Lect1 Modeling in Frequency Domain

Figure 1.
1
Simplified description of a control system
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure1.5
Elevator input and output
Figure 1.6
Block diagrams of
control systems:
a. open-loop
system;
b. closed-loop
system

Figure 1.11
The control system design process
Figure 1.9
Antenna azimuth
position control
system:
a. system
concept;
b. detailed
layout;
c. schematic;
d. functional
block diagram

Figure 1.10
Response of a
position control
system showing effect
of high and low
controller gain on the
output response

Figure 1.12
Equivalent block
diagram for the
antenna azimuth
position control
system

Table 1.1
Test waveforms used in control systems
Modeling
In order to systematically design a controller for a

particular system, one needs a formal - though possibly
simple - description of the system. Such a description is
called a model.
A model is a set of mathematical equations that are
intended to capture the effect of certain system
variables on certain other system variables.

Modeling
Models are classified according to properties of the
equation they are based on. Examples of classification
include:
Model
Attribute Contrasting Attribute Asserts whether or not …
Single input
Single output Multiple input multiple output … the model equations have one input and one output only
Linear Nonlinear … the model equations are linear in the system variables
Time varying Time invariant … the model parameters are constant
Continuous Sampled … model equations describe the behavior at every instant of
time, or only in discrete samples of time
Input-output State space … the model equations rely on functions of input and output
variables only, or also include the so called state variables.
Lumped Distributed parameter … the model equations are ordinary or partial differential
parameter equations
In many situations nonlinear models can be linearized

around a user defined operating point.

Figure 2.1
a. Block diagram
representation of a system;
b. block diagram
representation
of an
interconnection
of subsystems

Modeling in Frequency Domain
Transfer Function

Transfer Function is the ratio of output to
input in frequency domain
G(s) = C(s)/R(s)
Figure 2.2
Block diagram of a transfer function
Table 2.1
Laplace transform table
Table 2.2
Laplace
transform theorems
Examples
1) Find the transfer function represented by
dc(t)/dt + 2 c(t) = r(t)
Sol’n
Taking Laplace transform of both sides
sC(s) + 2C(s) = R(s)
G(s) = C(s)/R(s) = 1/(s+2)
2) Find the response c(t) to an input r(t) = u(t) a unit step.

Sol’n C(s) = R(s)G(s) = 1/s(s+2) = 0.5/s – 0.5/(s+2)
Inverse Laplace c(t) = 1/2 – 1/2e-2t

Table 2.3
Voltage-current, voltage-charge, and impedance
relationships for capacitors, resistors, and inductors
Component V-I I-V V-Q Impedence Admittance

Z(s)=V/I Y(s) = I/V

L di(t)/dt + Ri(t) + 1/C ∫i(τ) dτ = v(t)
Figure 2.3
RLC network
Find Vc(s)/V(s)
(Ls+R+1/Cs) I(s) = V(s)
Vc(s) = I(s)/ Cs
Vc(s)/V(s) = (1/LC) / (s2+ (R/L)s+ 1/LC)
Figure 2.5
Laplace-transformed network Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.4
Block diagram
of series RLC electrical
network

Figure 2.6
a. Two-loop electrical
network;
b. transformed
two-loop
electrical
network;
c. block diagram

Figure 2.7
Block diagram of the
network of Figure 2.6
Let G1= 1/R1 and G2= 1/R2

Figure 2.8
Transformed
network ready
for nodal analysis

Figure 2.9
Three-loop
electrical network

Table 2.4
Force-velocity, force-
displacement, and
impedance translational
relationships
for springs, viscous
dampers, and mass
Translational
Mechanical Systems

Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
Figure 2.16
a. Free-body diagram of mass, spring, and
damper system;
b. transformed free-body diagram

Figure 2.17
a. Two-degrees-of-freedom
translational
mechanical
system8;
b. block diagram

Figure 2.20
Three-degrees-of-freedom
translational
mechanical system

Table 2.5
Torque-angular velocity,
torque-angular
displacement,
and impedance
rotational relationships
for springs, viscous
dampers, and inertia
Rotational Mechanical
Systems

Figure 2.22
a. Physical system;
b. schematic; c. block diagram

Figure 2.25
Three-degrees-of-
freedom rotational
system

Figure 2.35
DC motor:
a. schematic12;
b. block diagram

Figure 2.41
Development of
series analog:
a. mechanical
system;
b. desired electrical
representation;
c. series analog;
d. parameters for
series analog

Figure 2.42
Series analog of mechanical system of
Figure 2.17(a)

Figure 2.43
Development of
parallel analog:
a. mechanical
system;
b. desired
electrical
representation;
c. parallel analog;
d. parameters for
parallel analog

Figure 2.44
Parallel analog of
mechanical system
of Figure 2.17(a)
Figure 2.45
a. Linear system;
b. nonlinear system

Figure 2.46
Some physical
nonlinearities


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Figure 1.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

In order to systematically design a controller for a

Control Systems Engineering, Fourth Edition by Norman S. Nise

In many situations nonlinear models can be linearized

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

2) Find the response c(t) to an input r(t) = u(t) a unit step.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Component V-I I-V V-Q Impedence Admittance

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Let G1= 1/R1 and G2= 1/R2

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

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