‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 2
Mathematical modeling of control systems

DR. M. Arafa 28/2/2024

 Lecture 2

➢ Modeling of Mechanical Systems

• Translational mechanical systems

• Rotational mechanical systems

➢ Modeling of Electromechanical Systems

Modeling of Mechanical Systems
 (1) Modeling of Translational Mechanical Systems
Translational mechanical systems move along a straight line. These systems mainly consist of
three basic elements:

(1) mass

(2) spring

(3) damper (or dashpot)

If a force is applied to a translational mechanical system, then it is opposed by opposing forces

due to mass, elasticity and friction of the system. Since the applied force and the opposing
forces are in opposite directions, the algebraic sum of the forces acting on the system is zero.
This is known as Newton’s second law for translational motion of mechanical systems.
For translational systems, Newton’s second law states that

෍ 𝑭 = 𝒎 𝒙ሷ

Where 𝒙

• 𝒎 is a mass
𝒎
• 𝒙 is displacement

• 𝒙ሷ is the acceleration of the mass

• σ 𝑭 is the sum of the forces acting on the mass in the direction of the acceleration 𝒙.ሷ

• 𝒎 𝒙ሷ represents the opposing force due to mass

➢ The opposing force due to elasticity of spring

𝒙𝟐 𝒙𝟏
𝑘 𝒙𝟏
𝑘

𝒇𝒌
𝒇𝒌

𝒇𝒌 = 𝑘 (𝒙𝟏 − 𝒙𝟐 )
𝒇𝒌 = 𝑘 𝒙𝟏

Where

• 𝒌 is the spring constant that represents its elastic coefficient

• 𝒙𝟏 and 𝒙𝟐 are the displacements

• 𝒇𝒌 is the opposing force due to the elasticity of spring

➢ The opposing force due to friction of damper (or dashpot)

𝒙𝟐 𝒙𝟏 𝒙𝟏

𝑩 𝑩

𝒇𝑩 𝒇𝑩

𝒇𝑩 = 𝐵 (𝒙𝟏ሶ − 𝒙𝟐ሶ ) 𝒇𝑩 = 𝐵 𝒙𝟏ሶ

Where
• 𝑩 the is the frictional coefficient
𝑑𝒙𝟏 (𝑡) 𝑑𝒙2 (𝑡)
• 𝒙𝟏ሶ = and 𝒙ሶ𝟐 = represents the rate of change in displacements 𝑥1 and
𝑑𝑡 𝑑𝑡

𝑥2 , repetively (velocity).
• 𝒇𝑩 is the opposing force due to friction of dashpot
Example 1:
𝑋(𝑠)
➢ Find the transfer funtion , for the following mechanical system.
𝐹 (𝑠)

𝒙
𝑘

𝒎 𝒇(𝒕)
𝑩

Solution:
𝒙
at mass 𝒎:
𝒇𝒌
𝒎 𝒇
the figure shown illustrates the forces acting on it. 𝒇𝑩
 𝒙

𝒇𝒌
𝒎 𝒇
𝒇𝑩

By applying Newton’s second law at mass 𝑚:

෍ 𝑭 = 𝒎 𝒙ሷ

⇒ 𝑓 𝑡 − 𝑓𝑘 − 𝑓𝐵 = 𝑚 𝑥ሷ
𝑋(𝑠) 1
∴ 𝑇. 𝐹 = =
𝑓 𝑡 − 𝑘 𝑥 𝑡 − 𝐵𝑥(𝑡)
ሶ = 𝑚 𝑥(𝑡)
ሷ 𝐹(𝑠) 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘
1
𝑓 𝑡 = 𝑚 𝑥ሷ 𝑡 + 𝐵 𝑥ሶ 𝑡 + 𝑘 𝑥 𝑡 Take 𝓛, considering 𝑚
=
zero initial conditions 𝐵 𝑘
𝑠2 + 𝑠 +
𝑚 𝑚
𝐹 𝑠 = (𝑚 𝑠 2 + 𝐵𝑠 + 𝑘) 𝑋(𝑠)
Example 2:

𝑋1 𝑠
➢ Find the transfer funtion , for the following mechanical system.
𝐹 𝑠

𝑓(𝑡)
𝒙𝟏 𝒙𝟐
𝑘2
𝑘3
𝑘1
𝒎𝟏 𝒎𝟐
𝑩
Solution: 𝒙𝟏

at mass 𝒎𝟏 : 𝒇 𝒇𝒌𝟐
𝒇𝒌𝟏 𝒎𝟏
𝒇𝑩
the figure shown illustrates the forces acting on it.

By applying Newton’s second law at mass 𝒎𝟏 :

෍ 𝑭 = 𝒎𝟏 𝒙𝟏ሷ

⇒ 𝑓 𝑡 − 𝑓𝑘1 − 𝑓𝑘2 − 𝑓𝐵 = 𝑚1 𝑥1ሷ

𝑓 𝑡 − 𝑘1 𝑥1 𝑡 − 𝑘2 (𝑥1 𝑡 − 𝑥2 𝑡 ) − 𝐵(𝑥1ሶ 𝑡 − 𝑥2ሶ (𝑡)) = 𝑚1 𝑥1ሷ (𝑡)

𝑓 𝑡 = 𝑚1 𝑥1ሷ + 𝐵 𝑥1ሶ + 𝑘1 + 𝑘2 𝑥1 − 𝐵 𝑥2ሶ − 𝑘2 𝑥2 Take 𝓛, considering

zero initial conditions
𝐹 𝑠 = 𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 𝑋1 𝑠 − (𝐵𝑠 + 𝑘2 ) 𝑋2 𝑠 1
at mass 𝒎𝟐 :
𝒙𝟐

the figure shown illustrates the forces acting on it. 𝒇𝒌𝟐

𝒎𝟐 𝒇𝒌𝟑
By applying Newton’s second law at mass 𝒎2 : 𝒇𝑩

෍ 𝑭 = 𝒎𝟐 𝒙𝟐ሷ

⇒ −𝑓𝑘2 − 𝑓𝑘3 − 𝑓𝐵 = 𝑚2 𝑥2ሷ

−𝑘2 (𝑥2 𝑡 − 𝑥1 𝑡 ) − 𝑘3 𝑥2 𝑡 − 𝐵(𝑥2ሶ 𝑡 − 𝑥1ሶ 𝑡 ) = 𝑚2 𝑥2ሷ

𝐵 𝑥1ሶ + 𝑘2 𝑥1 = 𝑚2 𝑥2ሷ + 𝐵 𝑥2ሶ + (𝑘2 + 𝑘3 ) 𝑥2 Take 𝓛, considering

zero initial conditions
(𝐵𝑠 + 𝑘2 ) 𝑋1 𝑠 = 𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3 𝑋2 𝑠

𝐵𝑠+𝑘2
⇒ 𝑋2 𝑠 = 𝑋1 𝑠 2
𝑚2 𝑠 2 +𝐵𝑠+𝑘2 + 𝑘3
𝐹 𝑠 = 𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 𝑋1 𝑠 − (𝐵𝑠 + 𝑘2 ) 𝑋2 𝑠 1

𝐵𝑠+𝑘2
𝑋2 𝑠 = 𝑋1 𝑠 2
𝑚2 𝑠 2 +𝐵𝑠+𝑘2 + 𝑘3

By substituting from 2) in 1)

𝐵𝑠 + 𝑘2 2
𝐹 𝑠 = 𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 𝑋1 𝑠 − 2
𝑋1 𝑠
𝑚2 𝑠 + 𝐵𝑠 + 𝑘2 + 𝑘3

(𝐵𝑠 + 𝑘2 )2
= [ 𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 − ] 𝑋1 𝑠
𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3

𝑋1 𝑠 1
∴ 𝑇. 𝐹 = =
𝐹 𝑠 (𝐵𝑠 + 𝑘2 )2
𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 −
𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3
 𝑋1 𝑠 1
∴ 𝑇. 𝐹 = =
𝐹 𝑠 (𝐵𝑠 + 𝑘2 )2
𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 −
𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3

𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3
=
𝑚1 𝑠 2 + 𝐵𝑠 + 𝑘1 + 𝑘2 ( 𝑚2 𝑠 2 + 𝐵𝑠 + 𝑘2 + 𝑘3 ) − (𝐵𝑠 + 𝑘2 )2
 (2) Modeling of Rotational Mechanical Systems

Translational mechanical systems rotate about a fixed axis. These systems mainly consist of three
basic elements: moment of inertia, apring and dashpot.

(1) moment of inertia (or rotational inertia) 𝑱

(2) Spring (or torsional spring)

(3) damper (or dashpot)

If a torque is applied to a rotational mechanical system, then it is opposed by opposing torques

due to moment of inertia, elasticity and friction of the system. Since the applied torque and the
opposing torques are in opposite directions, the algebraic sum of torques acting on the system is
zero. This is known as Newton’s second law for rotational motion of mechanical systems.
For rotational systems, Newton’s second law states that

෍ 𝑻 = 𝑱 𝜽ሷ 𝑱

𝜽
Where

• 𝑱 is moment of inertia (or rotational inertia)

• 𝜃 is angular displacement

• 𝜽ሷ is the angular acceleration of rotational inertia (𝑱)

• σ 𝑻 is the sum of the torques acting on the rotational inertia (𝑱) in the direction of the angular
acceleration 𝜽ሷ .

• 𝑱 𝜽ሷ represents the opposing torque due to the rotational inertia (𝐽)

➢ The opposing torque due to elasticity of torsional spring

𝜽𝟐 𝑘 𝜽𝟏
𝑘 𝜽𝟏

𝑻𝒌
𝑻𝒌

𝑻𝒌 = 𝑘 (𝜃1 − 𝜃2 )
𝑻𝒌 = 𝑘 𝜃1

Where

• 𝒌 is the torsional spring constant

• 𝜃1 and 𝜃2 are the angular displacements

• 𝑻𝒌 is the opposing torque due to elasticity of torsional spring

➢ The opposing torque due to the rotational friction of damper (or dashpot)

𝜽𝟐 𝜽𝟏 𝜽𝟏
𝑩 𝑩

𝑻𝑩 𝑻𝑩

𝑻𝑩 = 𝐵 ( 𝜃1ሶ − 𝜃2ሶ ) 𝑻𝑩 = 𝐵 𝜃1ሶ

Where
• 𝑩 the is the rotational frictional coefficient
𝑑𝜃𝟏 (𝑡) 𝑑𝜃2 (𝑡)
ሶ
• 𝜃1 = ሶ
and 𝜃2 = represents the rate of change in angular displacements 𝜃𝟏 and
𝑑𝑡 𝑑𝑡

𝜃2 , repetively (angular velocity).

• 𝑻𝑩 is the opposing torque due to the rotational friction of dashpot
Example 3:
𝜃2 (𝑠)
➢ Find the transfer funtion , for the following mechanical system.
𝑇 (𝑠)

𝑇, 𝜃1 𝜃2
𝑘
𝑱𝟏 𝑱𝟐
Solution:
𝜽𝟏 𝑻
at inertia 𝑱𝟏 :
𝑱𝟏 𝑻𝑩
the figure shown illustrates the torques acting on it.
𝑻𝒌
By applying Newton’s second law at inertia 𝐽1 :

෍ 𝑻 = 𝑱𝟏 𝜽𝟏ሷ

⇒ 𝑇 𝑡 − 𝑇𝑘 − 𝑇𝐵 = 𝐽1 𝜃1ሷ (𝑡)

𝑇 𝑡 − 𝑘 (𝜃1 𝑡 − 𝜃2 𝑡 ) − 𝐵 𝜃1ሶ 𝑡 = 𝐽1 𝜃1ሷ (𝑡)

𝑇 𝑡 = 𝐽1 𝜃1ሷ + 𝐵 𝜃1ሶ + 𝑘 𝜃1 − 𝑘 𝜃2
Take 𝓛, considering
zero initial conditions
𝑇 𝑠 = 𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝜃1 𝑠 − 𝑘 𝜃2 𝑠 1
at inertia 𝑱𝟐 :
𝜽𝟐
the figure shown illustrates the torques acting on it. 𝑻𝑩
𝑱𝟐
By applying Newton’s second law at inertia 𝐽1 :
𝑻𝒌
෍ 𝑻 = 𝑱𝟐 𝜽𝟐ሷ

⇒ −𝑇𝑘 − 𝑇𝐵 = 𝐽2 𝜃2ሷ (𝑡)

−𝑘 (𝜃2 𝑡 − 𝜃1 𝑡 ) − 𝐵 𝜃2ሶ 𝑡 = 𝐽2 𝜃2ሷ (𝑡)

𝑘 𝜃1 = 𝐽2 𝜃ሷ2 + 𝐵 𝜃2ሶ + 𝑘 𝜃2
Take 𝓛, considering
zero initial conditions
𝑘 𝜃1 𝑠 = 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 𝜃2 𝑠

1
𝜃1 𝑠 = 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 𝜃2 𝑠 2
𝑘
𝑇 𝑠 = 𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝜃1 𝑠 − 𝑘 𝜃2 𝑠 1

1
𝜃1 𝑠 = 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 𝜃2 𝑠 2
𝑘
Substituting from 2) in 1)
1
𝑇 𝑠 = 𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 𝜃2 𝑠 − 𝑘 𝜃2 𝑠
𝑘
1
= [ 𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 − 𝑘] 𝜃2 𝑠
𝑘

𝜃2 𝑠 1
𝑇. 𝐹 = =
𝑇(𝑠) 1
𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 − 𝑘
𝑘
𝑘
=
𝐽1 𝑠 2 + 𝐵𝑠 + 𝑘 𝐽2 𝑠 2 + 𝐵 𝑠 + 𝑘 − 𝑘 2
Modeling of Electromechanical Systems
Example 4:
𝜃𝑚 (𝑠)
➢ consider the following system, find the transfer funtion , and draw the block diagram
𝐸𝑎 (𝑠)

for the driven equations .

𝑹𝒂 La
+
+

𝒆𝒂 (𝒕) 𝒊𝒂 (𝒕) 𝒆𝒃 (𝒕) 𝑱𝒎

𝑻𝒎 , 𝜽𝒎
𝑩𝒎
−
−
armature circuit
𝐼𝑓 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

(Hint: 𝑒𝑏 𝑡 = 𝑘𝑏 𝜃𝑚ሶ & 𝑇𝑚 𝑡 = 𝑘𝑚 𝑖𝑎 (𝑡) )

Solution:

This example represents physically the speed control of a DC motor using armature control type.

➢ For the electrical part:

𝑑𝑖𝑎 (𝑡)
using K.V.L ⇒ 𝑒𝑎 (𝑡) = 𝑅𝑎 𝑖𝑎 (𝑡) + 𝐿𝑎 + 𝑒𝑏 (𝑡)
𝑑𝑡

𝑑𝑖𝑎 𝑡
= 𝑅𝑎 𝑖𝑎 𝑡 + 𝐿𝑎 + 𝑘𝑏 𝜃𝑚ሶ
𝑑𝑡

Take 𝓛, considering
zero initial conditions

⇒ 𝐸𝑎 𝑠 = (𝑅𝑎 +𝐿𝑎 𝑠) 𝐼𝑎 𝑠 + 𝑘𝑏 𝑠 𝜃𝑚 (𝑠) 1

➢ For the mechanical part:
𝜽𝒎 𝑻
𝒎
By applying Newton’s second law at inertia 𝐽m : 𝑻𝑩𝒎
𝑱𝒎

෍ 𝑻 = 𝑱𝒎 𝜽𝒎ሷ

⇒ 𝑇𝑚 − 𝑇𝐵𝑚 = 𝐽𝑚 𝜃𝑚ሷ
𝑇𝑚 − 𝐵𝑚 𝜃𝑚ሶ = 𝐽𝑚 𝜃𝑚ሷ
𝑇𝑚 = 𝐽𝑚 𝜃𝑚ሷ + 𝐵𝑚 𝜃𝑚ሶ Take 𝓛, considering
zero initial conditions
𝑇𝑚 (𝑠) = ( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠)𝜃𝑚 (𝑠) 2

1
given: 𝑇𝑚 𝑡 = 𝑘𝑚 𝑖𝑎 (𝑡) 𝑇𝑚 𝑠 = 𝑘𝑚 𝐼𝑎 (𝑠) 𝐼𝑎 𝑠 = 𝑇𝑚 (𝑠) 3
𝑘𝑚
Take 𝓛, considering
zero initial conditions
 𝐸𝑎 𝑠 = (𝑅𝑎 +𝐿𝑎 𝑠) 𝐼𝑎 𝑠 + 𝑘𝑏 𝑠 𝜃𝑚 (𝑠) 1

𝑇𝑚 (𝑠) = ( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠) 𝜃𝑚 (𝑠) 2

1
𝐼𝑎 𝑠 = 𝑇 (𝑠)
𝑘𝑚 𝑚 3

from 1) & 2) & 3)

1
𝐸𝑎 𝑠 = (𝑅𝑎 +𝐿𝑎 𝑠) 𝑇𝑚 𝑠 + 𝑘𝑏 𝑠 𝜃𝑚 𝑠
𝑘𝑚

1
= (𝑅𝑎 +𝐿𝑎 𝑠) ( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠) 𝜃𝑚 (𝑠) + 𝑘𝑏 𝑠 𝜃𝑚 𝑠
𝑘𝑚

1
= [(𝑅𝑎 +𝐿𝑎 𝑠) ( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠) + 𝑘𝑏 𝑠] 𝜃𝑚 𝑠
𝑘𝑚
𝜃𝑚 𝑠 1 𝑘𝑚
∴ 𝑇. 𝐹 = = =
𝐸𝑎 𝑠 1 2 (𝑅𝑎 +𝐿𝑎 𝑠)( 𝐽𝑚 𝑠 2 + 𝐵 𝑠) + 𝑘 𝑘 𝑠
𝑚 𝑚 𝑏
(𝑅𝑎 +𝐿𝑎 𝑠) ( 𝐽𝑚 𝑠 + 𝐵𝑚 𝑠) + 𝑘𝑏 𝑠
𝑘𝑚
 ➢ Representing the driven equations of the system using block diagram

𝐸𝑎 𝑠 = (𝑅𝑎 +𝐿𝑎 𝑠) 𝐼𝑎 𝑠 + 𝑘𝑏 𝑠 𝜃𝑚 𝑠 𝟏 ⇒ 𝐸𝑎 𝑠 − 𝑘𝑏 𝑠 𝜃𝑚 𝑠 = (𝑅𝑎 +𝐿𝑎 𝑠) 𝐼𝑎 𝑠

𝐸𝑎 (𝑠) + 𝐼𝑎 (𝑠)
1
𝑅𝑎 + 𝐿𝑎 𝑠
−

𝑘𝑏 𝑠 𝜃𝑚 𝑠

𝑇𝑚 (𝑠) = ( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠) 𝜃𝑚 (𝑠) (2)

𝑇𝑚 (𝑠) 𝜃𝑚 (𝑠)
1
𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠
1
𝐼𝑎 𝑠 = 𝑇𝑚 𝑠 (3)
𝑘𝑚
𝐼𝑎 (𝑠) 𝑇𝑚 (𝑠)
𝐾𝑚
𝐸𝑎 (𝑠) 1 𝐼𝑎 (𝑠) 𝑇𝑚 (𝑠) 1 𝜃𝑚 𝑠
+
𝐾𝑚
𝑅𝑎 + 𝐿𝑎 𝑠 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠
−

𝑘𝑏 𝑠

𝑘𝑚
𝐸𝑎 (𝑠) 𝜃𝑚 𝑠
(𝑅𝑎 +𝐿𝑎 𝑠)( 𝐽𝑚 𝑠 2 + 𝐵𝑚 𝑠) + 𝑘𝑚 𝑘𝑏 𝑠
Report
𝜔 (𝑠)
➢ consider the following system, find the transfer funtion , where 𝜔 (𝑠) is the angular
𝐸𝑎 (𝑠)

velocity of the rotor, draw the block diagram for the driven equations.

𝑹𝒂 La
+
+

𝒆𝒂 (𝒕) 𝒊𝒂 (𝒕) 𝒆𝒃 (𝒕) 𝑱𝒎

𝑻𝒎 , 𝜽𝒎
𝑩𝒎
−
−
armature circuit
𝐼𝑓 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

(Hint: 𝑒𝑏 𝑡 = 𝑘𝑏 𝜃𝑚ሶ & 𝑇𝑚 𝑡 = 𝑘𝑚 𝑖𝑎 (𝑡) )

Example 5:
𝜃(𝑠)
➢ For the following system, find the transfer funtion , and draw the block diagram for the
𝐸 (𝑠)

driven equations .

Given:
𝑓𝑠 = 𝑘𝑠 𝑖𝑠 𝑡
𝑞(𝑡) = 𝑘𝑞 𝑥 𝑡

𝑘𝑐 𝑄(𝑠)
𝜃(𝑠) =
1 + 𝑇𝑠
 Solution:

➢ For the electrical part:

1 1
𝑒1 𝑡 = 𝑘𝑎 𝑒 𝑡 ⇒ 𝑒 𝑡 = 𝑒 𝑡 ⇒𝐸 𝑠 = 𝐸1 𝑠 1
𝑘𝑎 1 𝑘𝑎
Take 𝓛, considering
zero initial conditions

𝑑𝑖𝑠 (𝑡)
using K.V.L ⇒ 𝑒1 𝑡 = 𝑅 𝑖𝑠 𝑡 + 𝐿
𝑑𝑡 Take 𝓛, considering
zero initial conditions 𝑖𝑠 (𝑡)
𝑒1 (𝑡)

⇒ 𝐸1 𝑠 = (𝑅 + 𝐿 𝑠) 𝐼𝑠 𝑠 2

given: 1 1
𝑓𝑠 𝑡 = 𝑘𝑠 𝑖𝑠 𝑡 ⇒ 𝑖𝑠 𝑡 = 𝑓𝑠 (𝑡) ⇒ 𝐼𝑠 𝑠 = 𝐹𝑠 (𝑠) 3
𝑘𝑠 Take 𝓛, considering 𝑘𝑠
zero initial conditions
➢ For the mechanical part: 𝒇𝒔 (𝒕)

By applying Newton’s second law at mass 𝑚:

෍ 𝑭 = 𝒎 𝒙ሷ 𝒎

⇒ 𝑓𝑠 𝑡 − 𝑓𝑘 − 𝑓𝐵 = 𝑚 𝑥ሷ 𝑥(𝑡)
𝒇𝒌 𝒇𝑩
𝑓𝑠 𝑡 − 𝑘 𝑥 𝑡 − 𝐵 𝑥(𝑡)
ሶ = 𝑚 𝑥(𝑡)
ሷ

𝑓𝑠 𝑡 = 𝑚 𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝑘 𝑥 𝑡 Take 𝓛, considering

zero initial conditions
𝐹𝑠 𝑠 = (𝑚 𝑠 2 + 𝐵𝑠 + 𝑘) 𝑋(𝑠) 4

1 1
given: 𝑞 𝑡 = 𝑘𝑞 𝑥 𝑡 ⇒ 𝑥 𝑡 = 𝑞 𝑡 ⇒𝑋 𝑠 = 𝑄 𝑠 5
𝑘𝑞 Take 𝓛, considering
𝑘𝑞
zero initial conditions
given: 𝑘𝑐 𝑄 𝑠 1 + 𝑇𝑠
𝜃 𝑠 = ⇒ 𝑄 𝑠 = 𝜃 𝑠 6
1 + 𝑇𝑠 𝑘𝑐

from 1) & 2) & 3) & 4) & 5) & 6)

1
𝐸 𝑠 = 𝐸 𝑠 1
𝑘𝑎 1
1 1 1 1 + 𝑇𝑠
𝐸1 𝑠 = (𝑅 + 𝐿 𝑠) 𝐼𝑠 𝑠 2 𝐸 𝑠 = 𝑅+𝐿𝑠 𝑚 𝑠2 + 𝐵𝑠 + 𝑘 𝜃 𝑠
𝑘𝑎 𝑘𝑠 𝑘𝑞 𝑘𝑐
1
𝐼𝑠 𝑠 = 𝐹 (𝑠) 3
𝑘𝑠 𝑠
𝜃 𝑠 1
𝐹𝑠 𝑠 = (𝑚 𝑠 2 + 𝐵𝑠 + 𝑘) 𝑋(𝑠) 4 ∴ 𝑇. 𝐹 = =
𝐸 𝑠 1 1 1 1 + 𝑇𝑠
1 𝑅+𝐿𝑠 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘
𝑘𝑎 𝑘𝑠 𝑘𝑞 𝑘𝑐
𝑋 𝑠 = 𝑄 𝑠 5
𝑘𝑞
𝑘𝑎 𝑘𝑠 𝑘𝑞 𝑘𝑐
=
1 + 𝑇𝑠 6 𝑅 + 𝐿 𝑠 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘 (1 + 𝑇𝑠)
𝑄 𝑠 = 𝜃 𝑠
𝑘𝑐
➢ Representing the driven equations of the system using block diagram 𝐸(𝑠) 𝐸1 (𝑠)
𝐾𝑎

1 𝐸1 (𝑠) 1 𝐼𝑠 𝑠
𝐸 𝑠 = 𝐸1 𝑠 1
𝑘𝑎 𝑅+𝐿𝑠
𝐸1 𝑠 = (𝑅 + 𝐿 𝑠) 𝐼𝑠 𝑠 2
𝐼𝑠 𝑠 𝐹𝑠 (𝑠)
1 𝑘𝑠
𝐼𝑠 𝑠 = 𝐹 (𝑠) 3
𝑘𝑠 𝑠
𝐹𝑠 𝑠 = (𝑚 𝑠 2 + 𝐵𝑠 + 𝑘) 𝑋(𝑠) 4
𝐹𝑠 (𝑠) 𝑋(𝑠)
1 1
𝑋 𝑠 = 𝑄 𝑠 5 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘
𝑘𝑞
1 + 𝑇𝑠 𝑋(𝑠) 𝑄 𝑠
𝑄 𝑠 = 𝜃 𝑠 6
𝑘𝑐 𝑘𝑞

𝑄 𝑠 𝑘𝑐 𝜃 𝑠
1 + 𝑇𝑠
𝐸(𝑠) 𝐸1 (𝑠) 𝐼𝑠 𝑠 𝐹𝑠 (𝑠) 𝑋(𝑠) 𝑄 𝑠 𝜃 𝑠
1 1 𝑘𝑐
𝐾𝑎 𝑘𝑠 𝑘𝑞
𝑅+𝐿𝑠 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘 1 + 𝑇𝑠

𝑘𝑎 𝑘𝑠 𝑘𝑞 𝑘𝑐
𝐸(𝑠) 𝜃 𝑠
𝑅 + 𝐿 𝑠 𝑚 𝑠 2 + 𝐵𝑠 + 𝑘 (1 + 𝑇𝑠)
Modeling of Liquid-level Systems
 Liquid-level System

Tank
𝒒𝒊 (𝒕)

𝒉(𝒕)

𝒒𝒐 (𝒕)

𝑨 𝑹
where:
ℎ(𝑡) Liquid height in the tank
𝐴 Cross sectional area of the tank
𝑅 Resistance for liquid flow through the valve
𝑞𝑖 (𝑡) Liquid inflow
𝑞𝑜 (𝑡) Liquid outflow
 System equations:
𝒒𝒊 (𝒕)
➢ change in liquid stored is obtained as:

𝑑ℎ(𝑡)
𝑞𝑖 𝑡 − 𝑞𝑜 𝑡 = 𝐴 𝒉(𝒕)
𝑑𝑡
𝒒𝒐 (𝒕)
𝑑ℎ(𝑡)
⇒ 𝑞𝑖 𝑡 = 𝑞𝑜 𝑡 + 𝐴
𝑑𝑡 𝑨 𝑹

If 𝑞𝑖 𝑡 is considered the input and 𝑞𝑜 𝑡 the output

𝑄𝐼 𝑠 = 𝑄𝑜 𝑠 + 𝐴 𝑠 𝐻(𝑠) 1
from 1) & 2)
➢ change in level difference is obtained as:
𝑄𝐼 𝑠 = 𝑄𝑜 𝑠 + 𝑅 𝐴 𝑠 𝑄𝑜 𝑠
ℎ 𝑡 − 0 = 𝑅 𝑞𝑜 𝑡
= 𝑅𝐴 𝑠 + 1 𝑄𝑜 𝑠
𝐻 𝑠 = 𝑅 𝑄𝑜 𝑠 2
𝑄𝑜 𝑠 1
∴ 𝑇. 𝐹 = =
𝑄𝐼 𝑠 𝑅𝐴𝑠+1
 System equations:
𝒒𝒊 (𝒕)
➢ change in liquid stored is obtained as:

𝑑ℎ(𝑡)
𝑞𝑖 𝑡 − 𝑞𝑜 𝑡 = 𝐴 𝒉(𝒕)
𝑑𝑡
𝒒𝒐 (𝒕)
𝑑ℎ(𝑡)
⇒ 𝑞𝑖 𝑡 = 𝑞𝑜 𝑡 + 𝐴
𝑑𝑡 𝑨 𝑹
If 𝑞𝑖 𝑡 is considered the input and ℎ 𝑡 the output
𝑄𝐼 𝑠 = 𝑄𝑜 𝑠 + 𝐴 𝑠 𝐻(𝑠) 1
from 1) & 2)
➢ change in level difference is obtained as:
𝑄𝐼 𝑠 = 𝑄𝑜 𝑠 + 𝐴 𝑠 𝐻 𝑠
ℎ 𝑡 − 0 = 𝑅 𝑞𝑜 𝑡 1 1
= 𝐻 𝑠 + 𝐴𝑠𝐻 𝑠 = + 𝐴𝑠 𝐻(𝑠)
𝑅 𝑅
𝐻 𝑠 = 𝑅 𝑄𝑜 𝑠 2
𝐻 𝑠 1 𝑅
∴ 𝑇. 𝐹 = = =
𝑄𝐼 𝑠 1 𝑅𝐴𝑠 + 1
𝐴𝑠+
𝑅
Example 6:
𝑄𝑜 𝑠
➢ For the following liquid level system, find the transfer funtion .
𝑄𝐼 𝑠

𝒒𝒊 (𝒕)

𝒉𝟏 (𝒕)
𝒉𝟐 (𝒕)
𝒒𝒐 (𝒕)

𝑨𝟏 𝒒𝟏 (𝒕) 𝑨𝟐
 System equations for tank 1:

➢ change in liquid stored is obtained as:

𝑑ℎ1 (𝑡)
𝑞𝑖 𝑡 − 𝑞1 𝑡 = 𝐴1
𝑑𝑡

𝑑ℎ1 (𝑡)
⇒ 𝑞𝑖 𝑡 = 𝑞1 𝑡 + 𝐴1
𝑑𝑡

𝑄𝐼 𝑠 = 𝑄1 𝑠 + 𝐴1 𝑠 𝐻1 (𝑠) 1

➢ change in level difference is obtained as:

ℎ1 𝑡 − ℎ2 (𝑡) = 𝑅1 𝑞1 𝑡

𝐻1 𝑠 − 𝐻2 𝑠 = 𝑅1 𝑄1 𝑠 2
 System equations for tank 2:

➢ change in liquid stored is obtained as:

𝑑ℎ2 (𝑡)
𝑞1 𝑡 − 𝑞𝑜 𝑡 = 𝐴2
𝑑𝑡

𝑑ℎ2 (𝑡)
⇒ 𝑞1 𝑡 = 𝑞𝑜 𝑡 + 𝐴2
𝑑𝑡

𝑄1 𝑠 = 𝑄𝑜 𝑠 + 𝐴2 𝑠 𝐻2 (𝑠) 3

➢ change in level difference is obtained as:

ℎ2 𝑡 − 0 = 𝑅2 𝑞𝑜 𝑡

𝐻2 𝑠 = 𝑅2 𝑄𝑜 𝑠 4
All System equations : ➢ Substituting from 4) in 3)

𝑄𝐼 𝑠 = 𝑄1 𝑠 + 𝐴1 𝑠 𝐻1 (𝑠) 1
𝑄1 𝑠 = 𝑄𝑜 𝑠 + 𝐴2 𝑠 𝑅2 𝑄𝑜 𝑠
∴ 𝑄1 𝑠 = (1 + 𝐴2 𝑅2 𝑠) 𝑄𝑜 𝑠 5

𝐻1 𝑠 − 𝐻2 𝑠 = 𝑅1 𝑄1 𝑠 2
➢ Substituting from 4) & 5) in 2)
𝑄1 𝑠 = 𝑄𝑜 𝑠 + 𝐴2 𝑠 𝐻2 (𝑠) 3
𝐻1 𝑠 − 𝐻2 𝑠 = 𝑅1 𝑄1 𝑠
𝐻1 𝑠 = 𝐻2 𝑠 + 𝑅1 𝑄1 𝑠
𝐻2 𝑠 = 𝑅2 𝑄𝑜 𝑠 4

= 𝑅2 𝑄𝑜 𝑠 + 𝑅1 (1 + 𝐴2 𝑅2 𝑠) 𝑄𝑜 𝑠
∴ 𝐻1 𝑠 = (𝑅2 + 𝑅1 + 𝐴2 𝑅1 𝑅2 𝑠) ) 𝑄𝑜 𝑠 6
 𝑄1 𝑠 = (1 + 𝐴2 𝑅2 𝑠) 𝑄𝑜 𝑠 5

𝑄𝐼 𝑠 = 𝑄1 𝑠 + 𝐴1 𝑠 𝐻1 (𝑠) 1

𝐻1 𝑠 = (𝑅2 + 𝑅1 + 𝐴2 𝑅1 𝑅2 𝑠) ) 𝑄𝑜 𝑠 6
➢ Substituting from 5) & 6) in 1)

𝑄𝐼 𝑠 = (1 + 𝐴2 𝑅2 𝑠) 𝑄𝑜 𝑠 + 𝐴1 𝑠 (𝑅2 + 𝑅1 + 𝐴2 𝑅1 𝑅2 𝑠) ) 𝑄𝑜 𝑠

= ((1 + 𝐴2 𝑅2 𝑠 + 𝐴1 𝑠 (𝑅2 + 𝑅1 + 𝐴2 𝑅1 𝑅2 𝑠) )) 𝑄𝑜 𝑠

𝑄𝑜 𝑠 1
∴ 𝑇. 𝐹 = =
𝑄𝐼 𝑠 1 + 𝐴2 𝑅2 𝑠 + 𝐴1 𝑠 (𝑅1 + 𝑅2 + 𝐴2 𝑅1 𝑅2 𝑠)