Course roadmap

Modeling Analysis Design

Laplace transform
Time response
Transfer function Design specs
Transient
Steady state
Models for systems Root locus
electrical
Frequency response
mechanical Frequency domain
Bode plot
electromechanical
PID & Lead-
Lead-lag
Stability
Block diagrams
Routh-
Routh-Hurwitz
Design examples
Nyquist
Linearization

(Matlab simulations &) laboratories

2
 Time-invariant & time-varying
A system is called time-invariant (time-varying)
if system parameters do not (do) change in time.
Example: Mx(t)=f(t) & M(t)x(t)=f(t)
For time-invariant systems:

Time shift Time shift

Sys

This course deals with time-invariant systems.

 Newtons laws of motion
1st law:
A particle remains at rest or continues to move in a
straight line with a constant velocity if there is no
unbalancing force acting on it.
2nd law:
: translational

: rotational

3rd law:
For every action has an equal and opposite reaction
 Translational mechanical elements:
(constitutive equations)
Mass Spring Damper
f(t) f(t)
M x2(t) B x2(t)
K

f(t) f(t) f(t)

x1(t) x1(t)
x(t)
Mass-spring-damper system

K B

x(t)
 Free body diagram
Direction of actual force will be
automatically determined by the
relative values!

K B

Newtons law: F=ma

 Mass-spring-damper system

K B

x(t)

Equation of motion

By Laplace transform (with zero initial conditions),

(2nd order system)

 Gravity?
M
K
K

At rest,
y coordinate:
x coordinate:
Automobile suspension system
automobile M1
x1(t)
suspension K1 B

wheel M2
x2(t)
f(t)
tire K2
Automobile suspension system

Laplace transform with zero ICs

Block diagram
F X2 X1
G2 G1

G3