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Control Systems - Mathematical Models

Control systems can be represented using mathematical models, primarily differential equation and transfer function models, which aid in their analysis and design. The differential equation model describes the system in the time domain, while the transfer function model represents it in the s-domain, focusing on the ratio of output to input Laplace transforms. Both models are essential for understanding system behavior and designing control strategies.

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15 views4 pages

Control Systems - Mathematical Models

Control systems can be represented using mathematical models, primarily differential equation and transfer function models, which aid in their analysis and design. The differential equation model describes the system in the time domain, while the transfer function model represents it in the s-domain, focusing on the ratio of output to input Laplace transforms. Both models are essential for understanding system behavior and designing control strategies.

Uploaded by

girmadajane15
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control Systems - Mathematical Models

The control systems can be represented with a set of mathematical equations known
as mathematical model. These models are useful for analysis and design of control
systems. Analysis of control system means finding the output when we know the
input and mathematical model. Design of control system means finding the
mathematical model when we know the input and the output.

The following mathematical models are mostly used.

Differential equation model


Transfer function model

State space model

Let us discuss the first two models in this chapter.

Differential Equation Model


Differential equation model is a time domain mathematical model of control systems.
Follow these steps for differential equation model.

Apply basic laws to the given control system.


Get the differential equation in terms of input and output by eliminating the
intermediate variable(s).

Example

Consider the following electrical system as shown in the following figure. This circuit
consists of resistor, inductor and capacitor. All these electrical elements are
connected in series. The input voltage applied to this circuit is vi and the voltage
across the capacitor is the output voltage vo .
Mesh equation for this circuit is

di
vi = Ri + L + vo
dt

dvo
Substitute, the current passing through capacitor i = c
dt
in the above equation.

2
dvo d vo
⇒ vi = RC + LC + vo
2
dt dt

2
d vo R dvo 1
⇒ + ( ) + ( ) vo
2
dt L dt LC

1
= ( ) vi
LC

The above equation is a second order differential equation.

Transfer Function Model


Transfer function model is an s-domain mathematical model of control systems. The
Transfer function of a Linear Time Invariant (LTI) system is defined as the ratio of
Laplace transform of output and Laplace transform of input by assuming all the initial
conditions are zero.

If x(t) and y(t) are the input and output of an LTI system, then the corresponding
Laplace transforms are X(s) and Y (s) .

Therefore, the transfer function of LTI system is equal to the ratio of Y (s) and X(s).

Y (s)
i. e. , T ransf er F unction =
X(s)

The transfer function model of an LTI system is shown in the following figure.
Here, we represented an LTI system with a block having transfer function inside it.
And this block has an input X(s) & output Y (s).

Example

Previously, we got the differential equation of an electrical system as

2
d vo R dvo 1 1
+ ( ) + ( ) vo = ( ) vi
2
dt L dt LC LC

Apply Laplace transform on both sides.

sR 1
2
s Vo (s) + ( ) Vo (s) + ( ) Vo (s)
L LC

1
= ( ) Vi (s)
LC

R 1
2
⇒ {s + ( )s + } Vo (s)
L LC

1
= ( ) Vi (s)
LC

1
Vo (s) LC
⇒ =
R 1
Vi (s) 2
s + ( )s +
L LC

Where,

vi (s) is the Laplace transform of the input voltage vi

vo (s) is the Laplace transform of the output voltage vo

The above equation is a transfer function of the second order electrical system.
The transfer function model of this system is shown below.
Here, we show a second order electrical system with a block having the transfer
function inside it. And this block has an input Vi (s) & an output Vo (s).

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