Digital and Non-Linear Control

Mathematical Modelling of Electrical

Systems

1
 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.

2
 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 Experiment with a

actual 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 model
exactly.

5
 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

7
 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 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

v R (t )  iR (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

Resistor v R (t )
v R (t )  iR (t )R iR (t ) 
R

Capacitor
1 dvc (t )
vc (t )   ic (t )dt ic ( t )  C
C dt
Inductor
diL (t ) 1
v L (t )  L i L (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
vi ( t )  i( t ) R   i(t )dt
C
1
vo ( t )   i( t )dt
C
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 Example 1
1 1
vi ( 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 the other 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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 Op Amp and PID Controller
R C 2 2
C1

ei e’
e1 eo -
R1
+
e2
Ei(s) E(s)

′
 𝑒𝑖 −𝑒 ′ = 𝑒 −𝑒 𝑜 Since the current flows into the op amp
𝑅1 𝑅2
is negligible

5
𝑒
  𝑜= 𝐾 ( 𝑒2 − 𝑒 1 ) , 𝑒2= 0 , 𝐾 >10 , 𝑠𝑜 𝑒1 ≈ 0 𝑎𝑛𝑑 𝑒 ′ ≈ 0

 𝑒𝑖 = − 𝑒 𝑜 , 𝑠𝑜 𝑒𝑜 =− 𝑅 2
𝑅1 𝑅2 𝑒𝑖 𝑅1

• PID controller, page 83 in the textbook 19