Mathematical Modeling

1st Revision 2007 Taufik

RECALL: The Design of Control System requires Formulation of Mathematical Model of the System

Why Mathematical Model? So that we will able to Design and Analyze the control system Examples: How would we know the relationship between Input and Output? How would we predict or describe the dynamic behavior of the control system? Two Methods to develop the Mathematical Model of Control System 1. Transfer Function in Frequency Domain (Using Laplace Transform) 2. State Space Equations in Time Domain
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Review of Laplace Transform and Linearity

RECALL: In EE301, We learned that Ordinary Differential Equation may describe mathematically dynamic behavior, input vs. output relationship of physical system such as Mechanical System using Newton Law and Electrical System using Kirchoffs Law Example: RLC Network Lets assume that V(t) is Input; i(t) is Output
L R V(t) i(t) C

Using KVL:

v(t ) vR (t ) vL (t ) vC (t )
di(t ) 1 t v(t ) vR (t ) L i( )d dt C 0

Using the differential equation (derived from KVL): Is it a simple algebraic equation? Is it easy to describe relationship between Input and Output and System? i.e. Can you make them as a Separate Entities?
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Laplace Transform

1st Revision 2007 Taufik

If you answered NO to all previous questions, then YOU NEED LAPLACE TRANSFORMS

Laplace Transform provides:

Representation of Input, output, and system as separate entities Simple Algebraic interrelationship between Input, Output, and System

Limitation of Laplace Transfrom:

Works in Frequency Domain Valid when the system is LINEAR

A System is called LINEAR when it possesses:

Superposition Homogeneity
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Superposition

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The output response of a system to the sum of inputs is the sum of the responses to individual inputs

Cal Poly State University, San Luis Obispo

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Homogeneity

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Describes the response of the system to a Multiplication of the input by a scalar as compared to a Multiplication of output to the same input by the same scalar

Cal Poly State University, San Luis Obispo

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Will any LINEAR EQUATION/FUNCTION represent a LINEAR SYSTEM? Example: Try y = mx + b (where m and b are constants) is a LINEAR function, but check to see if it yields a LINEAR System
Cal Poly State University, San Luis Obispo

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Linearization

1st Revision 2007 Taufik

BAD NEWS is Real World Physical Systems are NON-LINEAR GOOD NEWS: 1. A great majority of Physical Systems are LINEAR within some range of operating point 2. We have a Mathematical Tool that could perform Linear Approximation of Non-Linear Systems, a process called LINEARIZATION

NOTE: Linearization does NOT necessarily yield a LINEAR system!

Cal Poly State University, San Luis Obispo

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