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Proportional Control Action

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Integral Control Action

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Proportional-Plus-Integral Control Action

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Proportional-Plus-Derivative Control Action

The transfer function is,

S UBHASH PATEL (EC)

Proportional-Plus-Integral-Plus-Derivative Control Action

The transfer function is,

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Mathematical Modeling of Electrical & Electronics Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

Laplace Transform of these equations,

S UBHASH PATEL (EC)

= [Vi (s) Vo (s)]

Mathematical Modeling of Electrical & Electronics Systems

Laplace Transform of these equations,

= [Vi (s) Vo (s)]

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Electrical & Electronics Systems

Find the transfer function of following network

S UBHASH PATEL (EC)

Mathematical Modeling of Mechanical Systems

S UBHASH PATEL (EC)

Mathematical Modeling of Mechanical System

F(t) = K [x1 (t) x2 (t)]

S UBHASH PATEL (EC)