EMG 2410: Control Engineering II

Mathematical Modeling of Control Systems II

Dr.-Ing. Edwin Kipchirchir

20.02.2025
Outline 1

Modeling in state-space (continued)

Transformation of mathematical models with MATLAB

Mathematical Modeling of Control Systems

Modeling in state-space I 2

Spring-mass-damper system continued

Obtain the transfer function for the system from the state-
space equations

Substituting A, B, C, and D in

Mathematical Modeling of Control Systems

Modeling in state-space II 3

Transfer matrix
For a MIMO system having inputs , ..., and outputs , ...,

The transfer matrix relates the output to the input or , where

is given by

Transfer matrix G( ) is an matrix

Mathematical Modeling of Control Systems

Modeling in state-space III 4

Cruise control model Franklin et al. [2010]

1. Write the equations of motion for the speed and
forward motion of the car shown, assuming that the
engine imparts a force as shown. Take the Laplace
transform of the resulting differential equation and
find the transfer function between the input and the
output .
2. Use MATLAB to find the response of the velocity of the
car for the case in which the input jumps from being
at time to a constant N
thereafter. Assume that the car mass is kg and
viscous drag coefficient, N.sec/m.
3. Repeat part 1 and 2 using state-space approach

Mathematical Modeling of Control Systems

Modeling in state-space IV 5

Cruise control model Franklin et al. [2010]:

1. Equations of motion (Mathematical model)
Assumptions (for simplicity)
Rotational inertia ( ) of wheels is negligible
There is friction retarding the motion of the car
(frictional damping), proportional to the car’s
speed with a proportionality constant,
FBD
Defines coordinates (+ve to the right)
Shows all forces acting on the body (heavy lines)
Indicates the acceleration (dashed line)
Inertial acceleration is because the car position is
measured wrt. an inertial reference

Automotive cruise control variable of interest is speed

Mathematical Modeling of Control Systems

Modeling in state-space V 6

Cruise control model Franklin et al. [2010]:

1. Equations of motion (Mathematical model)
Equation of motion

Assume a solution of the form given an input

. Then, since ˙ , the DE is

Transfer function

Mathematical Modeling of Control Systems

Modeling in state-space VI 7

Cruise control model Franklin et al. [2010]:

2. Time response
Specifying transfer function in MATLAB

Step function: Calculates the time response of

a linear system (this case) to a unit step input
Output is multiplied by the magnitude of the
input step to derive a step response of any
amplitude
num multiplied by the magnitude of the
input step
MATLAB script and plot for calculating the step
response of the car velocity with a 500 N
magnitude

Mathematical Modeling of Control Systems

Modeling in state-space VII 8

Cruise control model Franklin et al. [2010]:

3. State-space approach I

2nd order system

Define state variables and

We obtain

Measurement of interest is velocity , hence

Mathematical Modeling of Control Systems

Modeling in state-space VIII 9

Cruise control model Franklin et al. [2010]:

3. State-space approach II
Vector-matrix form (s-s representation)

Transfer function obtained in S-S using

MATLAB script for obtaining step response

Similar response to tf approach

Mathematical Modeling of Control Systems

Modeling in state-space IX 10

Transformation of mathematical models with MATLAB

MATLAB used to transform the system model from tf. to s-s & vice versa.
Transformation from transfer function to state-space representation I
Closed-loop transfer function

MATLAB command which gives s-s representation

Gives one possible s-s representation

Consider the transfer function system

Read on: State-Space Representation of

Many possible s-s representations nth-Order Systems of Linear Differential
Equations in which the Forcing Function
Involves Derivative Terms [Ogata,2010]

Mathematical Modeling of Control Systems

Modeling in state-space X 11

Transformation of mathematical models with MATLAB II

Transformation from transfer function to state-space representation II
One possibility

Second possibility

MATLAB program
Mathematical Modeling of Control Systems
Modeling in state-space XI 12

Transformation of mathematical models with MATLAB III

Transformation from state-space representation to transfer function I
MATLAB command used for this transformation
iu (1,2,…, r) must be specified for systems with more than one input
System with one input

Obtain the transfer function of the system defined by the following s-s equations

MATLAB script for the SISO system produces the transfer function

Mathematical Modeling of Control Systems

Modeling in state-space XII 13

Transformation of mathematical models with

MATLAB IV
Transformation from state-space representation
to transfer function II
MIMO system:
Produces tfs. for all outputs to each inputs
NUM: Matrix of numerator coefficients
No of rows=no. of outputs
Consider the system defined by

2 inputs & 2outputs > 4 transfer functions

When considering , assume & vice versa

Mathematical Modeling of Control Systems

Modeling in state-space XIII 14

Transformation of mathematical models with

MATLAB V
Transformation from state-space representation
to transfer function III
MATLAB solution for the MIMO system
Transfer functions

Mathematical Modeling of Control Systems

Modeling in state-space XIV 15

A two-mass automobile suspension model

Franklin et al. [2010] I
Write the equations of motion for the automobile and
wheel motion assuming one-dimensional vertical
motion of one quarter of the car mass above one
wheel. A system consisting of one of the four-wheel
suspensions is usually referred to as a quarter-car
model. Assume that the model is for a car with a
mass of 1580 kg, including the four wheels, which
have a mass of 20 kg each. By placing a known
weight directly over a wheel and measuring the car’s
deflection, we find that N/m. Measuring
the wheel’s deflection for the same applied weight,
we find that N/m. Assume that
N-sec/m. Derive the differential equations and
transform these into the transfer function and state-
space forms

Mathematical Modeling of Control Systems

Modeling in state-space XV 16

A two-mass automobile suspension model Franklin et al.

[2010] II
Solution based on transfer function approach I
System approximated by the simplified system
Coordinates of the 2 masses, x & y, are the displacements
of the masses from their equilibrium conditions
Equilibrium positions: Offset from the springs’ unstretched
positions due to force of gravity
Shock absorber (dashpot) has friction constant
Magnitude of force from shock absorber is assumed to be
proportional to the rate of change of the relative
displacement of the two masses:
Force from the car suspension acts on both masses in
proportion to their relative displacement with spring
constant

Mathematical Modeling of Control Systems

Modeling in state-space XVI 17

A two-mass automobile suspension model Franklin et al.

[2010] III
Solution based on transfer function approach II
FBD. of each mass
NB: Forces from the spring on the
2 masses are equal in magnitude but
act in opposite directions,
the same case for the damper
represents the tire compressibility,
for which there is insufficient damping
(velocity-dependent force) to warrant
including a dashpot in the model
Force from is proportional to the compression distance
of the tire
A force will result if either the road surface has a bump
( changes from its equilibrium value of zero) or the wheel
bounces ( changes)
The simplified car over a bumpy road will result in a value
of that is not constant

Mathematical Modeling of Control Systems

Modeling in state-space XVII 18

A two-mass automobile suspension model Franklin et al.

[2010] IV
Solution based on transfer function approach III
Applying Newton’s law of motion ( )
and taking upward forces as +ve

Rearranging yields

Check on the signs for systems that are obviously stable

from physical reasoning can be quickly carried out
A stable system always has same signs on similar variables
Signs of , , and are all positive
Signs of , , and are all positive, hence stable
system
Mathematical Modeling of Control Systems
Modeling in state-space XVIII 19

A two-mass automobile suspension model Franklin et al. [2010] V

Solution based on transfer function approach IV
Transfer function of the system

To determine numerical values, we subtract the mass of the four wheels from the total
car mass of 1580 kg and divide by 4 to get = 375 kg. The wheel mass was
measured directly to be = 20 kg.
Transfer function with the numerical values

Mathematical Modeling of Control Systems

Modeling in state-space XIX 20

A two-mass automobile suspension model Franklin et al. [2010] VI

Solution based on state-space approach I

Assume the following states for relative displacements & velocities of and

Equations of motion for the system

Mathematical Modeling of Control Systems

Modeling in state-space XX 21

A two-mass automobile suspension model Franklin et al. [2010] VII

Solution based on state-space approach II
Input: Measurement being of car’s deflection ,
state & output equations

Substituting the values of , , , , and

and using the MATLAB script, the obtained tf. is

Similar to one obtained using tf. approach

Mathematical Modeling of Control Systems

Modeling in state-space XXI 22

A two-mass automobile suspension model Franklin et al. [2010] VIII

Solution based on state-space approach III
MATLAB script

Mathematical Modeling of Control Systems