ADIGRAT UNIVERSITY

COLLAGE OF ENGINEERING &

TECHNOLOGY

5/15/2017
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

ADU, CET, ECEg 3153

Course name: Introduction to control systems
Course code: ECEg3153
Course instructor: Getnet Z.
Contact information:
1
Email: [email protected]
Consultation hours:
Wednesday and Friday : from 8:00-11:00
OUTLINE
Introduction to LTI systems
Mathematical modeling

5/15/2017
Mechanical systems
Electrical systems

ADU, CET, ECEg 3153

Review of Laplace transform
Solving linear differential equations

Transfer function

Block diagrams

Signal flow diagrams

2
 INTRODUCTION (LTI SYSTEMS )
A further classification of control systems can be
made depending on the nature of the systems,

5/15/2017
namely,
Linear and Non-linear control systems

ADU, CET, ECEg 3153

Time variant and time invariant control systems
Considering this two we could see it as:

A system is said to be linear in terms of the system

input x(t) and the system output y(t) if it satisfies
the following two properties of superposition and
homogeneity. 3
INTRODUCTION (LTI SYSTEMS )
Superposition:

5/15/2017
Non-Linear Control Systems :
Any system which does
not obey superposition

ADU, CET, ECEg 3153

principle is said to be a
Homogeneity: non-linear system.
Physical systems are in
general non-linear and
analysis of such systems is
very complicated.
Hence these systems are
usually linear zed and well
known linear techniques
are used to analyze them.

4
 INTRODUCTION (LTI SYSTEMS )
Time Invariant:
A system is said to be time invariant if a time delay

5/15/2017
or time advance of the input signal leads to an
identical time shift in the output signal.

ADU, CET, ECEg 3153

5
 INTRODUCTION (LTI SYSTEMS )
In general:
A differential equation is linear if the coefficients

5/15/2017
are constants or functions only the independent
variable.
Dynamic systems that are composed of linear time

ADU, CET, ECEg 3153

invariant lumped parameter components may be
described by linear time invariant (constant
coefficient) differential equations.
Systems that are represented by differential
equations whose coefficients are functions of time
are called linear time varying (LTV) system.
Example: spacecraft control
system(the mass of the space craft changes due to fuel
consumption)
A system is non-linear if principle of 6

superposition doesnt apply.

 INTRODUCTION (LTI SYSTEMS )
Linear time invariant system
representation:

5/15/2017
Continuous-time LTI system
Order-N Ordinary Differential
equation

ADU, CET, ECEg 3153

State equation (Finite order-1
differential equations)
Transfer function (Laplace
transform)
Discrete-time LTI system
Ordinary Difference equation
Transfer function (Z
transform)
State equation (Finite order-1
difference equations)
7
 INTRODUCTION (LTI SYSTEMS )
Impulse response:
In control theory the impulse

5/15/2017
response is the response of a system
to a Dirac delta input. This proves
useful in the analysis of dynamic

ADU, CET, ECEg 3153

systems:
The Laplace transform of the delta
function is 1, so the impulse response
is equivalent to the inverse Laplace
transform of the System's transfer
function.
A continuous-time LTI system is
usually illustrated like this:

8
 INTRODUCTION (LTI SYSTEMS )
The impulse that is referred to in the term impulse
response is generally a short-duration time-domain

5/15/2017
signal.
For continuous-time systems, this is the Dirac
delta function (t), while for discrete-time systems,

ADU, CET, ECEg 3153

the Kronecker delta function [n] is typically used.
A system's impulse response (often annotated as
h(t) for continuous-time systems or h[n] for
discrete-time systems) is defined as the output
signal that results when an impulse is applied to
the system input.
y(t)=x()h(t)d
where, h(t) is the system's impulse response
9
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
We will use quantitative mathematical models of
physical systems to design and analyze control

5/15/2017
systems.
The dynamic behavior is generally described by

ADU, CET, ECEg 3153

ordinary differential equations.
We will consider a wide range of systems, including
mechanical, electrical and electromechanical
systems.
Even if most physical systems are nonlinear, we will
consider as they are linear or we will take
linearization approximations, which allow us to use
Laplace transform methods.
10
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
We will then proceed to obtain the inputoutput
relationship for components and subsystems in the

5/15/2017
form of transfer functions.
The transfer function blocks can be organized into

ADU, CET, ECEg 3153

block diagrams or signal-flow graphs to graphically
depict the interconnections.
Block diagrams (and signal-flow graphs) are very
convenient and natural tools for designing and
analyzing complicated control systems.
NB: We will notice that in every case the first
step in developing a mathematical model is to
apply the fundamental physical laws of science and
engineering.
11
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Apply physical laws of science & engineering for

5/15/2017
each sub system or for the overall system as a
whole

ADU, CET, ECEg 3153

Sub
sys

12
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Modeling mechanical systems:
In mechanical systems, motions can be different

5/15/2017
types (i.e translational, rotational or combination of
both) often governed directly or indirectly by

ADU, CET, ECEg 3153

Newton's law of motion.
Translational System:
It has 3 types of forces due to elements.
Inertial Force: Due to inertial mass,

13
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Damping Force [Viscous Damping]: Due to
viscous damping, it is proportional to velocity & is

5/15/2017
given by,

ADU, CET, ECEg 3153

Spring Force: Spring force is proportional to
displacement.

14
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
The translational motion can be Summarized as:

5/15/2017
ADU, CET, ECEg 3153
15
 MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Example:1 Determine the transfer function for the
mechanical system taking the force on the mass as an

5/15/2017
input and the displacement as output.

ADU, CET, ECEg 3153

Solution:
Free body diagram in time and frequency domain

16
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Example:2
Write the differential equation governing the

5/15/2017
mechanical system shown below.

ADU, CET, ECEg 3153

17
 MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Exercises: write out the differential equation and
the transfer function of the ff mechanical systems

5/15/2017
(a) (b)

ADU, CET, ECEg 3153

18
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Rotational Mechanical Systems:
Consider ideal mass element and negligible friction

5/15/2017
the opposing torque due to the moment of inertia is
directly proportional to angular acceleration

ADU, CET, ECEg 3153

19
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Consider a frictional element dash pot shown
below, which could produce opposing torque

5/15/2017
directly proportional to angular velocity

ADU, CET, ECEg 3153

20
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Rotational motion summarized as:

5/15/2017
ADU, CET, ECEg 3153
21
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS

5/15/2017
ADU, CET, ECEg 3153
22
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS

5/15/2017
ADU, CET, ECEg 3153
23
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Exercise:

5/15/2017
and the transfer function

ADU, CET, ECEg 3153

24
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Mechanical Systems with Gears:
Most of the systems which are driven by motors are

5/15/2017
associated with gear trains for driving the load.
Which provides mechanical advantage for rotational

ADU, CET, ECEg 3153

systems.
An input gear with radius r1 and N1

25
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
The distance traveled along each gear circumstance
is equal:

5/15/2017
The number of teeth along the circumstance is
proportional with the radius:

ADU, CET, ECEg 3153

Torque relation for input and output gear:

From the above equations we get:

26
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Mechanical impedances (spring, damper, inertia)
which are driven by gears:

5/15/2017
ADU, CET, ECEg 3153
27
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Hence the equation of motion for the first case:

5/15/2017
ADU, CET, ECEg 3153
28
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Example: Find the transfer function for the following
system taking the angular displacement of the

5/15/2017
second inertia as an output when we apply an input
torque on the first inertia:

ADU, CET, ECEg 3153

29
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Hence, the transfer function and the block diagram
becomes:

5/15/2017
ADU, CET, ECEg 3153
a. System transfer function b. Block diagram representation

30
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Mathematical Modeling Electrical systems

5/15/2017
ADU, CET, ECEg 3153
31
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Example: determine the mathematical modeling and
the transfer function for the following electrical

5/15/2017
system.

ADU, CET, ECEg 3153

Solution:

32
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Taking the Laplace transform assuming all initial
conditions zero:

5/15/2017
ADU, CET, ECEg 3153
Solving the transfer function Vc(s)/V(s)-
Output/Input, we obtain:

Block diagram representation:

33
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
To simplify solving our problem, we can take the
Laplace transform equation of voltage-current

5/15/2017
relation for all the three electrical elements as
follows(assuming zero initial conditions):

ADU, CET, ECEg 3153

34
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Hence, the above problem can be easily solved as:

5/15/2017
ADU, CET, ECEg 3153
Calculating voltage across the capacitor in terms of
loop current I:

Then the mathematical modeling of the system in

the form of TF will be:

Exercise: drive the dynamic differential equation 35

governing parallel RLC circuit
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
(b) Electrical circuits with active elements:

5/15/2017
Operational Amplifiers: It is an electronic amplifier
used as a basic building block for implementing
transfer functions:

ADU, CET, ECEg 3153

36
 MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Characteristics of operational Amplifier:
Differential input : V2(t) V1(t)

5/15/2017

High input impedance : Zi = (ideal)
Low output impedance: Zo = 0 (ideal)

ADU, CET, ECEg 3153

High constant gain amplification A= (ideal)
Hence, the output Vo(t) = A(V2(t) V1(t))

37
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
From the characteristics of operational amplifier,
since the input impedance is high Ia(s)=0 and from

5/15/2017
KCL:
I1(s) = -I2(s)

ADU, CET, ECEg 3153

Considering the gain A is large V (t)=0, thus
I1(s)=Vi(s)/Z1(s) and
I2(s) = Vo(s)/Z2(s)
Equating the above two equation the transfer
function for an inverting amplifier configured as
above becomes:

38
 MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Non- Inverting Operational Amplifier:

5/15/2017
ADU, CET, ECEg 3153
For large gain A:
39
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS

5/15/2017
ADU, CET, ECEg 3153
40
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Mathematical Modeling for Electromechanical
Systems:

5/15/2017
Most systems in Mechatronics are of the mixed type, e.g.,
electromechanical, hydro mechanical, etc.

ADU, CET, ECEg 3153

Electromechanical systems are systems which have both
electrical and mechanical variable.
It has different application areas: Robot control, Trackers
(ex. Sun & star tracking), Computer tape & Disk drives,
different servo applications.
Motor: is one of the electromechanical system which
yields a displacement output taking voltage as an input:
Example: Find the Mathematical modeling for DC motor
(Electromechanical system)
41
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Solution

5/15/2017

ADU, CET, ECEg 3153

42
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS
Power Transformation:

5/15/2017
Torque-Current:
Voltage-Speed:

ADU, CET, ECEg 3153

Where Kt: torque constant
Kb: velocity constant For an ideal motor
Combing previous equations results in the following
mathematical model:

Taking Laplace transform of the systems

differential equations with zero initial conditions
gives: 43
MATHEMATICAL MODELING OF PHYSICAL
SYSTEMS

5/15/2017
ADU, CET, ECEg 3153
44
REVIEW OF LAPLACE TRANSFORM FOR
SOLVING DIFFERENTIAL EQUATIONS

5/15/2017
ADU, CET, ECEg 3153
45
REVIEW OF LAPLACE TRANSFORM FOR
SOLVING DIFFERENTIAL EQUATIONS

5/15/2017
ADU, CET, ECEg 3153
46
REVIEW OF LAPLACE TRANSFORM FOR
SOLVING DIFFERENTIAL EQUATIONS
Inverse Laplace transform/ partial fraction expansion: consider
the ff response

5/15/2017
Can be expressed as: for real roots

ADU, CET, ECEg 3153

47
REVIEW OF LAPLACE TRANSFORM FOR SOLVING
DIFFERENTIAL EQUATIONS

5/15/2017
ADU, CET, ECEg 3153
EXAMPLE:

48
REVIEW OF LAPLACE TRANSFORM FOR
SOLVING DIFFERENTIAL EQUATIONS
Exercises:

5/15/2017
1. Solutions of ordinary differential equations of a system

ADU, CET, ECEg 3153

2. Partial fraction expansion

49
TRANSFER FUNCTION
Transfer Function:
In control system differential equations can describe

5/15/2017
the relation ship b/n the input and output of the
system.

ADU, CET, ECEg 3153

Generally;

Which relates the output C(t) to the input R(t) by

taking system parameters ai and bi
Using Laplace transform we transfer this
differential equation into transfer function of the
system
50
TRANSFER FUNCTION
Taking all initial conditions zero, the Laplace
transform becomes:

5/15/2017
Then, the input output ratio becomes;

ADU, CET, ECEg 3153

We call it this ratio of output signal to input signal,
G(s), as the Transfer Function of the system
It can be represented in Block diagram as:

51
TRANSFER FUNCTION
The features of the transfer functions are,

5/15/2017
(1) It is applicable to Linear Time Invariant system.
(2) It is the ratio between the Laplace Transform of the
o/p variable to the Laplace Transform of the i/p variable.

ADU, CET, ECEg 3153

(3) It is assumed that initial conditions are zero.
(4) It is independent of i/p excitation.
(5) It is used to obtain systems o/p response.

The step involved in obtaining the transfer function

are;
(1) Write the differential equation of the system.
(2) Replace the terms (i.e take LT of
DE assuming zero initial conditions )
(3) Eliminate all the variables except the desired
52
variables.(take the ratio of the output and input)
TRANSFER FUNCTION
Example:
(a) (b)

5/15/2017

ADU, CET, ECEg 3153

(c)

53
TRANSFER FUNCTION
E.g: transfer function of field controlled dc motor

5/15/2017
ADU, CET, ECEg 3153
54
TRANSFER FUNCTION
Solution

5/15/2017
ADU, CET, ECEg 3153
55
 5/15/2017 ADU, CET, ECEg 3153
56
TRANSFER FUNCTION
Cont

 BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Block diagram:- is the short hand pictorial

5/15/2017
representation of the cause-effect relation ship
between the input and output of physical systems.

ADU, CET, ECEg 3153

Block diagram reduction
Many systems are composed of multiple subsystems and
may have more than one input.
Systems may be single input single output, SISO or
multiple input multiple output, MIMO.
In our discussion the systems are SISO type

57
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION

Summing Junction and Pickoff Points

5/15/2017
ADU, CET, ECEg 3153
58
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Cascaded or series blocks
Cascaded systems: one or more subsystem directly

5/15/2017
followed by an other subsystem.
Considering that the interconnected subsystem has no

ADU, CET, ECEg 3153

loading effect on the adjacent subsystem, we can combine
cascaded systems as:

59
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Parallel Blocks: Blocks with their input signals has
the same takeoff point and their output signal

5/15/2017
sinks at the same summing junction.

ADU, CET, ECEg 3153

60
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION

5/15/2017
ADU, CET, ECEg 3153
61
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Moving Blocks:
Moving blocks before and after a summing points,

5/15/2017
pickoff points.
Moving block before a summing point

ADU, CET, ECEg 3153

Moving block ahead a summing point

62
 BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Moving block before a pickoff point

5/15/2017
ADU, CET, ECEg 3153
63
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Summary table for Block diagram reduction rules

5/15/2017
ADU, CET, ECEg 3153
64
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Cont

5/15/2017
ADU, CET, ECEg 3153
65
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Example 1: Calculate the transfer function for the
following system in terms of subsystems transfer

5/15/2017
functions.

ADU, CET, ECEg 3153

66
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Solution:

5/15/2017
ADU, CET, ECEg 3153
Cascading + positive feedback

Cascading + negative feedback

67
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Example 2: Find the transfer function G(s)= C(s)/R(s)

5/15/2017
ADU, CET, ECEg 3153
68
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION

Cont

5/15/2017
ADU, CET, ECEg 3153
69
BLOCK DIAGRAM REPRESENTATION AND
REDUCTION
Exercise:

5/15/2017
(1)

ADU, CET, ECEg 3153

70
SIGNAL FLOW GRAPH AND REDUCTION
Signals Flow Graphs:
Signal-flow graphs are an alternative to block

5/15/2017
diagrams.
Unlike block diagrams, which consist of blocks,

ADU, CET, ECEg 3153

signals, summing junctions, and pickoff points,
A signal-flow graph consists only of branches which
represent systems, and nodes which represent
signals.
A system is represented by a line with an arrow
showing the direction of signal flow
A signal is a node with the signal's name written
adjacent to the node.
71
SIGNAL FLOW GRAPH AND REDUCTION
Terminologies on Signal flow graphs
Node: A node is a point representing a variable.(x1,x2)

5/15/2017
Transmittance: A transmittance is a gain between two
nodes.(G)
Branch: A branch is a line joining two nodes. The signal

ADU, CET, ECEg 3153

travels along a branch.
Input node [Source]: It is a node which has only out going
signals.(x1)
Output node [Sink]: It is a node which is having only
incoming signals.(x2)
Mixed node: It is a node which has both incoming & outgoing
branches (signals).

72
SIGNAL FLOW GRAPH AND REDUCTION
Signal flow graph for Interconnected system

5/15/2017
ADU, CET, ECEg 3153
73
SIGNAL FLOW GRAPH AND REDUCTION
Block diagrams Signal flow graphs

5/15/2017
ADU, CET, ECEg 3153
74
SIGNAL FLOW GRAPH AND REDUCTION
Block diagrams can be directly converted to signal
flow graphs.

5/15/2017
If a summing point is placed before a take off point
in the direction of signal flow, in such a case point

ADU, CET, ECEg 3153

in the direction of signal flow, in such a case the
summing point and take off point shall be
represented by a single node.
If a summing point is placed after a take off point in
the direction of signal flow, in such a case the
summing point and take off point shall be
represented by separate nodes connected by a
branch having transmittance unity.

75
SIGNAL FLOW GRAPH AND REDUCTION
Converting complicated Block diagram to signal
flow graph

5/15/2017
ADU, CET, ECEg 3153
76
SIGNAL FLOW GRAPH AND REDUCTION
Signal flow graph reduction
It is a technique for reducing signal-flow graphs to

5/15/2017
single transfer functions that relate the output of a
system to its input.

ADU, CET, ECEg 3153

To reduce signal flow graphs we will follow Masons
Rule.
Masons Rule:
First lets define terminologies which helps to evaluate
Masons Rule.
Path: It is the traversal of connected branches in the
direction of branch arrows. Such that no node is
traversed more than once.
Loop: It is a closed path. 77
SIGNAL FLOW GRAPH AND REDUCTION
Loop Gain: It is the product of the branch
transmittances of a loop.

5/15/2017
Non-Touching Loops: Loops are Non-Touching, if
they do not possess any common node.

ADU, CET, ECEg 3153

Forward Path: It is a path from i/p node to the
o/p node which doesnt cross any node m ore than
once.
Forward Path Gain: It is the product of branch
transmittances of a forward path.
Self loop: Path that originates and terminates at the
same node.

78
SIGNAL FLOW GRAPH AND REDUCTION
M ASO N S GAIN FO RM U LA:
The relation between the i/p variable & the o/p

5/15/2017
variable of a signal flow graphs is given by the net
gain between the i/p & the o/p nodes and is known as

ADU, CET, ECEg 3153

Overall gain of the system.
Masons gain formula for the determination of
overall system gain is given by,

79
SIGNAL FLOW GRAPH AND REDUCTION
Cont

5/15/2017
ADU, CET, ECEg 3153
80
SIGNAL FLOW GRAPH AND REDUCTION

5/15/2017
ADU, CET, ECEg 3153
81
SIGNAL FLOW GRAPH AND REDUCTION
Non touching loops:

5/15/2017
Non touching loop gain:
The product of loop gains from non-touching loops taken
two, three, four, or more at a time

ADU, CET, ECEg 3153

All three of the non-touching-loop gains taken two at a
time are

In our example there are no non-touching-loop gains

taken three at a time since three non-touching loops
do not exist
Substitute to the formula and get the transfer 82
function
SIGNAL FLOW GRAPH AND REDUCTION
Example: Find the transfer function C(s)/R(s) from the
signal flow graph

5/15/2017
ADU, CET, ECEg 3153
83
SIGNAL FLOW GRAPH AND REDUCTION
Solution Cont

5/15/2017
ADU, CET, ECEg 3153
84
SIGNAL FLOW GRAPH AND REDUCTION
Solution Cont

5/15/2017
ADU, CET, ECEg 3153
85
SIGNAL FLOW GRAPH AND REDUCTION
Exercise:

5/15/2017
ADU, CET, ECEg 3153
86
 5/15/2017
Thank you dear

ADU, CET, ECEg 3153

students
Any questions?

87