Mathematical Models of

Control System
The Input-Output Relationship is usually used
to provide the mathematical model of a control
system

Time Domain Analysis

Frequency Domain Analysis
System Representation and
Implementation

Mathematical Models of
Control System
The Input-Output Relationship can
usually be used to provide the
mathematical model of a control system

Time Domain Analysis

- description by differential equation
- review of analysis technique (Circuit
Theory I in 2nd year)

- circuit examples
-Input-Output Identification in
electrical circuits

Frequency Domain Analysis (Ch.2)

System Representation and
Implementation

Input-Output Relationship
Electrical Circuit System
1st order systems: RL/RC circuits
Description:
f'(t) + Af(t) = g(t)
where
f(t) is the output variable and g(t) is a function
of the input variable
2nd order systems:
Example: RLC circuit
Description:
f"(t) + a1f(t) + a0f(t) = g(t)
where
f(t) is the output variable and g(t) is a function
of the input variable

Review of First-order Circuits (1)

A circuit that contains only one passive energy
storage element (inductor or capacitor) such
that the v-i characteristic of the circuit can be
described by a first order differential equation.
i(t) = C dv/dt
for a capacitor
v(t) = L di/dt
for an inductor
(note the polarity and current direction according to the
passive sign convention)
Continuity Conditions of an energy storage element
At any point t0 in time, we assume
i) VC(t0+) = VC(t0-)
for a capacitor
ii) IL(t0+) = IL (t0-)
for an inductor
Comment:
These initial conditions contribute to the transients which
will die out in steady-state.

Review of First-order Circuits (2)

Analysis Techniques of 1st Order Circuits
1) Write KCL equations at nodes or KVL equations
around meshes
2) Substitute by v-i relationship of the energy storage
elements, e.g. i(t) = Cv'(t) for capacitor
or
v(t) = Li'(t) for inductor.
Ensure correct polarity.
3) Obtain a d.e. (differential equation) in a single
variable (voltage or current).
4) Solve the d.e. with initial conditions which
a) are given in the problem statement, or
b) obtained by continuity condition from previous
operation.

Review of Solution for 1st Order

Differential Equations (d.e.)
1st order ordinary d.e.
f(t) + a f(t) = g(t)
Solution 1: general
f (t ) = e

at

(*)

ax
+
at
g
(
x
)
e
dx
+
f
(0
)
e
+
0

Solution 2: Let f(t) = fh(t) + fp(t)

(**)
The particular solution fp(t) is obtained by
substituting in (*) its general form from the Table
below.
Then set fh(t) =Ke-at and obtain K from the initial
condition as well as substitution of (**) in (*)
Table 1: Form of Particular Solutions
Forms of g(t)

Form of fp(t) to be used.

K0

K0 + K1t

A+Bt

K0 + K1t + K1t2

A+Bt+Ct2

K0 e-bt

(b a)

A e-bt

K0 e-bt

(b = a)

A t e-bt

K0 sin bt

A sinbt + B cosbt

K0 cos bt

A sinbt + B cosbt

Electrical System Examples

1st order circuits

Review of Second-order Circuits (1)

A circuit that contains only two passive energy
storage element (inductor or capacitor) such
that the v-i characteristic of the circuit can be
described by a first order differential equation.
Continuity Conditions of an energy storage element
At any point t0 in time, we assume
i) VC(t0+) = VC(t0-)
for a capacitor
for an inductor
ii) IL(t0+) = IL (t0-)
Comment:
These initial conditions contribute to the transients which
will die out in steady-state.

Review of Second-order Circuits (2)

Analysis Techniques of 2nd Order Circuits
1) Write KCL equations at nodes or KVL equations
around meshes
2) Substitute by v-i relationship of the energy storage
elements, e.g. i(t) = Cv'(t) for capacitor
or
v(t) = Li'(t) for inductor.
Ensure correct polarity.
3) Obtain a d.e. (differential equation) in a single
variable (voltage or current).
4) Solve the d.e. with initial conditions which
a) are given in the problem statement, or
b) obtained by continuity condition from previous
operation.

Review of 2nd Order

Differential Equations (d.e.)
2nd order ordinary d.e.
f(t) + a1f(t) + a0 f(t) = g(t)

(*)

Characteristic equation s2 + a1 s + a0
Solution: Let f(t) = fh(t) + fp(t)
(**)
The particular solution fp(t) is obtained by substituting in (*) its
general form for g(t) (see table for 1st order system).
Then
-set fh(t) according to the roots of the characteristic equation
-

see table below

- substitute (**) in (*)

- solve from the initial condition
Note: g(t) is usually a function of the input such as steps,
ramps sinusoids etc
Roots of Characteristic Equation

Form of fh(t) to be used.

Two unequal real roots: 1, 2

K1 e- 1 t + K2 e-2t

Two equal real roots: 1

K1 e- 1 t + K2 t e 1 t

Two complex roots: d jd

e- d t (K1 sindt + K2 cosdt)

Two pure imaginary roots: j1

K1 sin1t + K2 cos1t

Time Domain Analysis

RLC network Example

What is the output Vc(t) given an input V(t)?

What about the current i(t)?

Circuit Analysis Review

Analysis Techniques
- Voltage divider
- Current divider
- Equivalent circuits
- Norton/Thevenin
- resistors in parallel and in series
- Source transformation

- Mesh analysis
- Nodal analysis
- superposition
Ref: your former Electrical Circuit text or most
reference books in the lib

Review Examples
using Various
Circuit Analysis Techniques

For vi(t)=3 u(t)

a) Determine IL(0-)
b) Determine IL(t) using
Mesh Current Method
Node Voltage Method
Thevenin/Norton Equivalent Circuit
Superposition Method

c) Do they all produce the same

answer?

Node Voltage Method

Thevenin Equivalent Circuit

Input-Output Identification
for Electrical Circuits
For an electrical circuit, the input and
output variables are usually voltage
or current because they can easily
be related through a differential
equation.
- Examples that is not current or
voltage: mechanical systems
Test inputs are standard form of input
serving various purposes such as
testing for stabiliy and response
time.

Input Waveforms used to

Test Control Systems

Translational Mechanical System

Examples

Table 2.4
Force-velocity, force-displacement, and
impedance translational relationships for
springs, viscous dampers, and mass
K= spring constant
fv = coef of viscous frictions
M = mass

Notes on the mechanical systems in the

text and this course

Notes
1) There will be no mechanical
problems, such as those covered in
Sections 2.5 to 2.8, to be solved
(i.e., obtaining a differential
equation) for this course this term,
except where the description (in
terms of a differential equation) is
obvious.
2) Handling of higher order systems.
That is an nth-order system with n
energy storage elements.

Solve for nth-order d.e. ?

Approaches of this course

i) State-space approach (Section 3.3)
ii) s-domain analysis

- phasor analysis before is a special case