REGULATION AND CONTROL

MATHEMATICAL MODELING 1

By Tewedage Sileshi
Goal for today’s lecture

 Introduction to mathematical modeling

 Transfer function
 Mathematical model Representations method
 Block diagram
Introduction to mathematical modeling

 A mathematical model of a dynamic system is defined as a set of equations that

represents the dynamics of the system accurately, or at least fairly well.

 Keep in mind that deriving reasonable mathematical models is the most important

part of the entire analysis of control systems.

Mathematical model

 Differential equation model

 Transfer function model [Block diagram or signal flow graph representation]
 State space model
Things to consider

 Representation
 Simplicity versus Accuracy
 Linear systems
Transfer Function
Transfer function

 The transfer function of a linear, time invariant, differential equation system is

defined as the ration of the Laplace transform of the output (response function) to the
Laplace transform of the input (driving function) under the assumption that all initial
conditions are zero.
 Cont’d

 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

 Cont’d

Consider the linear time invariant system defined by the following differential

equation:

+…+ +…+
  

 Where, and y is the input and x is the output

 Therefore the transfer function becomes;

zero initial conditions
Notes on transfer function

 Transfer function of a system is a mathematical model in that it is an operational method of

expressing the differential equation that relates the output variable to input variable.

 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 output; however, it does

not provide any information concerning the physical structure of the system. (The transfer functions
of many physically different systems can be identical.)
 Cont’d

 If the transfer function of a system is known, the output or response can be studied for

various of inputs with a view toward understanding the nature of the system.

 If the transfer function of a system is unknown, it may be established experimentally by

introducing known inputs and studying the output system.

 Once established, a transfer function gives a full description of the dynamic

characteristics of the system, as distinct from its physical description.

Example-1
• Differential equation of the system is:

F  Mx  Cx  kx

• Taking the Laplace Transform of both sides and ignoring Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k
Example -2
 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)

1
vi ( t )  i( t ) R   i(t )dt
C
1
vo ( t )   i( t )dt
C
 Cont’d
1 1
vi ( t )  i( t ) R   i(t )dt vo ( t )   i( t )dt
C C

 Taking Laplace transform of both equations, considering initial conditions to

zero.
1 1
Vi ( s )  I ( s ) R  I (s) Vo ( s )  I (s)
Cs Cs

 Re-arrange both equations as:

1
Vi ( s )  I ( s )( R  ) CsVo ( s )  I ( s )
Cs
 Cont’d
1 CsVo ( s )  I ( s )
Vi ( s )  I ( s )( R  )
Cs
 Substitute I(s) in equation on left
1
Vi ( s )  CsVo ( s )( R  )
Cs
Vo ( s ) 1

Vi ( s ) 1
Cs( R  )
Cs
Vo ( s ) 1

Vi ( s ) 1  RCs
Example-3: Armature Controlled D.C Motor
Ra La
 Input: voltage u
B
 Output: Angular velocity  ia
u eb T J

Electrical Subsystem (loop method): nt
t a
ns
= co
dia Vf
u  Ra ia  La  eb , where eb  back-emf voltage
dt

Mechanical Subsystem

Tmotor  Jω  Bω
 Cont’d
Ra La
Power Transformation: B
ia
Torque-Current: Tmotor  K t ia u eb T J
Voltage-Speed: eb  K b ω 
where Kt: torque constant, Kb: velocity constant For an ideal motor t an
t
s
c on
Kt  Kb Vf
=

Combing previous equations results in the following mathematical model:

 dia
 La  Ra i a  K b ω  u
 dt
 Jω
   B-K t ia  0
 Cont’d

Taking Laplace transform of the system’s differential equations with zero initial conditions gives:

 La s  Ra  I a(s)  K b Ω(s)  U(s)


 Js  B  Ω(s)-K t I a(s)  0

Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2   JRa  BLa  s  BRa  K t K b
 Cont’d

Reduced order model

Assuming small inductance, La 0

Ω(s)

 K t Ra 
U(s) Js   B  K t K b Ra 
Mathematical model Representations method

 A control system may consist of a number of components.

 To show the functions performed by each component, we commonly use a diagram

called block diagram or signal flow graph.

Block Diagram
Introduction

 A Block Diagram is a shorthand pictorial representation of the cause-and-

effect relationship of a system.

 The interior of the rectangle representing the block usually contains a

description of or the name of the element, gain, or the symbol for the
mathematical operation to be performed on the input to yield the output.

 The arrows represent the direction of information or signal flow.

d
x y
dt
 Cont’d
 The operations of addition and subtraction have a special representation.

 The block becomes a small circle, called a summing point, with the appropriate plus
or minus sign associated with the arrows entering the circle.

 The output is the algebraic sum of the inputs.

 Any number of inputs may enter a summing point.

 Some books put a cross in the circle.

 Cont’d

 In order to have the same signal or variable be an input to more than one
block or summing point, a takeoff (or pickoff) point is used.

 This permits the signal to proceed unaltered along several different

paths to several destinations.
Example 4

x3  a1 x1  a 2 x 2  5
 Consider the following equations in which , , , are variables, and ,
  
are general coefficients or mathematical operators.
 Cont’d

x3  a1 x1  a 2 x 2  5
Example 5, continued from Example 3
Ra La
c
ia
eb T J
Va 
t
st an
n
=co
Vf

 La s  Ra  I a(s)  K b(s)  Va(s)

 Js  c (s)  K m I a(s)
 Cont’d

 La s  Ra  I a(s)  K b(s)  Va(s)

 Cont’d

 Js  c (s)  K ma I a(s)
Cont’d
Example 6: Block Diagram of liquid level system

h1  h2 dh1
q1  C1  q  q1
R1 dt
h2
q2  dh2
R2 C2  q1  q2
dt
 Cont’d
h1  h2 dh1
q1  C1  q  q1
L R1 dt L

H1( s )  H 2 ( s )
Q1 ( s )  C1sH 1 ( s )  Q( s )  Q1 ( s )
R1
h2
q2  dh2
R2 C2  q1  q 2
L dt L

H 2 (s) C 2 sH 2 ( s )  Q1 ( s )  Q2 ( s )
Q2 ( s ) 
R2
 Cont’d
H1( s )  H 2 ( s ) C1sH 1 ( s )  Q( s )  Q1 ( s )
Q1 ( s ) 
R1

H 2 (s) C 2 sH 2 ( s )  Q1 ( s )  Q2 ( s )
Q2 ( s ) 
R2
Cont’d
Canonical form of A feedback control system
Characteristic equation
• The control ratio is the closed loop transfer function of the system.

C( s ) G( s )

R( s ) 1  G( s )H ( s )

• The denominator of closed loop transfer function determines the

characteristic equation of the system.

• Which is usually determined as:

1  G( s ) H ( s )  0
 Example 7
B( s )
1. Open loop transfer function  G( s ) H ( s )
E( s )
C (s) 1  G( s ) H ( s )  0
2. Feed Forward Transfer function  G( s)
E (s)
C( s ) G( s )
3. Control ratio 
R( s ) 1  G ( s ) H ( s )
G(s )
4. Feedback ratio B( s )  G( s )H ( s ) 1. Characteristic equation
R( s ) 1  G ( s ) H ( s )

5. Error ratio E( s ) 1 2. Closed loop poles and zeros if K=10.


R( s ) 1  G( s )H ( s )
6. Closed loop transfer function C ( s ) G( s ) H (s )

R( s ) 1  G ( s ) H ( s )
Reduction techniques
1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2
 Cont’d

3. Eliminating a feedback loop

G
G
1 GH
H

G
G
1 G

H 1
 Cont’d
4. Moving a summing point behind a block

G G
G

5. Moving a summing point ahead a block

G G
1
G
 Cont’d
6. Moving a pickoff point behind a block

G G
1
G

7. Moving a pickoff point ahead of a block

G G
G
 Cont’d

8. Swap with two neighboring summing points

A B B A
Example 8: reduce the block diagram to canonical form.
Cont’d
Example 9
• Reduce the following block diagram to canonical form.

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Cont’d
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Cont’d

H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Cont’d
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Cont’d

H2
G1
R _ G1G2 C
+_ + G3
1  G1G2 H1
 Cont’d

H2
G1
R _ G1G2G3 C
+_ +
1  G1G2 H1
 Cont’d

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
Exercise 1
• Find the transfer function of the following block diagram

G4
R (s ) Y (s)
G1 G2 G3

H2

H1
 Cont’d
I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
1. Moving pickoff point A ahead of block G2
B
2. Eliminate loop I & simplify
G4  G2G3
 Cont’d

G4
R(s ) Y (s )
GG4 
A G2 G3
B
G1 2 G 3

H2
H1G2
 Cont’d

3. Moving pickoff point B behind block G4  G2G3

II
R(s ) B C Y (s)
G1 G4  G2G3
H2
H1G2 1 /(G4  G2G3 )
 Cont’d

4. Eliminate loop III

R(s ) Y (s )
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3
 Cont’d

R(s ) G1 (G4  G2G3 ) Y (s )

1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s) G1 (G4  G2G3 )


R( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2 G3 )
Superposition of Multiple Inputs

1. Set all inputs except one equal to zero

2. Transform the block diagram to canonical form
3. Calculate the response due to the chosen input acting alone
4. Repeat Step 1 to 3 for each of the remaining inputs
5. Algebraically add all of the responses (outputs) determined in Steps 1 to 4. This sum is the total output
of the system with all inputs acting simultaneously
Example 10: Multiple Input System. Determine the output C due to
inputs R and U using the Superposition Method.
Cont’d
Cont’d
Exercise 2: Multiple-Input System. Determine the output C due to inputs R,
U1 and U2 using the Superposition Method.
Cont’d
EXAMPLE-13: CONTINUE.

Cont’d
Example 11: Multi-Input Multi-Output System. Determine C1 and C2 due to R1 and R2.
Cont’d
 Cont’d

When R1 = 0,

When R2 = 0,
Next lecture

 Mathematical model Representations method

 Signal flow graph
 State space model