Physical Systems and Variables ee tA\/\— m k PRES Moat equilnun postion System Variable 1 Variable 2 Variable 3 Variable 4 Electrical Current Charge Voltage Flux Translational Force Momentum. Velocity Displacement Rotational Torque Angular Angular Angular Momentum Velocity Displacement Fluid Rate of Flow Volume Pressure Thermal Rate of Flow | Heatenergy | TemperatureRLC Circuit »O) R 3 L =c vp) rt) By Kircchoff’s law v(t) do(t) 1 ft ia: Sa eam +7 [ ona=re If we let 2(t) = f u(t)dt => v(t) = “© then we can write @2(t) 1dz(t) 1 c za FEO +t =r)Linear Systems Tn the previous examples,we have just seen the governing equations of linear systems. dr(t) @“z(t) ax(t) a a $y 1) 28 + an(t)n(t) = $0) dt This form of equation is called linear ordinary differential equation (linear ODE) Note: the coefficient a,(t)’s are a function of time. They can also be a constant in which case the system is said to be linear time invariant (LT).e Homogeniety n Linear n Bay Linear Su System, i System = e Superposition a Linear System 7 4 xyta, | Linear | mtu ee =) system 7 a Linear Ye System. The Laplace transform of a function f(t) is defined by the following integral over °° — to °°: LYO}=F(s)= J ser"ar The Laplace transform is an integral transform that changes a function of f to a function of a complex variable 5 =O + jo The Laplace transform method substitutes easily solved algebraic equations for more difficult functions and differential equations0 t<0 os H=( | Its Laplace transform U(s) is: Lhu(s)}= ie 0 u(the “dt = i edt co 1 0 Ss __i ss SsAlgebraic expressions of Laplace transform of differential equations: feo} = sX(S)-x(0) dt d°x(t) 0) 1 =~ J=#x09- (0-50 ox =s"X(S) —s™'x(0) a. yl (0) t Where, x(0) is the initial condition of the system.Function Kt) F(s) Unit impulse ot) 1 Unit step u(t) + Exponential id a Sine wave sin(4) a Cosine wave cos(t) 8 Polynomial ” — Polynomial e x(t) X(s+a)Transfer Functions *The system’s transfer function is the Laplace transform of the system’s impulse response. *Transfer Function, G(s) is the ratio of Laplace transform of the output to the input of the process model. * Convenient representation of a linear, dynamic model. u(t) Process —— y(t) u(s) >| G(S). > ¥(S) Y(s) Transfer Function G(s) =——— u(S)Calculation of the Transfer Function $$ Consider the following ODE where y(t) is input of a system and x(t) is the output. Px) dA _ parle A or dt’ dt dt Ax''(t) = Cy'(t) — Bx'(t) Taking the Laplace transform on either sides Als? X(s) — sx(0) - x'(0)] = CLsY(s) - y(0)] - BIsx(s) - x(0)]Calculation of the Transfer Function $$ Als?.X(s)— sx(0) — x'(0)] = CLs¥(s) — y(0)] - Blsx(s) — x(0)] * Considering Initial conditions to zero As? X(s) = Cs¥(s) — BsX(s) * Rearranging the above equation As? X(s) + BsX(s) = Cs¥(s) X(s)[As? + Bs] = Cs¥(s) X(s) _ @ _ «€ Y(s) As? +Bs AS+Bi eo Practice a 1. Find out the transfer function of the RC network shown in figure. Assume that the capacitor is not initially charged, in that case y(0)=0. 12 cow u(t) * uis the input voltage applied at t=0 ) 1F—— * yis the capacitor voltage VO yO =u) 2. u(t) and y(t) are the input and output respectively of a system defined by following ODE. Determine the Transfer Function. Assume there is no any energy stored in the system. 6u''(t) — 3u(t) +f pdt = -3y'"() — vO)Transfer Function * In general (n) (m1) A MRF AM Fo + ay Wt aL = bye + by +: OF By ae + Onl (n=m) + Where y is the input of the system and ¥ is the output of the system. [output] Lfinput] | ero initia conditions — Y(s) _ bos™ + b8"~ Ty. Wt ba + bn ~ X(s) aps" +as" +--+ +a, s+, Transfer function = G(s) =Transfer Function Y(s) _ bos™ + bys"! + +++ + Bm 15 + Bm SES ST PSPT = Gi aT aa PS (n=m) Xs) aps" tas" 1 +--+ +a, s+ 4, * When order of the denominator polynomial is greater than the numerator polynomial, the transfer function is said to be ‘proper’. * Otherwise ‘improper’* Transfer function helps us to check — The stability of the system — Time domain and frequency domain characteristics of the system — Response of the system for any given input* In designing a control system, we must be able to predict the dynamic behavior of the system from Transfer function. * Alinear time-invariant control system is stable if the output eventually comes back to its equilibrium state when the system is subjected to an initial condition. * It is marginally stable if oscillations of the output continue forever. * Itis unstable if the output diverges without bound from its equilibrium state when the system is subjected to an initial condition.Poles and Zeros So ¥(s) _ bos” + bis™"1 4 +++ + bys + Dy X(s) aps" tas" 1} +-+-+a, ta, * The denominator polynomial of the transfer function when set equal to zero is called the characteristic equation (C.E). * The roots of the C.E. are the “poles” of the system. * The roots of the numerator polynomials of a transfer function are the “zeros” of the system. * Atthe poles, the transfer function becomes infinite * At the zeros the transfer function becomes zero.Poles and Zeros So * A pole-zero plot is a graphical representation of a transfer function in the complex plane which helps to identify stability of a system. * Poles of the system are represented by ‘x’ and zeros of the system are represented by ‘o’. * System order is always equal to number of poles of the transfer function. * Following transfer function represents n‘ order plant. ¥(8) _ bos + bys™~1 + +++ + by 18 + Dm X(s) aps" tas" }++--+a, ta,Example * Consider the Transfer function calculated in previous slides. GC ya XC Y(s) As+B the denominator polynomialis 4s+B=0 * The only pole of the system isPractice * Consider the following transfer functions. — Determine * Whether the transfer function is proper or improper * Poles of the system * zeros of the system * Order of the system s+3 i) Gls) = s ) G(s) = oes (s+ Ds + 2s +3) ay af.) (6 +3)” i _ (s+) dasa s(s? +10) cteare s(s-+10)* If all the poles of the system lie in left half plane the system is said to be Stable. * If pole(s) lie on imaginary axis the system is said to be marginally stable. ¢ If any of the poles lie in right half plane the system is said to be unstable. If all the poles s-plane S=O0+ jo Stable region The poles and zeros of the system are plotted in s-plane to check the stability of the system. jo* For example Gs)=-—<_, if 4=1,B =3 and C =10 As+B * Then the only pole of the system lie at pole = -3 LHP RHP. s-planeStability of the 2"¢ order System * Any time the roots are equal and real, the system is critically damped, no overshoot. * Any time the roots are unequal and real, the system is over-damped, no overshoot.* Anytime the roots are complex conjugates, Pp the system experiences damped oscillation * If the poles lie on the imaginary axis the system is marginally stable. It oscillates.7 * Anytime the roots are in the RHP the system is unstable and divergesPractice So * Consider the following transfer functions. = Draw the pole-zero map ™ Determine the Stability of the system i \_ 843 i) Gs)= BEES EEE EEE bt aa eae + +3) it) G(s) = (s +3)? wu Gls)= s(s+D ae = s(s? +10) s(s +10)py 5 ate [tine] mtn Physical systems 7 System [— av Review of Laplace transformation Lifo}= F(s) im Transfer function Stability issue