Control I

Lecture 3:- Mathematical Modeling

of Dynamic Systems
Instructor : Dr. Eltaib Said Elmubarak
 Quick Recap
▪ Laplace transform of time functions
▪ inverse Laplace transform
▪ Use of Laplace transform in electrical system
 Learning Objectives
By the end of this lecture student will be familiar
with:-
• Introduction to the mathematical modeling of
dynamic system
• Transfer function
• Impulse response function
• In studying control systems the reader must
be able to model dynamic systems and
analyze dynamic characteristics.
• 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.
• Note that a mathematical model is not
unique to a given system.
• A system may be represented in many
different ways and, therefore, may have many
mathematical models, depending on one's
perspective.
• The dynamics of many systems, whether they
are mechanical, electrical, thermal, economic,
biological, and so on, may be described in
terms of differential equations.
• Such differential equations may be obtained
• by using physical laws governing a particular
system, for example, Newton's laws for
mechanical systems and Kirchhoff's laws for
electrical systems.
• We must always keep in mind that deriving a
reasonable mathematical model is the most
important part of the entire analysis.
Mathematical mode:
• Mathematical models may assume many
• different forms.
• Depending on the particular system and the
particular circumstances, one mathematical
model may be better suited than other
models.
• For example, in optimal control problems, it is
advantageous to use state-space
representations.
• On the other hand, for the transient response
• or frequency-response analysis of single-
input-single-output, linear, time-invariant
systems, the transfer function representation
may be more convenient than any other.
• Once a mathematical model of a system is
obtained, various analytical and computer
tools can be used for analysis and synthesis
purposes
Simplicity versus accuracy:
• It is possible to improve the accuracy of a
mathematical model by increasing its complexity.
• In some cases, we include hundreds of equations
to describe a complete system.
• In obtaining mathematical model we make a
compromise between the simplicity of the model
and the accuracy of the results of the analysis.
If extreme accuracy is not needed, however, it is
preferable to obtain only a reasonably simplified
model
Linear systems:
• A system is called linear if the principle of
superposition applies.
• The principle of superposition states that the
response produced by the simultaneous
application of two different forcing
• functions is the sum of the two individual
responses.
Linear time-Invariant systems and linear time-
varying systems:
• A differential equation is linear if the
coefficients are constants or functions only of
the independent variable.
• Dynamic systems that are composed of linear
time-invariant lumped parameter
• components may be described by linear time
invariant (constant-coefficient) differential
equations.
• Such systems are called linear time-invariant
(or linear constant-coefficient) systems.
• Systems that are represented by differential
equations whose coefficients are functions of
time are called linear time-varying systems.
• An example of a time-varying control system is
a spacecraft control system.
• (The mass of a spacecraft changes due to fuel
consumption.)
Nonlinear systems:
• A system is nonlinear if the principle of
superposition does not apply.
•
Transfer Function
• The transfer function of a linear, time
invariant, differential equation system is
defined as the ratio 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.
• Consider the linear time-invariant system
defined by the following differential equation:
𝑛 𝑛−1
𝑎0 𝑦 + 𝑎1 𝑦 + ⋯ + 𝑎𝑛−1 𝑦ሶ + 𝑎𝑛 𝑦
𝑚 𝑚−1
= 𝑏0 𝑥 + 𝑏1 𝑥 + ⋯ + 𝑏𝑛−1 𝑥ሶ
+ 𝑏𝑥 𝑥 𝑛>𝑚
• Where y is the output of the system and x is
the input.
• The transfer function of this system is
• obtained by taking the Laplace transforms of
both sides of the above equation under the
assumption that all initial conditions are zero.
Mechanical System
• Consider the satellite attitude control system
shown in fig.3.1
• Fig. 3.1 Schematic diagram of satellite attitude
control system
• The diagram shows the control of only the
yaw θ. (in the actual system there are controls
about three axes).
• Small jets apply reaction forces to rotate the
satellite body into the desired attitude
• The two skew symmetrically placed jets
denote by A or B operate in pairs
• Assume that each jet thrust is F/2 and a
torque can be written as T(t).
• the moment of inertia about the axis of
rotation at the center of mass is J.
• Let us obtain the transfer function of this
system by assuming that torque T(t) is the
input and the angular displacement θ(t) of the
satellite is the output.
• (we consider the motion only in the plane of
the page)
• To derive the transfer function, we proceed
according to the following steps.
a. Write the differential equation for the system
b. Take the Laplace transform of the differential
equation, assuming all initial condition are
zero.
c. Take the ratio of the output θ(s) to the input
T(s). this ratio is the transfer function
• Applying Newton’s second law and assumed
that there is no friction in the environment of
the satellite, we have
𝑑2 𝜃
𝐽 2 =𝑇
𝑑𝑡
• Taking the Laplace transform
𝐽𝑠 2 𝜃 𝑠 = 𝑇 𝑠
𝜃(𝑠) 1
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = = 2
𝑇(𝑠) 𝐽𝑠
Impulse response function

• Consider the output (response) of a system to

a unit-impulse input when the initial
conditions are zero.
• Consider the output (response) of a system to
a unit-impulse input when the initial
conditions are zero.
• Since the Laplace transform of the unit-
impulse function is unity, the Laplace
transform of the output of the system is
𝑌 𝑠 = 𝐺(𝑠)
• The inverse Laplace transform of the output
• given by the above equation gives the impulse
• response of the system.
• The inverse Laplace transform of G(s) or

• Is called the impulse response function.

• This function g(t) is also called the weight
function of the system.
• The impulse response function g(t) is thus
• the response of a linear system to a unit-
impulse input when the initial conditions are
zero.
• Therefore the transfer function and impulse-
response function of the linear time-invariant
system contain the same information about
the system dynamics.
•