Control Systems

EEE3001| Fall semester 2021-2022

V.Lavanya/ SELECT/VIT Chennai
 𝐼2 (𝑠)
2. Find the transfer function,
𝑉(𝑠)

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The equations governing the circuit are,
𝑑𝑖1 𝑡 𝑑𝑖2 𝑡
Loop 1 : 𝑅1 𝑖1 𝑡 + 𝐿 [ − ]=𝑣 𝑡
𝑑𝑡 𝑑𝑡
𝑑𝑖2 𝑡 𝑑𝑖1 𝑡 1
Loop 2 : 𝐿 − + 𝑅2 𝑖2 𝑡 + 𝑖2 (𝑡) 𝑑𝑡 = 0
𝑑𝑡 𝑑𝑡 𝐶
Taking Laplace transform on both sides of the equation,
𝑅1 𝐼1 𝑠 + 𝐿 𝑠[ 𝐼1 𝑠 − 𝐼2 𝑠 = 𝑉(𝑠)
1
𝐿 𝑠[ 𝐼2 𝑠 − 𝐼1 𝑠 + 𝑅2 𝐼2 𝑠 + 𝐼2 𝑠 = 0
𝐶𝑠

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Rearranging and substituting,
𝐼2 (𝑠)
The transfer function is given by
𝑉(𝑠)
𝐼2 (𝑠) 𝐿𝐶 𝑠 2
=
𝑉(𝑠) 𝑅1 + 𝑅2 𝐿𝐶 𝑠 2 + 𝑅1 𝑅2 𝐶 + 𝐿 𝑠 + 𝑅1

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 𝑉𝐶 (𝑠)
3. Find the transfer function, by nodal
𝑉(𝑠)
analysis

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 𝑉𝐿 (𝑠)
4. Find the transfer function, 𝑉(𝑠)
using both mesh and
nodal analysis.

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Loop 1 :
𝑑𝑖1 𝑑𝑖2
𝑅1 𝑖1 𝑡 − 𝑖3 𝑡 + 𝐿1 − = 𝑣(t)
𝑑𝑡 𝑑𝑡
Loop 2:
𝑑𝑖2 𝑑𝑖1 𝑑𝑖2
𝐿1 − + 𝐿2 + 𝑅2 𝑖2 𝑡 − 𝑖3 𝑡 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡
Loop 3:
𝑑𝑖3
𝑅3 𝑖3 𝑡 − 𝑖1 𝑡 + 𝐿3 + 𝑅3 𝑖3 𝑡 − 𝑖1 𝑡 =0
𝑑𝑡

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Taking Laplace transform,
Eqn.1 :
𝑅1 𝐼1 𝑠 − 𝐼3 𝑠 + 𝐿1 s 𝐼1 𝑠 − 𝐼2 𝑠 = V(s)
Eqn. 2:
𝐿1 s 𝐼2 𝑠 − 𝐼1 𝑠 + 𝐿2 𝑠𝐼2 𝑠 + 𝑅2 𝐼2 𝑠 − 𝐼3 𝑠 =0
Eqn. 3:
𝑅3 𝐼3 𝑠 − 𝐼1 𝑠 + 𝐿3 𝑠𝐼3 𝑠 + 𝑅3 𝐼3 𝑠 − 𝐼1 𝑠 =0

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Substituting the values of R and L
Eqn.1 :
𝐼1 𝑠 − 𝐼3 𝑠 + s 𝐼1 𝑠 − 𝐼2 𝑠 = V(s)
Eqn. 2:
s 𝐼2 𝑠 − 𝐼1 𝑠 + 𝑠𝐼2 𝑠 + 𝐼2 𝑠 − 𝐼3 𝑠 =0
Eqn. 3:
𝐼3 𝑠 − 𝐼1 𝑠 + 𝑠𝐼3 𝑠 + 𝐼3 𝑠 − 𝐼1 𝑠 =0

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 𝑠 + 1 𝐼1 𝑠 − 𝑠𝐼2 𝑠 − 𝐼3 𝑠 = 𝑉 𝑠

−𝑠 𝐼1 𝑠 + 2𝑠 + 1 𝐼2 s − 𝐼3 𝑠 = 0

− 𝐼1 𝑠 − 𝐼2 𝑠 + 𝑠 + 2 𝐼3 𝑠 = 0
Solving the equations for the current 𝐼2 s
(𝑠 + 1) 𝑉(𝑠) −1
−𝑠 0 −1
−1 0 (𝑠 + 2) 𝑠 2 + 2𝑠 + 1 𝑉(𝑠)
𝐼2 s = =
(𝑠 + 1) −𝑠 −1 𝑠(𝑠 2 + 5𝑠 + 2)
−𝑠 (2𝑠 + 1) −1
−1 −1 (𝑠 + 2)
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The transfer function is given by
𝑉𝐿 (𝑠) (𝑠 2 + 2 𝑠 + 1)
=
𝑉 𝑠 (𝑠 2 + 5𝑠 + 2)

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 Translational Mechanical System
• Transfer functions of Translational Mechanical systems
• Mechanical systems has three passive linear components
• Spring
• Mass
• Viscous damper
• Mass and spring are the energy storage elements
• Damper is the energy dissipating element
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Here,
K, fv (or) B and M are called spring constant, coefficient of viscous
friction, and mass, respectively.
The mechanical system can be described by one differential equation,
called the equation of motion.

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 Analogies between Electrical and
Mechanical systems
• Comparing the force-velocity equations of mechanical systems with that of the voltage
–current equations of the electrical system, the following analogies can be seen
• Mechanical force (F) – Electrical voltage (V)
• Mechanical velocity (v) –Electrical current(I)
• Spring (K) – Capacitor (C)
• Mass (M)– Inductor (L )
• Damper (fv or B) – Resistor (R)
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 Analogy between Mechanical Translational
system and Electrical system
• Summing forces written in terms of velocity is
analogous to summing voltages written in terms
of current, and the resulting mechanical
differential equations are analogous to mesh
equations.
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• Comparing the force-velocity equations of mechanical systems with
that of the current - voltage equations of the electrical system, the
following analogies can be seen,
• Mechanical force (F) – Electrical current(I)
• Mechanical velocity (v) –Electrical voltage (V)
• Spring (K) – Inductor (L )
• Mass (M)–Capacitor (C)
• Damper (fv or B) – Resistor (R)
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• Summing forces written in terms of velocity is
analogous to summing currents written in terms of
voltage and the resulting mechanical differential
equations are analogous to nodal equations.

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 Analogy between Mechanical and
Electrical systems
• Mechanical systems
• Mechanical translational systems
• Mechanical rotational systems
• Analogy
• Force –voltage analogy
• Force –current analogy

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 Mechanical Translational system
Steps :
• Assume a positive direction of motion.
• Draw a free –body diagram
• Mark all the forces acting on the body either in the direction of motion or in
the opposite direction
• Write the differential equation governing by using newton’s law.
• Take Laplace transform of the equation, rearrange it to find the required transfer
function.

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 𝑋(𝑠)
Find the transfer function , for the system shown in
𝐹(𝑠)
Figure.

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Step 1 Draw the free-body diagram.

Step 2: Write the differential equation governing the system by assuming that the applied force
on the mass is acting in the right and all other forces are opposing the applied force.

𝑑2 𝑥(𝑡) 𝑑𝑥(𝑡)
𝑀 2
+ 𝑓𝑣 + 𝐾 𝑥 𝑡 = 𝑓(𝑡)
𝑑𝑡 𝑑𝑡
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Taking Laplace transform on both sides of the equation with zero initial
conditions,
𝑀 𝑠 2 𝑋 𝑠 + 𝑓𝑣 𝑠 𝑋 𝑠 + 𝐾 𝑋 𝑠 = 𝐹 𝑠

(𝑀 𝑠 2 + 𝑓𝑣 𝑠 + 𝐾 )𝑋 𝑠 = 𝐹 𝑠
The transfer function,
𝑋(𝑠) 1
𝐺 𝑠 =
𝐹(𝑠)
= (𝑀 𝑠2 +𝑓𝑣 𝑠+𝐾 )

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 𝑋2 (𝑠)
Find the transfer function for the system shown in figure.
𝐹(𝑠)

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 Thank you !

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