EMT 360/3

Control Engineering
Mathematical Models of
Control Systems

System Modelling
To model a system, we have to
determine differential equation that
represents the system and how it
change with respect to time
Determine differential equations using
Laplace operator
Determine transfer function
Standard form of transfer function:
- First order
- Second order

Differential equations of physical systems

Liquid level tank
RC Circuit
Car suspension

Example 1: Liquid Level

Flow in flow out = rate of
accumulation of liquid in the tank

dh
Qin Qout A
dt
dh
Qin kh A
dt
dh
Qin A
kh
dt

Example 2: RC Circuit
Differential equation that relates Vout
dv
to Vin
Capacitor
iC
current

dt

Vin Vout iR
dVout
Vin Vout C
R
dt
dVout
Vin Vout CR
dt

Example 3: Car Suspension

Mass/spring/damper system
d 2x
Newtons Second Law:

Damping:
Spring:

F ma M

dt 2
dx
F Dv D
dt
F kx

dx
dt
dv
a
dt

Applying Newtons Second Law:

d 2 xout
dx
m
kx D
Fin
2
dt
dt
Both k and D oppose the motion, hence the
ve sign

d 2 xout
dx
Fin m
D
kx
2
dt
dt

Laplace Transform Review

A system represented by a differential equation

is difficult to model as a block diagram.

Thus, Laplace Transform is used to represent the

input, output, and the system as separate
entities.

A transformation from time (t) domain to

complex frequency (s) domain

Laplace Transform
Properties

Linearity
Differentiation
Final value theorem
Initial value theorem
Region of convergence

Laplace Transform
Laplace Transform is defined as

F ( s ) L f (t )

f (t ).e

st

dt

where s is a Laplace operator in a form of complex frequency given by

s j
where and j are the real and imaginary frequency components
respectively

Example 1:

Obtained a Laplace Transform for a unit step

Solution:

L f (t ) 1.e st dt
0

f(t)

1
t

f (t ) 1,

t0

st

e
s

e s. e s.0

s
s
1

Example 2:

Obtained a Laplace Transform for the ramp function,

f (t ) t , t 0
Solution:

L f (t ) te st dt
0

udv uv vdu
u t

dv e st

e st
du 1 v
s
te st
F (s)

1
2
s

1 st
e dt
s0

xample 3:

Find the Laplace Transform of

f (t ) Ae at u (t ), t 0
Solution:

L f (t ) e st dt

Ae at e st tdt

e -( s a)t dt

e ( s a )t
sa
A

sa

t 0

Example 4:

Find the Laplace Transform of

f (t ) 5u (t )

Integration is hard, tables are

easier!

Inverse Laplace
1 j
st
L [ F ( s)]
F ( s )e ds
2j j
f(t)u(t)
1

Find inverse Laplace transform of

1
F (s)
sa

Solution:

f (t ) e at

Obtain the inverse laplace transform of the following

1
s
1
F (s)
s 5
3
F ( s)
s2
3
F (s)
4s
1
F ( s)
2s 3

1. F ( s )
2.
3.
4.
5.

s 1
6. F ( s ) 2
s 4
2
1
7. F ( s ) 2
s
s 1

Characteristic of Laplace Transform

(1) Linear
If a1 and a2 are constant, and F1(s) and F2(s) are Laplace Transform

L a1 f1 (t ) a 2 f 2 (t ) a1 F1 ( s ) a 2 F2 ( s )
(2) Differential Theorem

df (t )
df (t ) st

e dt

dt
dt
0

L
Let

u dv u v v du

u e st
du s.e st dt

and

v f (t )

dv df (t ) dt

df (t )
st

f
(
t
)
e
dt

se st f (t )dt
0

f (0) sF ( s )

Other properties of Laplace Transform

Multiplication by time

dF ( s )
L{tf (t )}
ds
Multiplication by tn

n
d
G ( s)
L{t n g (t )} (1)n
ds n

Partial Fraction Expansion

To find inverse Laplace transform of a complicated function, we

can convert the function into a sum of simpler terms using partial
fraction expansion.
F (s)

N (s)
D(s)

If
, where the order of N(s) is less than D(s), then a
partial fraction
expansion can be made.

Example 1:

F1 ( s )

s 3 2s 2 6 s 7
s2 s 5

N(s) must be divided by D(s) successively until the result has a

remainder whose numerator is of order 2less than its denominator.
F1 ( s ) s 1 2
s s5

Taking the inverse Laplace

we
dtransform,
t
2
1 obtain

f 1 (t )

dt

(t ) L [

s s5

Example 1a:
Obtain the inverse laplace transform of the following

s 6 s 17 s 16
F ( s)
2
s 4s 3
3

Partial Fraction Expansion (Contd)

Three cases of partial fraction expansion:
(a) Roots of the Denominator of F(s) are Real and Distinct
(b)Roots of the Denominator of F(s) are Real and Repeated
(c) Roots of the Denominator of F(s) are Complex and Imaginary
Example 2:

F (s)

s 1 s 2

() We write partial fraction expansion as a sum of terms where each

factor of the original denominator forms the denominator of each
term, and constants, called residues form the numerators.

F1 ( s )

2
A
B

s 1 s 2 s 1 s 2

() Multiply equation above by (s+1),

2
B s 1
F1 ( s )
A
s 2
s2

Partial Fraction Expansion (Contd)

Letting s approach -1, we get A=2.

Find B with the similar approach, letting s approach -2, we get B=2.
Thus,

2
2
F1 ( s )

s 1 s 2

() Taking inverse Laplace transform, we get

f 1 (t ) ( 2

et

e 2 t

)u (t )

Partial Fraction Expansion (Contd)

Example 3

F1 ( s )

s 1 s 2 2

() Add additional term consisting of denominator factor of reduced multiplicity,

2
A
B
C
F1 ( s )

2
2
s 1 s 2 s 1 ( s 2) s 2

() A=2 can be obtained as previously described.

() Isolate B by multiplying by (s+2)2,

s 2 A B s 2 C
2

s 1 s 1
2

(2.24)

() Let s approach -2, B=-2.

() To find C, differentiate equation (2.24) with respect to s,

() Let s approach -2, C=-2.

2
s 2 sA

C
2
2
s 1
s 1

Partial Fraction Expansion (Contd)

F1 ( s )

s 1 s 2 2

2
2
2

s 1 (s 2) 2 s 2

Take inverse Laplace transform,

t

f 1 (t ) (2e 2te

2 t

2e 2 t )

Partial Fraction Expansion (Contd)

Example 4
F1 ( s )

s s 2 2s 5

The function can be expanded in

Eq (2.31)
Using the previous way,

3
A
Bs C

s s 2 2 s 5 s s 2 2 s 5
A

3
5

can be found.

Multiply Eq (2.31) by the lowest common denominator,

3
6

0 B s2 C s
5
5

Balancing coefficients,

3
6
, C
5
5

Find the inverse Laplace transforms of the following functions.

Perform partial-fraction expansion on G(s) first, then use the
Laplace transform table.

1.
2.
3.
4.

1
G ( s)
s ( s 2)( s 3)
10
G ( s)
( s 1) 2 ( s 3)
100( s 2)
s
G ( s)
e
s ( s 2 4)( s 1)
2( s 1)
G ( s)
s ( s 2 s 2)

Laplace transform solution of a differential equation

Example 1
Given the following differential equation, solve for y(t) if all
initial conditions are zero. Use the Laplace transform.

d y
dy
12 32 y 32u (t )
2
dt
dt

Solution
Substitute the corresponding F(s) for each term in the
equation

32
s Y ( s ) 12 sY ( s ) 32Y ( s )
s
32
2
( s 12 s 32)Y ( s )
s
32
Y ( s)
s ( s 2 12 s 32)
32
Y ( s)
s ( s 4)( s 8)
2

Solution (Contd)

Y (s)

32
K
K2
K3
1

s( s 4)( s 8)
s ( s 4) ( s 8)

ng partial-fraction expansion

32
K1
( s 4)( s 8)
32
K2
s ( s 8)
32
K3
s ( s 4)

s 0

2
s 4

1
s 8

Hence

1
2
1
Y (s)

s ( s 4) ( s 8)

ng inverse Laplace transforms

y (t ) (1 2e 4t e 8t )u (t )

Example 2 : Non-zero initial condition

Given the following differential equation, determine the
response of the system , y(t)
d2y
dy

4
3 y 2;
2
dt
dt

y (0) 1,

dy
( 0) 0
dt

Taking Laplace Transform

[ s 2Y ( s ) sY (0) y ' (0)] 4[ sY ( s ) y (0)] 3Y ( s)

s 2Y ( s ) s 4 sY ( s ) 4 3Y ( s )
2
Y ( s )[ s 2 4s 3] s 4
s
2 s 2 4s
Y (s) 2
s 4s 3
s 2 4s 2
Y (s) 3
s 4 s 2 3s
s 2 4s 2
Y (s)
s ( s 1)( s 3)

2
s

2
s

s 2 4s 2
A B
C
Y ( s)

s( s 1)( s 3) s s 1 s 3
2 1 t 1 3t
y (t ) e e
3 2
6

Solve the following differential

equations
2

1.

d y
4 y (t )
2
dt

2.

d2y
dy
2 5 y 0;
2
dt
dt

3.

4.

dy
y (0) 1, (0) 0
dt

d2y
dy
5 6 y 24
2
dt
dt

y 3 y 2 y 3u (t );

y (0) 1, y (0) 2