Module 2.

In

Instrumentation & Control Engineering (ME 413/ ME 521a)

Prepared by:

David D. Parial, MA,PhD-Math(CAR),PME

Mechanical Engineering Department
College of Engineering-UEP
(Introduction to Instrumentation & Control Engineering)

1.) Overview

This subject or course introduces the basic concepts of instrumentation & process controls as well as important
applications of feedback control systems with emphasis on analysis as well as design techniques.

1.1 PURPOSE

The purpose of this module is for you students to understand the basics or various important concepts of
Modeling in the frequency domain (F(s).

1.2 Module Title & Description

Module 2. Modeling in the Frequency Domain [F(s)]

1.3 Module Guide

This module is Modeling in the Frequency Domain includes some basic concepts of control system with concepts
on open loop & closed loop systems, block diagrams, transfer functions and review of laplace transforms which is the
language or medium of Control Systems.

1.4. Module Outcomes

After this topic, you, student should be able to: (refer to Chapter 2, Control Systems Engineering by Nise 6ed)
• Find the Laplace transform of time functions and the inverse Laplace transform
(Sections 2.1-2.2)
• Find the transfer function from a differential equation and solve the differential
equation using the transfer function (Section 2.3)
• Find the transfer function for linear, time-invariant electrical networks (Section 2.4)
• Find the transfer function for linear, time-invariant translational mechanical systems
(Section 2.5)
• Find the transfer function for linear, time-invariant rotational mechanical systems
(Section 2.6)
• Find the transfer functions for gear systems with no loss and for gear systems with
loss (Section 2.7)
• Find the transfer function for linear, time-invariant electromechanical systems
(Section 2.8)
• Produce analogous electrical and mechanical circuits (Section 2.9)
• Linearize a nonlinear system in order to find the transfer function (Sections 2.10-
2.11)

1.5 Module Requirements

Requirements for this module will be given after every topic for this will collectively sum up all the
thermodynamic processes in machines & equipments used in industrial plants. Submit your activity requirements along
with assignments & homeworks with an acceptable margin on the left & right. Make a cover page & staple it at the
upper left corner. Place requirements in an envelop so that it will not get lost & broken up into separate pages in the
submision process. Submission of activities will be on or before the distribution date of the next module. In this case,
the second (2nd) module. No submission of activity will not be given the next module.

2.) KEY TERMS.

Key terminologies will be defined at the beginning of each topic & others will be defined as needed or introduced.

3.) LEARNING PLAN

3.1 Activating Student’s Schemata.

Most of you enrolled in this subject are 5th year or senior & graduating students and you should have a pretty good
idea about the field of mechanical engineering & specific fields specialization like machine design, power plant &
industrial plant for example. Most of the plant processes go through a process “control” of some kind (e.g. governor,
flow control/meters) that is vital in the routine, efficient & optimal operation of the power or industrial plant.

By the way, the language of control system is Laplace transforms. A table of Laplace Transform always comes in
handy and derivation may not be needed as long as student knows how to apply the f ormula. Some derivations will be
shown here, but most of the derivations maybe found in standard advance math or differential equations textbook. And
the best software program to use in control system is Mathlab (or Scilab, free).
MODELING IN THE FREQUENCY DOMAIN. S-Domain means frequency domain. Means it is convenient to use Lapace
function since it is expressed in F(s). Whereas, in Time-Domain is in time (t), a differential equation is used here.

In its simplest form, a control system can consist of an input, process & output. A very basic concept in control system is
the open loop system & the closed loop system:

a.) Open Loop System

Input--PROCESSOutput.

b.) Closed Loop System. The only difference between the two(2) is that part of the output is fed back into the input [ to
better or improve the output].

(Input)PROCESS (Output)

Feedback
Below, some input waveforms that can be fed into a control system. Note, mostly represented with use of Laplace
Transform.

Response- a response of a control system is how a system or design reacts or behaves with the given input(s).Below, a
“transient response” & a “steady state response” over time, is shown in the figure.
 Normally, a response is composed of 2 parts: a transient response (initial response), then afterwards a steady
state response. If the response is represented with a differential equation,R = 75 e^(-3/2000)t +25, the initial response
or transient response is the first term of the DE and then the constant term(second term of the DE) 25 is the steady state
response. A classic example of transient response is the response of an electric motor as the switch is turned on, it
draws a lot of current and then it settles down to a constant value (say, e.g. 25Amp).

Moreover, Laplace is used in control systems theory because an equation describing the ”system” is normally a
differential equation (or to rephrase, a differential equation best describes a system). And a differential equation is best
handled fast & with ease through the use of Laplace transforms. Why, because integral & differential calculus is
replaced with simple multiplication & division. It will also help in the simplification of Laplace wi th the use of partial
fractions, recall if u can, it will come in handy for sure.
OR,same as writing
Block Diagram. A graphical representation of control system Simplest example is an ”open loop system” & a ”closed
loop system”.(please see figure below)
Transfer Function,G(s). Basically, transfer function is just an expression or relation of whatever was inputed to the
system divided by whatever comes out of the system. This could be done with use of block diagrams, as well.

____________________

Input = z(s) PROCESS, G(s)=s/s+1Output= (s+1). Hence, Transfer Function, G(s)= s/s+1

____________________
Activity 1. Find the transfer function, G(s) as shown in the figure below.

Activity2.Find the transfer function of the mechanical system below.

Summary:

This Module is all about modeling in the frequency domain, or F(s). Mainly using Laplace. You have to learn how to use
Laplace here. Basic concepts of open loop systems, closed loop systems, block diagrams, transfer function has been
shown in this module. If you feel like u need more examples please let me know or see our textbooks given in the GC.
More exercises. Assignments will be given separately. Now, is a good time to learn Laplace Transforms, it is easy, see
above tables or a standard Differential Equations or Control Systems textbook.

As mentioned before, Modern Control Systems started with James Watt’s “Flyball Governor”or perhaps earlier.
Notice how it has evolved to what it is now. Another example of a simpl e control system is the toilet bowl flushing
system. Medium or Language of Control Systems is Laplace Transforms (or frequency domain because evaluating or
using usual time domain functions will be really difficult & cumbersome. Best Control Systems Engineering (with
simulations) Software application is Matlab. But all of it is becoming g obsolete like most technologies, and it is being
replaced by Artificial Intelligence (AI), gradually or abruptly depending on some prevailing or pre-existing condtitions .
An example of AI is when you do a simple Google Search or “Siri”. One disadvantage of technology is how fast it
becomes obsolete. If you have seen the movie AI by Robin Williams, you’ll see how fast technology’s obsolescence is.

Suggested References:

1.) Modern Control Systems by Dorf & Bishop (8th Ed., and later editions)

2.) Control Systems Engineering (6th Edition) by Norman Nise.

3.) Feedback Control Systems by DiStiffano & Stubberud (Schaum’s Outline)

4.) Control Systems by Dr. Frank Lewis & Etc.

5.) Vibration & Control Engineering by Daniel Inman.

References:

1.) Control Systems Handbook by Bishop.

2.) Control Systems by Kuo

3.) Control Systems Engineering Handbook by Levine.

4.) Control Engineering by Ogata.