Name: Annalou B.

Detoya Course and Year: BSEE 5

EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Activity 3: Modeling in the Frequency Domain

Abstract

In order to have a mathematical model in our physical system, we will be using transfer
function to describe the nature of our system. There are many types of system but in this
activity, we only focused on electrical, mechanical and electromechanical systems. By
applying the laws of science and engineering we then get the desired equation of the system.
In doing so, we will be able to apply Laplace transform which is in frequency domain.
Frequency domain means that it is in terms of frequency rather than time. We then simulate
the derived equations using the SciLab for us to determine the graphical representation of
the system.

1 Laplace Transform Review

In Modeling in Frequency Domain, Laplace transform is used to derive the transfer function.
In Laplace transform, we can represent the input, output, and system as separate entities.
Further, their interrelationship will be simply algebraic.
The Laplace transform is defined as:

∞
ℒ[f(t)] = F(s) = ∫ f(t)e−st dt (1.1)
0−

The inverse Laplace transform, which allows us to find f(t) given F(s), is
1 σ+j∞
ℒ −1 [F(s)] = ∫ F(s)est ds = f(t)u(t) (1.2)
2πj σ−j∞

Where; u(t) = 1 t>0

u(t) = 0 t<0

1.1 The Transfer Function

The transfer function is a system representation that establishes a viable definition for a
function that algebraically relates a system's output to its input. This function will allow
separation of the input, system, and output into three separate and distinct parts, unlike the
differential equation. The function will also allow us to algebraically combine mathematical
representations of subsystems to yield a total system representation.

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Generally, a Transfer Function is the ratio of the output of a system to the input of a system,
in the Laplace domain. If we have an input function of R(s), and an output function C(s), we define
the transfer function G(s) to be:

𝐂(𝐬)
𝐆(𝐬) = 𝐑(𝐬) (1.3)

Example Problem:

This simple example has been provided for the students to better understand the
introductory concepts and to guide them through the process of obtaining the transfer function.

Find the transfer function relating to the capacitor voltage, Vc(s) to input voltage V(s).

The first step of a designer in every problem should be to determine which of the variables
is the input and the output, but both requirements are already determined in this particular
network as the problem states that we should consider the applied voltage as the input and the
capacitor voltage as the output.

In the next step of the process, we sum up the voltage around the loop assuming zero
initial conditions which leads to the following equation:
1 1
L di(t)
dt
+ Ri(t) + ∫0 i(τ)dτ = v(t)
C

Then we change variables from current to charge using, i(t) = dq(t)/dt

2 dq(t) 1
L d dtq(t)
2 +R + q(t) = v(t)
dt C

The voltage-charge relationship for a capacitor is.

q(t) = Cvc (t)

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Then we substitute our 2nd equation with the voltage-charge relationship for a capacitor.

d2 vc(t) dvc (t)

LC dt2
+ RC + vc (t) = v(t)
dt
Then we take the Laplace transform assuming zero initial condition, with simplification
and re-arranging of terms we obtain the equation.
(LCs 2 + RCs + 1) Vc(s) = V(s)

And finally we solve for the transfer function Vc(s)/V(s)

Vc(s) 1/LC
= (1.4)
V(s) R 1
s 2 + L s + LC

SCILAB

Assuming values of R = 3 Ohms, L = 1 H, and C = 1 F. Using Scilab to generate our output function, we
have the following code:

The method begins by creating the Laplace variable s and then using it to form P as
described by equation (1.4). The next step would be to convert it to a continuous-time linear
transfer function, by using the syslin() command. Setting the values of t, we then get Vo using
the csim() function. Plotting Vo with respect to time, we get:

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

We can observe that the system can be manipulated with changing values of the
resistance, inductance and capacitance just by inputting the new values in the equation.

2 Objectives
 The students will be able to find the Laplace transformation of the transfer functions and its
inverse and then verify it using the Scilab software.
 The students will be able to find the transfer function from for linear time-invariant
electrical networks, mechanical systems & electromechanical systems and then verify it
using the Scilab software.

3 List of equipment/software
 Personal Computer
 Installation of SCILAB
 Ballpoint pen and calculator

4 Pre-Lab Assignment
Solve for the transfer functions for each diagram: (A) Electrical Network, (B) Mechanical
System, (C) Electromechanical System. Write your solutions and answers in the space provided.

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

4.1 Part A. Electrical Network

Problem: Find the transfer function relating the inductor voltage, VL(s), to the input voltage,
V(s) in Figure 1.

Figure 1

Solution:

Answer:

𝐕𝐋𝟐 (𝐬) 𝐬
= 𝟐
𝐕(𝐬) 𝐬 + 𝟑𝐬 + 𝟏

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

4.2 Part B. Mechanical System

Problem: Find the transfer function, G(s) = X2(s)/F(s) for the translational mechanical system
shown in Figure 2.

Figure 2

Solution:

Answer:

𝐗 𝟐 (𝐬) 𝟏𝟎𝐬 + 𝟕
𝐆(𝐬) = = 𝟐
𝐅(𝐬) 𝟓𝟎𝐬 + 𝟑𝟎𝐬 + 𝟏𝟒

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

4.3 Part C. Electromechanical System

Problem: Find the transfer function, G(s) = θL (s)/Ea (s), for the motor and load shown in
Figure 3. The torque-speed curve is given by Tm = −8ωm + 200 when the input voltage is 100
volts.

Figure 3

Solution:

Answer:
𝛉𝐋 (𝐬) 𝟏
=
𝐄𝐚 (𝐬) 𝟐𝟎𝐬 (𝐬 + 𝟏𝟓)
𝟐

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

5 Laboratory

5.1 Scilab Activity 1

Using the Scilab software and the transfer functions derived in Part III:
1. Plot the output response vo(t) of each system (Part A, Part B, and Part C) in Scilab
assuming a step input.

Part A

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Part B

Part C

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

2. Use csim() function and assume a step input (1/s). Plot its output.

Part A

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Part B

Part C

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

3. Choose the range of t starting from 0 and the intervals such that you can see the steady
state. How does the time range and interval affect the plot of the output?

Part A

12
Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Part B

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Part C

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

4. Draw the response of each in the space provided below and compare the plots of step 1
and step 2. What can you observe?

Electrical Network

Step 1 Step 2

The same output of the graph. Only varies in code, since step 2 uses csim().

Mechanical System

The same result.

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Electromechanical System

In electromechanical system, the graphs in step 1 and step 2 are identical.

5.2 Scilab Activity 2

Using the Scilab code provided in the example above:

1. Assign new values of R, L and C.
R=2 ;L=5 ;C=1
2. Input the new values to the equation.

Vo(s) 1/5
=
V(s) 2 1
s2 + s +
5 5
3. Plot the Vo versus time graph. What can you observe?

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Name: Annalou B. Detoya Course and Year: BSEE 5
EE 179.1 Section: W45 Laboratory Schedule: Saturday 12:00-3:00PM

Having new values of R, L and C , we can observe that the greater the values of of L and C
the longer it takes to obtain the steady state of the system.

What conclusion can you make on the use of Scilab in Modeling Control Systems?

Scilab is a very useful tool in Modeling Control Systems since it gives ease in
converting Laplace functions in time domain or vice versa.

Results and Discussion

Answer the following questions.

1. What can you conclude on your findings in this laboratory activity?

This activity helps us a lot in understanding the nature of physical system. We are
able to display its graphical representation for better understanding.

2. How was the function, csim(), used in obtaining response equations? What can you say
about its accuracy?

Csim() was used in obtaining response equations by giving the value of Vo in our
example corresponding to each t value. It is very accurate function which helps us to
minimize or time during simulations.

3. What are the limitations of the csim function in Scilab?

Csim() function is limited when the simulations in time response with linear
functions is a continuous time system.

6 REFERENCES

 CONTROL SYSTEMS ENGINEERING (Sixth Edition)

Norman S. Nise, California State Polytechnic University, Pomona

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