CONTROL SYSTEM STUDY

FOR AN ELECTRICAL CIRCUIT

1. MATHEMATICAL MODEL
The mathematical model of RLC circuit is based on the Kirkoffs second law.

Figure 1 Electrical circuit

The relationship between voltages and current for each element (resistor, inductance
and capacitance will be written.

vR t Ri t

(1)

di t
dt

(2)

dvc t
dt

(3)

vL t L
i t C

The Kirckoffs second law gives the relationship between voltages in the circuit.

vR t vL t vC t u t

(4)

where u(t) is the input voltage.

If we choose as output the voltage vc, and we substitute the current i with the
expression (3) the equation (4) becomes:

d 2vC
dv
LC 2 RC C vC u
dt
dt

(5)

2. THE STATE VARIABLES

If we write the second order differential equation (5) in a first-order differential
equations systems we obtain

dvc
i
dt

(6)

di
Ri vc u
dt

(7)

L
or

d vc

dt i
1
L

1
C vc 0

R i 1

(8)

If we denote x1=vC, and xi=i, as state variables and y1=vC, and y2=I, as ouput
variables, the state differential equation can be written as

d x1

dt xw
1
L

1
0
C x1
u

1
R x
w
L

(9)

snd the output equations as

y1
1 0 x1
y 0 1 x

w
2

0
0 u

(10)

or in a compact form

x&= Ax + Bu

(11)

y = Cx + Du

(12)

3. TRANSFER FUNCTION
The Laplace transformation for a function of time, f(t), is:

F s f t e st dt L f t
0

(13)

Where the parameter s is a complex number frequency

s i

, with real numbers

and .
If we apply the Laplace transformation to equation (5) we obtain

LCVC s 2 RCVC s VC U

(14)

The transfer equation can be written as:

G s

VC s
1

2
U s LCs RCs 1

(15)

The equation (7) can be written as

b
s as b

(16)

n2
s 2 2n s n2

(17)

G s
b

where
or

1
LC

, and

R
L

G s
Where:

n b

1
LC

is the natural frequency;

RC

2 b 2 LC
is the damping ratio;
a

4. STEP RESPONSE IN TIME DOMAIN

If we take an input as a step funtion:

Vin Au t
Where:

u t 1

t0

u t 0

t0
for
, and
for
;
A is the amplitude of input signal, and has a positive value.

(18)

Vout s

Vout
Vout

(19)

A
A
b
G s
2
s
s s as b

K1 K 2 s K3

s s 2 as b

(20)

K1 K 2 s 2 K1a K3 s K1b

(21)

s s 2 as b

Comparing equation (21) and (19) we obtain:

sa
1
2

s s as b

(22)

Vout s A

Vout A

Vout A

Vout s A

a
2

2
a
a2
a
s b
s
2
4

(23)

a a

s
2 2
2
a
a 2
s b
2
4

a
2
2

a
a
s b
2
4

a
2
b

a 2
b
4

b
a
a
s
4
2
2

(24)

a
2

a2
4

a
t

a a2 t
Vout t A 1 e 2 cos t
e sin t
2

(25)

(26)

5. OVERSHOOT AND SETTLING TIME

To study the overshoot and settling time the characteristics of circuit are chosen:
A 12V

the amplitude of step input voltage;

R 200

;
L 2H

;
C 20 F

.
Having above values we can calculate the parameters of equation (26) as
a

R 200

100 H
L
2

;
1
1
b

25000 H 1 F 1
6
LC 2 20 10

a2

1
R2
1
200 2
2

25000 2500 150 Hz

LC 4 L
2 20 10
6 4 22

The following graph shows that using Simulink to solve differential equation gives the
same result as using transfer function or plot time response.

Figure 2 RLC step input response

The natural frequency can be calculated as:

n b

1
25000 158.11Hz
LC

(27)

RC
100

0.316
2 LC 2 25000

(28)

and the damping ratio as:

a
2 b

To evaluate the time response of the RLC circuit we have to calculate some specific
parameters.
The peak time, Tp, is the time required to reach the first, or maximum, peak.

Tp

n 1

3.14
158.11 1 0.316

0.0209 s

(29)

The percent overshoot, %OS, is the amount that the waveform overshoots the steadystate, or final, value at peak time, expressed as a percentage of steady-state value.

%OS e

1 2

100 35.12%

(30)

Settling time is the time required for the transients damped oscilation to reach and stay
within 2% of steady-state value.

Ts

4
0.08s
n

6. PID CONTROLLER
7. IMPROVEMENT OF OVERSHOOT AND SETTLING TIME

(31)