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MEC 410 – CONTROL SYSTEMS
Course Name: Control Systems
Course Number: MEC 410
Instructor: Dr. Khaled Al-Aribe
Part 3
Mathematical Modeling and Transfer function
Controller design procedure
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What is the “mathematical model”?
Transfer function
Modeling of electrical & mechanical systems
Mathematical model
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Representation of the input-output (signal) relation
of a physical system
A model is used for the analysis and design of
control systems
Important remarks on models
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Modeling is the most important and difficult task in control system
design.
No mathematical model exactly represents a physical system.
Do not confuse models with physical systems!
In this course, we may use the term “system” to mean a mathematical
model.
Transfer function
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A transfer function is defined by
A system is assumed to be at rest. (Zero initial
condition)
Impulse response
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Suppose that u(t) is the unit impulse function and system is
at rest.
The output g(t) for the unit impulse input is called impulse
response.
Since R(s)=1, the transfer function can also be defined as
the Laplace transform of impulse response:
Models of electrical elements
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Modeling example
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Modeling example (cont’d)
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Impedance computation
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Translational mechanical elements
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Mass-spring-damper system
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Automobile suspension system
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Automobile suspension system (Cont’d)
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Torsional pendulum system
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Example
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Example (Cont’d)
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What is DC motor?
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An actuator, converting electrical energy into rotational
mechanical energy
Why DC motor?
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Advantages
High torque
Speed controllability
Portability, etc.
Widely used in control applications: robot, tape drives,
printers, machine tool industries, radar tracking system, etc.
Used for moving loads when
Rapid (microseconds) response is not required
Relatively low power is required
How does DC motor work?
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Model of DC motor
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Modeling of DC motor: time domain
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Modeling of DC motor: s-domain
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DC motor: Block diagram
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Transfer functions with feedback
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Ex: Derivation of transfer functions
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DC motor: Transfer functions (TF)
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DC motor: Transfer functions (TF) (Cont’d)
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What is a linear system?
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Why linearization?
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Real systems are inherently nonlinear. (Linear systems do
not exist!) Ex. f(t)=Kx(t), v(t)=Ri(t)
TF models are only for linear time-invariant (LTI, see next
slide) systems.
Many control analysis/design techniques are available for
linear systems.
Nonlinear systems are difficult to deal with mathematically.
Often we linearize nonlinear systems before analysis and
design. How?
Time-invariant & time-varying
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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:
Linearization of water tank model
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Linearization of water tank model (Cont’d)
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Linearization of water tank model (Cont’d)
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Linearization of water tank model (Cont’d)
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Linearization of water tank model (Cont’d)
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Linearization of a pendulum model
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Linearization of a pendulum model around general
operating point
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Time delay examples
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Time delay transfer function
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The more time delay is, the more difficult to control
Ex: Mechanical accelerometer
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Ex: Mechanical accelerometer (Cont’d)
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Ex: Mechanical accelerometer (Cont’d)
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Some simple mechanical examples
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Summary
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Modeling
Modeling is an important task!
Mathematical model
Transfer function
Modeling of electrical & mechanical systems
