Control Systems (CS)

Lecture-3
Introduction to Mathematical Modeling
&
Mathematical Modeling of Electrical Systems

Dr. Imtiaz Hussain

Associate Professor
Mehran University of Engineering & Technology Jamshoro, Pakistan
email: [email protected]
URL :http://imtiazhussainkalwar.weebly.com/

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 Types of Systems
• Static System: If a system does not change
with time, it is called a static system.
• Dynamic System: If a system changes with
time, it is called a dynamic system.

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 Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y(t )  [u( ),0    t ]

u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

My  u
 Ways to Study a System

System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

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 Model
• A model is a simplified representation or
abstraction of reality.
• Reality is generally too complex to copy
exactly.
• Much of the complexity is actually irrelevant
in problem solving.

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

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 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

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 White Box Model
• When input and output and internal dynamics
of the system is known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge

of the system to derive a white box model.
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 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
resistor is given by Ohm’s law i-e

v R (t )  i R (t )R

• The Laplace transform of the above equation is

VR ( s )  I R ( s ) R
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
Capacitor is given as:

1
vc (t )   ic (t )dt
C
• The Laplace transform of the above equation (assuming there is no
charge stored in the capacitor) is
1
Vc ( s )  Ic (s)
Cs
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current for the
inductor is given as:
diL (t )
v L (t )  L
dt
• The Laplace transform of the above equation (assuming there is no
energy stored in inductor) is

VL ( s )  LsI L ( s )
 V-I and I-V relations
Component Symbol V-I Relation I-V Relation

v R (t )
Resistor v R (t )  i R (t )R i R (t ) 
R

1 dvc (t )
Capacitor vc (t )   ic (t )dt ic (t )  C
C dt

diL (t ) 1
Inductor v L (t )  L iL (t )   v L (t )dt
dt L

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 Example#1
• 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
v i ( t )  i( t ) R   i( t )dt
C
1
vo ( t )   i( t )dt
C
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 Example#1
1 1
v i ( 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

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 Example#1
1
Vi ( s )  I ( s )( R  ) CsVo ( s )  I ( s )
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
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 Example#1
Vo ( s ) 1

Vi ( s ) 1  RCs

• The system has one pole at

1
1  RCs  0 s
RC

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 Example#2
• Design an Electrical system that would place a pole at -3 if
added to another system.

Vo ( s ) 1

Vi ( s ) 1  RCs vi( t) i(t) C v2(t)

• System has one pole at

1
s
RC
• Therefore,
1
  3 if R  1 M and C  333 pF
RC
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 Example#3
• Find the transfer function G(S) of the following
two port network.

vi(t) i(t) C vo(t)

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 Example#3
• Simplify network by replacing multiple components with
their equivalent transform impedance.

Z
Vi(s) I(s) C Vo(s)

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Transform Impedance (Resistor)

iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

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Transform Impedance (Inductor)

IL(S)
iL(t)
+ +

vL(t) ZL=LS VL(S)

LiL(0)
-
-

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Transform Impedance (Capacitor)

ic(t) Ic(S)
+ +

vc(t) ZC(S)=1/CS Vc(S)

- -

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 Equivalent Transform Impedance (Series)
• Consider following arrangement, find out equivalent
transform impedance.

L
ZT  Z R  Z L  Z C
C
1
Z T  R  Ls  R

Cs

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Equivalent Transform Impedance (Parallel)

1 1 1 1
  
ZT Z R Z L ZC L

1 1 1 1 C
  
ZT R Ls 1
R
Cs

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 Equivalent Transform Impedance
• Find out equivalent transform impedance of
following arrangement.
L2

L2
R1 R2

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 Back to Example#3

L
Z

Vi(s) I(s) C Vo(s)

1 1 1
 
Z ZR ZL

1 1 1
 
Z R Ls

RLs
Z
1  RLs
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 Example#3
RLs
Z
1  RLs
L
Z

Vi(s) I(s) C Vo(s)

1 1
Vi ( s )  I ( s )Z  I (s) Vo ( s )  I (s)
Cs Cs

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 Operational Amplifiers

Vout Z2
 Vout
 1
Z2
Vin Z1 Vin Z1

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 Example#4
• Find out the transfer function of the following
circuit.

Vout Z2

Vin Z1
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 Example#5
• Find out the transfer function of the following
circuit.

v1

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 Example#6
• Find out the transfer function of the following
circuit.

v1

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 Example#7
• Find out the transfer function of the following
circuit and draw the pole zero map.

100kΩ

10kΩ

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END OF LECTURE-3

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