EC 221:

CLASSICAL CONTROL
SYSTEMS ENGINEERING
Instructor: Mr. Mwalongo M, R
Assistant Lecturer
Office No. AB 15 (Admin Block)
E-mail: [email protected]
LECTURE (2)
Objectives
 In this lecture, we lead you through a study of
mathematical models of physical systems.

 After completing the lecture, you should be able to:

Describe a physical system in terms of differential
equations.

Understand the way these equations are obtained.

Realize the use of physical laws governing a particular

Realize that deriving mathematical models is the most

important part of the entire analysis of control systems 3
Models

o Model is a mathematical representations of a system

o In order to understand the behavior of systems,

mathematical models are required

o Mathematical modeling of any control system is the

first and foremost task that a control engineer has to

accomplish for design and analysis of any control

engineering problem
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Models

o 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.

o Note that a mathematical model is not unique to a

given system.

o A system may be represented in many different ways

and, therefore, may have many mathematical models,

depending on one’s goal. 5

Models

o For example,

o In optimal control problems, it is good to use

state-space model.

o For the transient-response or frequency-response

analysis of SISO, LTI systems, the transfer

function model may be more convenient than any

other.
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Models

o Models are never exact i.e. are always

approximate.

o Once a mathematical model of a system is

obtained, various analytical and computational

techniques may be used for analysis and

synthesis purposes.

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Different mathematical models

o Commonly used mathematical models are

Differential equation model (Time domain)

Transfer function model (S-domain)

State space model (Time domain)

o Use of the models depends on the application. For

example, to find the transient or steady state
response of SISO LTI system, TF model is useful.

o On the other hand for optimal control application SS

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model is useful.
Different Mathematical Models

o Dynamics of many systems may be described in

terms of differential equations.

o Such differential equations may be obtained by using

physical laws governing a particular system;

 Mechanical systems - Newton’s law, Hook’s law

 Electrical systems-Kirchoff's Laws, Ohms law

o A reasonable mathematical model is very important

for correct analysis of the system. 9

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Modeling of Physical Systems

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Mathematical Modeling of Electrical Systems

o To describe and analyze electrical systems, we use

the concepts of

 voltage,

 charge,

 current, and

 flux

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Mathematical Modeling of Electrical Systems

o Resistor

o The time domain expression relating voltage and

current for the resistor is given by Ohm’s law;

v R (t )  i R (t )R 13
Mathematical Modeling of Electrical Systems

o Capacitor

o The time domain expression relating voltage and

current for the capacitor is given as:

1
vc (t )   ic (t )dt 14
C
Mathematical Modeling of Electrical Systems

o Inductor

o The time domain expression relating voltage and

current for an inductor is given as:

di L (t )
v L (t )  L 15
dt
Mathematical Modeling of Electrical Systems

o V-I and I-V relationship;

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Mathematical Modeling of Electrical Systems

Example 2.0 simple RC circuit: The two-port network

shown in the following figure has vi(t) as the input

voltage and vo(t) as the output voltage

i. Write the mathematical equations describing the network

ii. Write the equations in form of differential equations

relating the input Vi and the output Vo

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

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Mathematical Modeling of Electrical Systems

Example 2.1 simple RC circuit: Write the mathematical

model describing RLC circuit shown below.

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Home work 2.0

1. Let ei = input and eo be the output. Write

mathematical equations describing the system.

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2. Write mathematical model of the following op-
amps, assuming that the op-amps are ideal.

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Mechanical Systems

1. Translational

Linear Motion

2. Rotational

Rotational Motion 22
Translational Mechanical Systems

o Translational means motion in straight line.

o Based Newton's II law of motion :

Σf = ma

o Algebraic sum of forces acting on a body is equal to

the product of ‘mass’ and ‘acceleration’.

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Translational Mechanical Systems

o Elements of translational mechanical system

1. Mass
2. Spring
3. Dashpot or viscous friction unit

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Translational Mechanical Systems

o Mass
o The relationship between the force F and acceleration a is

Newton’s second law as shown below.

o If a force F is applied to a mass and it is displaced to x meters

then the relation between force and displacements is given by

Newton’s law x(t )

Acceleration F (t )
Force M
Mass

2
dv (t ) d x (t ) 25
f (t )  ma  m  m 2
dt dt
Translational Mechanical Systems

o Dashpot

o The dashpot block represents the types of forces

experienced when pushing an object through a

fluid or move an object against frictional forces.

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B = Viscous friction coefficient
Translational Mechanical Systems

o Common use of Dashpot

Door Stoppers Vehicle Suspension

Bridge Suspension
Flyover Suspension

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Translational mechanical systems

o Spring

o A translational spring is a mechanical element

that can be deformed by an external force such

that the deformation is directly proportional to the

force applied to it.

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Circuit Symbols
Translational Mechanical Systems

o Spring

• If F is the applied force

x1
x
F
2

• Then x1 is the deformation if x2  0

• Or (x1  x2 ) is the deformation.

• The equation of motion is given as

F  k ( x1  x 2 )
• Where k is stiffness of spring expressed in N/m 29
Translational Mechanical Systems

Example 2.4: Write the differential equations of the

Spring Mass Damping Systems shown below.

k
x
F
M

(a) (b)
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Home work 2.1

1. Write the mathematical model for the system

shown in Fig. below

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2. Write the differential equations to model the

system shown

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Rotational Mechanical Systems

o Rotational motion is defined as motion about a

fixed axis.

o The variables used to describe rotational motion

are;
• Torque T

• Angular displacement θ

• Angular velocity ω

• Angular Acceleration ꭤ
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Rotational Mechanical Systems

o Elements of Rotational mechanical system are:

• 1. Moment of Inertia J

• 2. Torsional Spring

• 3. Viscous friction unit

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Rotational Mechanical Systems

o The building blocks of rotational system are a

torsional spring, a rotary damper and the moment
of inertia (i.e. the inertia of a rotating mass).

o With a torsional spring the angle  rotated is

proportional to the torque: T = k.

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Rotational Mechanical Systems

o With a rotary damper a disc is rotated in a fluid

and the resistive torque T is proportional to the
angular velocity .

o The moment of inertia block exhibit the property

that the greater the moment of inertia J the
greater the torque needed to produce an angular
acceleration.
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Rotational Mechanical Systems

Example 2.5: Mathematical model of a rotating a

mass

2
d  d
J  c  k  T
2 dt
dt

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Home work 2.3: Rotational mechanical systems
1. Write the mathematical model of a rotating systems shown
in figures below

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Electro-mechanical Systems

DC MOTORS

 There are many types of electric motors, but the

two main categories are direct current (dc) motors
and alternating current (ac) motors.

 Within the dc motor category there are the

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armature-controlled motor and the field-controlled
motor.
Home Work 2.4: Electromechanical System

1. Write the mathematical model of a systems shown

in figures below.

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 End

•QUESTIONS?

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