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Class 3 Mathematical Modeling

This document provides an introduction to control engineering concepts including mathematical modeling of control systems. It discusses how control systems can be represented using differential equation models and transfer function models in the time and frequency domains. It also introduces Laplace transforms which can be used to convert differential equations into algebraic equations for analysis. Examples are provided on using Laplace transforms to solve differential equations and determine the inverse Laplace transform of functions.

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Acharya Mascara Plaudo
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109 views24 pages

Class 3 Mathematical Modeling

This document provides an introduction to control engineering concepts including mathematical modeling of control systems. It discusses how control systems can be represented using differential equation models and transfer function models in the time and frequency domains. It also introduces Laplace transforms which can be used to convert differential equations into algebraic equations for analysis. Examples are provided on using Laplace transforms to solve differential equations and determine the inverse Laplace transform of functions.

Uploaded by

Acharya Mascara Plaudo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CONTROL

ENGINEERING

Sangamesh C M
Department of Mechanical
Engineering
CONTROL ENGINEERING
Introduction

Sangamesh C M
Department of Mechanical Engineering
Control Engineering
Introduction

UNIT:1 Introduction to automatic control system


Class 3
In this class you learn about some basic concepts about
Mathematical Modeling: Introduction to Laplace transforms
and inverse Laplace transforms
Lesson Content
Concepts of
 Mathematical modelling
 Laplace transform
 Inverse Laplace transform
Control Engineering
Introduction

Mathematical Modelling of a Control System

 The control systems can be represented with a set of


mathematical equations known as mathematical model.

 These models are useful for analysis and design of control


systems.

 Analysis of control system means finding the output when


we know the input and mathematical model.

 Design of control system means finding the mathematical


model when we know the input and the output..
Control Engineering
Introduction

Types of Mathematical Modelling of a Control System

The following mathematical models are mostly used.

 Differential equation model

 Transfer function model


Control Engineering
Introduction

Differential equation Model


 Differential equation models are used in many fields of
applied physical science to describe the dynamic aspects of
systems.

 The typical dynamic variable is time, and if it is the only


dynamic variable, the analysis will be based on an
ordinary differential equation (ODE) model.

 Differential equation model is a time domain mathematical


model of control systems.
Control Engineering
Introduction

Differential equation Model


The basic steps in building a model are:

Step 1: Clearly state the assumptions on which the model will


be based.

Step 2: These assumptions should describe the relationships


among the quantities to be studied.

Step 3: Completely describe the parameters and variables to


be used in the model.
Control Engineering
Introduction

Transfer Function Model


 Transfer function model is an s-domain mathematical
model of control systems.

 The Transfer function of a Linear Time Invariant (LTI) system


is defined as the ratio of Laplace transform of output and
Laplace transform of input by assuming all the initial
conditions are zero.

 If x(t) and y(t) are the input and output of an LTI system,
then the corresponding Laplace transforms are X(s) and
Y(s)
𝑌(𝑠)
 TF =
𝑋(𝑠)
Control Engineering
Introduction

Laplace transform

 Laplace Transform provides a powerful means to solve


linear ordinary differential equations in the time domain,
by converting these differential equations into algebraic
equations.

 In mathematics, the Laplace transform, named after its


inventor Pierre-Simon Laplace.
Control Engineering
Introduction

Laplace transform

 The transformation technique relating the time functions


to frequency dependent functions of a complex variables
is called Laplace transformation Technique.

 Such transformation is very easy in solving linear


differential equations.

 Transfer Function is HEART of the control system.


Control Engineering
Introduction

Why Laplace Transform


Control Engineering
Introduction

Why Laplace Transform

Laplace transforms solve differential equations by converting


them into simple algebraic equations. Algebra is easier!

 To this, we transform the time domain differential


equations(t domain) into the frequency domain (s-domain)
Control Engineering
Introduction

Advantages of Laplace Transform

 Solution of integro differential systems can be easily


obtained.
 Initial conditions are automatically incorporated.

 Laplace transform provides an easy & effective solution of


many problems arising in automatic control systems.
Control Engineering
Introduction

Laplace Transform Foundations

 A transform is function of functions


 Laplace Transform is mathematically defined as,
∞
L[f(t)] = F(s) = ‫׬‬0 𝑓(𝑡)𝑒 −𝑠𝑡 dt
 F(s) is the LT of f(t)
 s = σ + jὠ, a complex variable
 σ = Real part of complex variable ‘s’
 ὠ = Imaginary part of complex variable ‘s’
Control Engineering
Introduction

Inverse Laplace Transform

 A Inverse Laplace Transform is to transform from s-domain


to find f(t) in t-domain.

 𝐿−1 [F(S)] = 𝐿−1 {L(f(t)} = f(t)

The time function f(t) and its transform F(s) is called


transform pair.
Control Engineering
Introduction

Standard Laplace Transform Pairs


Control Engineering
Introduction
Control Engineering
Introduction

Example on Laplace Transformation


1.derive the Laplace transform of the exponential function
𝑓 𝑡 = 𝑒 −𝑎𝑡
Solution ∞ ∞ −𝑎𝑡 −𝑠𝑡
−𝑠𝑡
F(s) = L{f(t)} =‫׬‬0 𝑓(𝑡)𝑒 dt = ‫׬‬0 𝑒 𝑒 dt

∞
= ‫׬‬0 𝑒 − 𝑠+𝑎 𝑡 dt
1
=[− 𝑒− 𝑠+𝑎 𝑡 ]∞
0
(𝑠+𝑎)
−1
=0– ( )
𝑠+𝑎
1
=
𝑠+𝑎
Control Engineering
Introduction

Example on Laplace Transformation


Problem 2: Obtain the solution of differential equation by
neglecting initial conditions.
𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
+ 6 + 8y(t) = 16𝑒 −𝑡
𝑑𝑡 2 𝑑𝑡
Solution: taking LT for both sides of the equation
Control Engineering
Introduction

Example on Laplace Transformation


16
𝑠 2 Y(s)+6sY(s)+8Y(s) =
𝑠+1

16
(𝑠 2 +6s+8) Y(s) =
𝑠+1

16
Y(s) =
𝑠+1 (𝑠 2 +6s+8)

16
Y(s) =
𝑠+1 𝑠+2 (𝑠+4)
Control Engineering
Introduction

Example on Laplace Transformation

Y(s) = taking partial fractions


𝑎1 𝑎2 𝑎3
Y(s) = - +
𝑆+1 𝑆+2 𝑆+4
Finding a1, a2, and a3
5.33 8 2.66
Y(s) = - +
𝑠+1 𝑠+2 𝑠+4
By taking Inverse Laplace Transform Y(s)

Y(t) = 5.33𝑒 −𝑡 - 8 𝑒 −2𝑡 + 2.66 𝑒 −4𝑡


Control Engineering
Introduction

Determine inverse Laplace transform

𝑠+6
F(s) =
(𝑠 2 +3𝑠+2)
Control Engineering
Introduction

Determine inverse Laplace transform

𝑠+6
F(s) =
(𝑠 2 +3𝑠+2)

𝑠+6 𝑠+6
F(s) = =
(𝑠 2 +3𝑠+2) 𝑠+1 (𝑠+2)

𝑠+6 𝐴1 𝐴2
F(s) = = +
𝑠+1 (𝑠+2) (𝑠+1) (𝑠+2)

𝑆 4
F(S) = +
(𝑠+1) (𝑠+2)

f(t) = 5 𝑒 −𝑡 - 4 𝑒 −2𝑡
THANK YOU

Sangamesh C M
Department of Mechanical Engineering
sangameshm@pes.edu
+91 8073038517

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