Control Engineering

Dr. Ramkrishna Pasumarthy

Electrical Engineering Dept.
IIT Madras
Module 1: Lecture 3
Elements of Modelling
 Physical Systems
• Physical systems can be classified into various types:
 Electrical systems
 Mechanical systems
 Electronic systems
 Hydraulic systems
 Thermal systems
• Each of these systems can be modelled in terms of certain basic
elements
• Basic elements of all physical systems can be shown to be
analogous

Module 1: Lecture 3 3
 Electrical Systems
• Based on the type of source, electrical systems can be classified as:
– Voltage sourced systems
– Current sourced systems
Voltage sourced Current sourced
Basic System Elements
Resistor (𝑅) Resistor (𝑅)
Inductor (𝐿) Inductor (𝐿)
Capacitor (𝐶) Capacitor (𝐶)
Basic System Variables
Voltage (𝑉) Current (𝐼)
Charge (𝑄) Flux (𝜙)

Module 1: Lecture 3 4
 Electrical System Elements
• Resistor (𝑅): It is an element which resists the flow of current in an
electrical system
𝑉 = 𝐼𝑅 𝑅
• Inductor (𝐿): It is an element that stores electrical energy in a
magnetic field
𝑑𝜙 𝑑𝐼
𝑉= =𝐿 𝐿
𝑑𝑡 𝑑𝑡
• Capacitor (𝐶): It is an element that stores electrical energy in a
electrical field
𝑑𝑞 𝑑𝑉
𝐼= =𝐶 𝐶
𝑑𝑡 𝑑𝑡

Photos Courtesy: Module 1: Lecture 3 5

Review: Steps of Modelling
Purpose of the Define Postulate a
model boundaries structure

Math description
Select variables Apply relevant
of each model
of interest physical laws
element

Final form of
Analyse and Modify model if
mathematical
validate model necessary
model

Module 1: Lecture 3 6
 Nodal and Loop Analysis
• Nodal and loop analysis form part of Step 6 in the steps of modelling
• A structured way of applying physical laws and getting model equations
• Applied after identifying the basic elements of the system and variables
of interest
Node 1

Element Element Loop 2 Element

Loop 1
1 2 3

Node 2
Module 1: Lecture 3 7
 Analysis of Electrical Systems
1. Nodal analysis based on Kirchhoff's current law
2. Loop or Mesh analysis based on Kirchhoff’s voltage law
Kirchhoff's Current Law (KCL) Kirchhoff's Voltage Law (KVL)
At any node in an electrical circuit, the In an electrical circuit, the directed sum of
directed sum of currents flowing out of that voltages around a closed loop is zero.
node is equal to zero.
𝑖1 Node 1 𝑖3
− +
𝑖2
At node 1, Element Around loop 1,
Element Element
𝑣1 Loop 1 𝑣2 3
𝑖1 + 𝑖2 + 𝑖3 = 0 1 2 𝑣1 + 𝑣2 = 0
+ −
Node 2
Module 1: Lecture 3 8
 Nodal Analysis : Example
𝑉 Node 1

𝐼 𝑅 𝐼𝑅 𝐿 𝐼𝐿 𝐼𝐶 𝐶

Applying KCL at node 1:

𝐼 = 𝐼𝑅 + 𝐼𝐿 + 𝐼𝑐
𝑉 1 𝑑𝑉
𝐼= + 𝑉𝑑𝑡 + 𝐶
𝑅 𝐿 𝑑𝑡
𝑑𝜙 𝑑2𝜙 1 𝑑𝜙 𝜙
Substituting 𝑉 = : 𝐼=𝐶 + +
𝑑𝑡 𝑑𝑡 2 𝑅 𝑑𝑡 𝐿
Photos Courtesy: Module 1: Lecture 3 9
 Loop or Mesh Analysis: Example
𝑅 𝐿

𝐼 𝑉𝑅 𝑉𝐿

𝑉 𝑉𝐶 𝐶
Loop 1

Applying KVL around loop 1:

𝑉 = 𝑉𝑅 + 𝑉𝐿 + 𝑉𝑐
𝑑𝐼 1
𝑉 = 𝐼𝑅 + 𝐿 + 𝐼𝑑𝑡
𝑑𝑡 𝐶
𝑑𝑞 𝑑2𝑞 𝑑𝑞 𝑞
Substituting 𝐼 = : 𝑉= 𝐿 2+𝑅 +
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝐶
Photos Courtesy: Module 1: Lecture 3 10
 Mechanical Systems
• Classification based on type of motion:
– Translational systems having linear motion
– Rotational systems having angular motion about a fixed axis
Translational Rotational
Basic System Elements
Mass (𝑀) Inertia (𝐽)
Damper (𝐵) Damper (𝐷)
Linear spring (𝐾) Torsional spring (𝐾)
Basic System Variables
Force (𝐹) Torque (𝑇)
Displacement (𝑥) Angular displacement (𝜃)
Module 1: Lecture 3 11
 Mass Vs Inertia
Mass Inertia
• Property of an element that • Property of an element that
stores the kinetic energy due to stores the kinetic energy due to
translational motion rotational motion
• When a force is acting on a • When a torque is acting on a
body of mass 𝑀 causing body of inertia J causing
displacement 𝑥, then: displacement 𝜃, then:
𝑑𝑃 𝑑2 𝑥 𝑑2 𝜃
• 𝐹= =𝑀 = 𝑀𝑥 • 𝑇=𝐽 = 𝐽𝜃
𝑑𝑡 𝑑𝑡 2 𝑑𝑡 2
𝐹 𝑇
𝑀 𝐽
𝑥 𝜃
Photos Courtesy: Module 1: Lecture 3 12
 Damper
• Damper is an element that generates force which acts opposite to
the direction of motion, translational or rotational
• Damper resists motion
• Friction or dashpot are examples of dampers
Translational Rotational
𝐹 𝑇
𝑥 𝜃
𝐵 𝐷
𝑑𝑥 𝑑𝜃
𝐹=𝐵 = 𝐵𝑥 𝑇=𝐷 = 𝐷𝜃
𝑑𝑡 𝑑𝑡
Photos Courtesy: Module 1: Lecture 3 Note: R&C represent ports 13
 Linear Vs Torsional Spring
Linear Spring Torsional spring
• Property of an element that • Property of an element that stores
stores the potential energy due to the potential energy due to
translational motion rotational motion
• When a spring of spring constant • When a torsional spring of constant
𝐾 is applied a force 𝐹 causing an 𝐾 is applied a torque 𝑇 causing an
elastic displacement 𝑥, then: angular displacement 𝜃, then:
• 𝐹 = 𝐾𝑥 • 𝑇 = 𝐾𝜃
𝐹 𝑇
𝑥 𝜃
𝐾 𝐾
Photos Courtesy: Module 1: Lecture 3 Note: R&C represent ports 14
Nodal Analysis for Mechanical Systems
• System structure should be modified to suit nodal analysis,
without loss of system characteristics
• Steps of nodal analysis are detailed by an example

Module 1: Lecture 3 15
 Nodal Analysis : Example
Node 1

𝐹 𝐾1
Step 1:
Node 2 Number of nodes = 2
Hence, number of displacements = 2
𝑀

𝐵 𝐾2

Reference

Photos Courtesy: Module 1: Lecture 3 16

 Nodal Analysis : Example
𝑥1 𝑥2 Step 2:
Displacement and reference nodes are
identified

Reference Node

Photos Courtesy: Module 1: Lecture 3 17

 Nodal Analysis : Example
Step 3:
𝑥1 𝑥2 • Connect mass 𝑀 between
node 𝑥2 and reference node
𝐾1 Step 4:
𝐵
𝐾2 • Connect spring 𝐾1 between
𝐹 nodes 𝑥1 and 𝑥2
𝑀 • Connect spring 𝐾2 between
𝑥2 and reference node
Step 5:
Reference Node • Connect the force 𝐹
between 𝑥1 and reference
node
Photos Courtesy: Module 1: Lecture 3 18
 Nodal Analysis : Example
Step 6:
𝑥1 𝑥2 Apply Newton’s 2nd law at node 𝑥1 :
𝐹 = 𝐾1 𝑥1 − 𝑥2 (1)
𝐾1
𝐾2 Apply Newton’s 2nd law at node 𝑥2:
𝐹 𝐵
0 = 𝑀𝑥2 + 𝐵𝑥2 + 𝐾1 𝑥2 − 𝑥1 +
𝑀 𝐾2 𝑥2 (2)

Eq.1 and Eq.2 give the

Reference Node mathematical model of the given
mechanical system

Photos Courtesy: Module 1: Lecture 3 19

 Summary: Steps of Nodal Analysis
1. Identify number of nodes which is equal to number of displacements
2. Take a reference node independent of other nodes (displacement nodes)
3. Connect all mass / inertia elements between the relevant displacement
node and the reference node irrespective of its position
4. Connect spring and damper elements between relevant nodes based on
their position
5. Connect force or torque between the relevant displacement node and
the reference node
6. At each of the displacement nodes, apply Newton’s laws of motion

Module 1: Lecture 3 20
 Analogous Systems
• Mechanical systems can be represented using electrical elements
by the following analogies
• Two types of analogies:
– Force (Torque) - Voltage analogy (F-V analogy)
• Force is analogous to voltage

– Force (Torque) - Current Analogy (F-I analogy)

• Force is analogous to current

Module 1: Lecture 3 21
 Mass-Spring-Damper (MSD) System
𝐹
𝐵 Based on Newton’s 2nd law,
𝐹 = 𝑀𝑥 + 𝐵𝑥 + 𝐾𝑥

𝑀
Similarly for a rotational
𝐾 system,
𝑇 = 𝐽𝜃 + 𝐷𝜃 + 𝐾𝜃
𝑥

Reference

Photos Courtesy: Module 1: Lecture 3 22

 F-V Analogy of MSD System
𝑅 𝐶
𝐹
𝐵

𝑀 𝑉 𝐿
𝐾
𝑥
Reference
𝐹→𝑉
𝑀→𝐿
Based on Newton’s 2nd law, 𝐵→𝑅 Based on KVL around the loop,
𝐹 = 𝑀𝑥 + 𝐵𝑥 + 𝐾𝑥 1 𝑞
𝐾→ 𝑉 = 𝐿𝑞 + 𝑅𝑞 +
𝐶 𝐶
𝑥 →𝑞
Photos Courtesy: Module 1: Lecture 3 23
 F-I Analogy of MSD System
𝐹
𝐵

𝑀 𝐼 𝑅 𝐿 𝐶
𝐾
𝑥
𝐹→𝐼
Reference 𝑀→𝐶
1
𝐵→
𝑅 Based on KVL around the loop,
Based on Newton’s 2nd law, 1
𝐾→ 𝜙 𝜙
𝐹 = 𝑀𝑥 + 𝐵𝑥 + 𝐾𝑥 𝐿 𝐼 = 𝐶𝜙 + +
𝑅 𝐿
𝑥→𝜙
Photos Courtesy: Module 1: Lecture 3 24
 Summary: Analogous Systems
• Following table shows the analogue between the elements of
mechanical and electrical systems:
Mechanical System Electrical System

Translational Rotational F-V Analogy F-I Analogy

Force (𝐹) Torque (𝑇) Voltage (𝑉) Current (𝐼)
Mass (𝑀) Inertia (𝐽) Inductor (𝐿) Capacitor (𝐶)
Friction (𝐵) Friction (𝐷) Resistor (𝑅) Conductor (1/𝑅)
Linear spring (𝐾) Torsional spring (𝐾) Capacitor (1/𝐶) Inductor (1/𝐿)

Displacement (𝑥) Displacement (𝜃) Charge (𝑞) Flux (𝜙)

Module 1: Lecture 3 25
 Transformer Vs Gears
Transformer Gears
• Transmits electrical energy • A rotating machine to transmit
from one circuit to another torque
through electromagnetic
induction • Changes speed and direction
of motion
• Changes voltage level
𝑉1 𝑁1 𝐼2 𝑇1 𝑟1 𝜔2
= = = =
𝑉2 𝑁2 𝐼1 𝑇2 𝑟2 𝜔1
𝑇:Torque
𝑁1: 𝑁2(Turns ratio) 𝑇1 , 𝑟1 , 𝜔1 𝑟:Radius
𝜔:Angular velocity
𝑉1 𝑉2
Module 1: Lecture 3 𝑇2 , 𝑟2 , 𝜔2 26
 Overview
Summary : Lecture 3 Contents : Lecture 4
 Classification of physical  Examples of modelling
systems – Cruise Control of car
– Transformer
 Electrical & Mechanical systems
– Simple Pendulum
and their basic elements – Predator-Prey Models
 Nodal & loop analysis
 Analogous systems
 Transformers & gears

Module 1: Lecture 3 27