MCH 3008 Control Systems

Lecture 2: Sysem Modeling / Standard Form / Laplace Transform

Yongki Yoon

Bahcesehir University

Spring 2018

Yongki Yoon (BAU) Lecture 2 Spring 2018 1 / 20

Course Schedule
1 Introduction
2 System Modeling, Standard Form, Laplace Transform
3 Transfer Function, State-Space Model, Block-Diagram
4 Transient and Steady State Response
5 Transient and Steady State Response
6 Routh’s Stability Criteria and Root Locus Analysis
7 Root Locus Analysis
8 Lead-Lag Controller Design via Root Locus
9 Lead-Lag Controller Design via Root Locus
10 Frequency Response Analysis
11 Frequency Response Analysis
12 State-Space Analysis
13 State-Space Control Design
14 State-Space Control Design
Yongki Yoon (BAU) Lecture 2 Spring 2018 2 / 20
Control Systems

d(t)

r (t) e(t) u(t) y (t)

Controller Plant
−
ym (t)

Sensor

Yongki Yoon (BAU) Lecture 2 Spring 2018 3 / 20

System Modeling

Definition (Model)
A model is a mathematical representation of a physical, biological or
information system.

It should be a precise representation of a system’s dynamics to answer

questions via analysis and simulation
Roughly speaking, a dynamical system is one in which the effects of
actions do not occur immediately
ex: the velocity of a car does not change immediately when the gas
pedal is pushed

Determine differential equations representating the system’s behavior

Mechanical and Electrical systems

Yongki Yoon (BAU) Lecture 2 Spring 2018 4 / 20

System Modeling: Mechanical System

Translational motion: x(t) := displacement

Force as an input
Spring: Fk = kx(t)
Damper: FD = d ẋ(t)
d 2 x(t)
Inertial force: FI = mẍ(t) = m
dt 2

Rotational motion: θ(t) := angular displacement

Torque as an input
Torsional torque: τs = kθ(t)
Frictional torque: τd = d θ̇(t)
Moment of inertia: J
Inertial torque: Jα(t) = J θ̈(t)

Yongki Yoon (BAU) Lecture 2 Spring 2018 5 / 20

Mechanical System: Spring-Mass-Damper System

Step 1: draw free-body-diagram (FBD)

P
Step 2: use D’Alembert law: Fi = 0

mẍ(t) + d ẋ(t) + kx(t) = f (t)

The position, velocity and acceleration are included in the equation of

motion.

Yongki Yoon (BAU) Lecture 2 Spring 2018 6 / 20

Electrical System

Voltage-Charge-Current relationship

q(t) 1 R
Capacitor: Vc (t) = = i(t)dt
C C
dq(t)
Resistor: VR (t) = R = Ri(t)
dt
d 2 q(t) di(t)
Inductor: VL (t) = L 2
=L
dt dt
P
KCL: i(t) = 0
P
KVL: V (t) = 0

Yongki Yoon (BAU) Lecture 2 Spring 2018 7 / 20

Electrical System: RC Circuit

By applying KCL at the node between R1 and C1 ,

iR1 − iC1 = 0 =⇒ iR1 = iC1
e1 (t) − e2 (t) de2 (t)
=C
R dt

Yongki Yoon (BAU) Lecture 2 Spring 2018 8 / 20

Electrical System: RLC Circuit

Express the system with respect to i(t), input voltage e0 (t).

P
Using KVL: V (t) = 0
e0 (t) − VR (t) − VL (t) − Vc (t) = 0
di(t) 1 R
e0 (t) − Ri(t) − L − i(t)dt = 0 or
dt C
di(t) d 2 i(t) 1
ė0 (t) − R −L 2
− i(t) = 0
dt dt C
Yongki Yoon (BAU) Lecture 2 Spring 2018 9 / 20
Laplace Transform

Instead of dealing with numerical integration, we can manipulate equations

algebraically.

Yongki Yoon (BAU) Lecture 2 Spring 2018 10 / 20

Laplace Transform
One of the most powerful mathematical tool for control systems.

Definition (Laplace Transform)

Given continuous function f (t) for t > 0
R∞
F (s) = L{f (t)} := 0 f (t)e −st dt, where s = σ + jω = complex number

Time domain and frequency domain are two ways of expression for the
same dynamic system.
Both are interchangeable: no information loss in changing from one
domain to another.
Yongki Yoon (BAU) Lecture 2 Spring 2018 11 / 20
Laplace Transform: Properties
1 Linearity: L{f1 (t) + f2 (t)} = L{f1 (t)} + L{f2 (t)}

2 Linearity: L{αf (t)} = αL{f (t)}, where α = constant

3 Differentiation:
n o n o
L f˙(t) = sF (s) − f (0), L f¨(t) = s 2 F (s) − sf (0) − f˙(0)

R 1
4 Integration: L f (t)dt = F (s)
s

5 Initial value theorem: limt→0 f (t) = lims→∞ sF (s)

6 Final value theorem: limt→∞ f (t) = lims→0 sF (s)

nR o
t
7 Convolution: L 0 f1 (t)f2 (t − τ )dτ = F1 (s)F2 (s)

Yongki Yoon (BAU) Lecture 2 Spring 2018 12 / 20

Laplace Transform: Properties


1, t ≥ 0
Unit step function: f (t) =
0, t < 0
R∞ 1 ∞ 1
F (s) = 0 f (t)e −st dt = − [e −st ]0 =
s s

t, t ≥ 0
Unit ramp function: f (t) =
0, < 0
R∞ R∞
F (s) = 0 f (t)e −st dt = 0 te −st dt, using integration by parts,
R R
u v̇ dt = [uv ] − u̇vdt,
1 ∞ 1 R ∞ −st 1
then F (s) = − [te −st ]0 + 0 e dt = 2
s s s

Yongki Yoon (BAU) Lecture 2 Spring 2018 13 / 20

Laplace Transform: Properties


1, t = 0
Unit impulse function: f (t) = δ(t) =
0, t > 0
R∞
F (s) = 0 δ(t)e −st dt = e −s·0 = 1

e −at , t ≥ 0

Exponential function: f (t) =
0, t < 0
R∞ R∞ R∞
F (s) = 0 f (t)e −st dt = 0 e −at · e −st dt = 0 e −(s+a)t dt
1  −(s+a)t ∞ 1
=− e 0
=
s +a s +a

Yongki Yoon (BAU) Lecture 2 Spring 2018 14 / 20

Laplace Transform Table

f (t) F (s)
δ(t) 1
k
k
s
1
t
s2
n!
tn n+1
s
1
e −at
s +a
ω
sin ωt
s + ω2
2
s
cos ωt
s + ω2
2
1
te −at
(s + a)2
f (t − τ ) e −τ s F (s)

Yongki Yoon (BAU) Lecture 2 Spring 2018 15 / 20

Laplace Transform: Mass-Spring-Damper System
Example 1: Spring-Mass-Damper System
Take the Laplace transform with zero initial conditions, x(0) = ẋ(0) = 0,
of mass-spring-damper system
n o n o
Using Laplace transform: L f˙(t) = sF (s), L f¨(t) = s 2 F (s)
L {mẍ(t) + d ẋ(t) + kx(t) = f (t)}
ms 2 X (s) + dsX (s) + kX (s) = F (s)
ms 2 + ds + k X (s) = F (s)

X (s) 1
= 2
: Second-order system
F (s) ms + ds + k

Yongki Yoon (BAU) Lecture 2 Spring 2018 16 / 20

Laplace Transform: RC Circuit

Example 2: RC Circuit
Take the Laplace transform with zero initial conditions, e(0) = ė(0) = 0
e1 (t) − e2 (t) de2 (t)
=C
R dt

E1 (s) − E2 (s)
= CsE2 (s)
R
E1 (s) = RCsE2 (s) + E2 (s)

E1 (s) = (RCs + 1) E2 (s)

E2 (s) 1
= : First-order system
E1 (s) RCs + 1

Yongki Yoon (BAU) Lecture 2 Spring 2018 17 / 20

Laplace Transform: RLC Circuit

Example 3: RLC Circuit

di(0)
Take the Laplace transform with zero initial conditions, i(0) = = 0,
dt
of the RLC circuit
n o n o
Using Laplace transform: L f˙(t) = sF (s), L f¨(t) = s 2 F (s)

di(t) d 2 i(t) 1
ė0 (t) − R −L − i(t) = 0
dt dt 2 C
1
sE0 (s) − RsI (s) − Ls 2 I (s) − I (s) = 0
C
 
1
sE0 (s) = Ls 2 + Rs + I (s)
C
I (s) sC
= 2
E0 (s) LCs + RCs + 1
Yongki Yoon (BAU) Lecture 2 Spring 2018 18 / 20
Standard Form: First Order System

C (s) 1
First order: =k ,
R(s) τs + 1

where k ≡ gain, τ ≡ time constant

E2 (s) 1
= , τ = RC , k = 1
E1 (s) RCs + 1

Yongki Yoon (BAU) Lecture 2 Spring 2018 19 / 20

Standard From: Second Order System

C (s) ωn2
Second order: = 2
R(s) s + 2ζωn s + ωn2
ωn ≡ undamped natural frequency [rad/s]
ζ ≡ damping ratio
1
X (s) 1 X (s) m
= , = ,
F (s) ms 2 + ds + k F (s) 2
d k
s + s+
m m
k
X (s) 1 m
=
F (s) k 2 d k
s + s+
m m
r r
k d k 1
ωn = , ζ= , gain =
m 2k m k

Yongki Yoon (BAU) Lecture 2 Spring 2018 20 / 20