Chapter 2

Mathematical Modeling

Upon completion of this chapter, student should be able to:

▪ Obtain a mathematical model from electrical, mechanical

and electromechanical systems.

▪ Define transfer function for the systems.

 Electrical System and
Mechanical system

Differential LT/LT-1
Transfer
Equation
Function

State Space
Differential Equation
 "A differential equation is a relationship between a function
of time & it's derivatives" (Braun - Differential equations and
their applications)
 Differential equation is a relationship between input and
output of control system (Norman [Link] - Control System
engineering)
 Example :
dc(t )
+ 2c(t ) = r (t )
dt
Output Input
Transfer function
 It can be represented in block diagram.

R(s) H(s) C(s)

 It is relationship between input and output :

C ( s)
= H ( s)
R( s)
Where C(s) is output of system
R(s) is input of system
H(s) is elements in the system

 It can be define from differential equation by taking Laplace

transform.
Electrical Network Transfer Function
 Mathematical modeling can be determined using one or more
fundamental laws which are applicable to the physical nature of
system.
 Ex : Kirchhoff's law and Ohm’s Law.
 Model of electric system can be:
Table 1
Passive Network RLC Active Network (Op Amp)
Series RLC Inverting Op Amp
Parallel RLC Non Inverting Op Amp
Combination RLC

 The transfer function can be determine by using Mesh or Nodal

analysis.
 Table 2 : Summary of components and relationship between
voltage and current.

Impedance Admittance
Component V-I I-V V-q Z(s) Y(s)
Example 1 :
Find transfer function relating the capacitor Voltage, Vc(s) to the input voltage,
V(s).

Step 1 : Determine differential equation of the circuit.

Step 2 : Taking Laplace transform and rearranging

terms and simplified.

Step 3 : Solving Transfer Function (TF)

Summary :
[Sum of impedances] I(s) =
[sum of applied voltage]
 Loop/Mesh Analysis
 Fig shows the electrical circuit with passive elements.

 Using mesh analysis, the general equations are obtained and shown as below:
sum of impedance sum of impedance common sum of applied voltages
I1 ( s ) − I2 ( s ) = (1)
around mesh 1 to the two meshes around mesh 1

sum of impedance common sum of impedance sum of applied voltages

− I1 ( s ) + I2 ( s ) = ( 2)
to the two meshes around mesh 2 around mesh 2

( R1 + Ls ) I1 ( s ) − ( Ls ) I 2 ( s ) = V ( s ) ( 3)
 1 
− ( Ls ) I1 ( s ) +  R2 + Ls +  I2 ( s ) = 0 ( 4)
 Cs 
 Nodal Analysis
❖ Fig shows the electrical circuit with passive elements.

❖ Using nodal analysis, the general equations are obtained and shown as below:
sum of admittances sum of admittances common sum of applied currents
V1 ( s ) − V2 ( s ) = (1)
connected to node1 to the two nodes around node 1

sum of admittances common sum of admittances sum of applied current

− V1 ( s ) + V2 ( s ) = ( 2)
to the two nodes connected to node1 around node 2

 1 
 1
G + + G2  VL ( s ) − ( G2 ) Vc ( s ) = G1V ( s ) ( 3)
 Ls 
− ( G2 )VL ( s ) + ( G2 + Cs )VC ( s ) = 0 ( 4)
 Example 2

Given R1=1Ω, R2=1Ω

L=2H and C=2F

I 2 (s )
Find transfer function G(s ) = For the network circuit in Figure
V (s )
above using mesh analysis and nodal analysis. Prove the both
answer are same.

use this formula,

G (s) =
 impedance in sharing loop
(  impedance in loop1)(  impedance in loop2 ) - (  impedance in sharing )
2
 Op Amp
Table 3
Types Op Amp Op Amp circuit Transfer Function (TF)

Vo( s) Z ( s)
=− 2
Inverting Op Amp Vi( s) Z1 ( s)

Vo( s) Z 2 ( s) + Z1 ( s)
=
Non Inverting Vi( s) Z1 ( s)
Op Amp
 Force-
Translational Displacement
Relationship
F ( s)
TF =
Mechanical X ( s)

System
Torque-
Angular
Rotational Displacement
Relationship
T ( s)
TF =
 ( s)
Translational Mechanical system
Table 4: Force displacement relationship
 Example 3: Find Transfer function , X(s)/F(s) for the system below.
Step :
1) Draw Body Free Diagram (BFD)
2) Place on the mass all forces felt by mass.
- Mass travelling to the right,
applied force point to the right
- spring, viscous damper and
force due to acceleration
point to the left.
3) Write differential equation
4) Solving TF by taking LT

OR

sum of impedance sum of impedances between

X1 ( s ) − X 2 ( s ) = sum of applied forces at x1 (1)
connected to motion x1 x1 and x 2

sum of impedance between sum of impedance connected sum of applied

− X1 ( s ) + X2 (s) = ( 2)
x1 and x 2 on motion x 2 forces at x 2
Example 4: Find Transfer function , X (s)/F(s) for the system below.
2

Given : fv1=fv2= 1N-s/m , K1=K2=1N/m, M1=M2=1kg

Example 5: Find Transfer function , X (s)/F(s) for the system below.
2
Rotational Mechanical system
Table 5: Torque-angular displacement relationship
Example 5: Find Transfer function , ɵ (s)/T(s) for the system below.
2

sum of impedance sum of impedances between sum of applied

1 ( s ) − 2 ( s ) = (1)
connected to motion 1 1 and 2 torques at 1

sum of impedance between sum of impedance connected sum of applied

− 1 ( s ) + 2 ( s ) = ( 2)
1 and 2 to the motion 2 torques at 2
Electromechanical system
➢ Electromechanical system is the combination of
electrical and mechanical system.

➢ In this course, electromechanical systems to be

studied are:
[Link] control DC motor Convert e voltage into
mechanical rotation
[Link] control DC motor
[Link] Control DC generator Convert mechanical
[Link] rotation into e voltage
[Link]
  (s )
Armature control DC motor T .F =
Vi (s )
Field control DC motor  (s )
T .F =
Vi (s )
 Vo (s )
Field Control DC generator T .F =
Vi (s )
Potentiometer: Relationship btwn output voltage and input
angular displacement

Vo (s )
T .F = = Kp
 i (s )

Tachometer : to measure rotation speed

Vo (s )
T .F = = sK f
 i (s )
Block Diagram
▪ It is unidirectional, operational blocks that
represent the transfer functions of the elements of
the systems.

▪ Consists of:
➢Lines/Arrows (signals) /

➢Block (system,TF,gain)

➢Summing junction (SJ)

➢Pick-off -point/take-off-point (PP)

Block Diagram(cont.)
• Block diagram with complex system can be reduce by reduction method.

• Four (4) reduction method :

• SJ Arrangement

• PP Arrangement
Block Diagram(cont.)
• Block Arrangement
• Cascade (serial) blocks

• Parallel block

• Feedback block
Block Diagram(cont.)
• Moving Block diagram over SJ
Moving BD to the left SJ Moving BD to the Right SJ
Block Diagram(cont.)
• Moving Block diagram over PP
Moving BD to the left PP Moving BD to the Right PP
Block Diagram(cont.)
Example:Determine the TF,C(s)/R(s), of the system
by using Block diagram reduction(BDR )method.
Block Diagram(cont.)
Steps of Block Reduction Method :
1 Rearrange all summing junctions (SJ) that have more
then two inputs.
2
Rearrange all pick-off points (PP) that have more that
two outputs.
3
Solve all cascade, parallel and feedback blocks.
4
Repeat step 1,2 and 3 which appropriate until the
simplest block diagram can be obtained.
5
Obtain transfer function of the simplest block diagram
configuration.
Signal Flow Graph
▪ A representation of the interconnection of
subsystem that form a system. It si consists of
nodes representing signals and lines representing
subsystem.

▪ Consists of:
➢ System

➢ Signal

➢ Interconnection of systems and signals(SFG)

Building Signal Flow Graph
▪ Cascaded system

Block V2 (s) V1 (s)

diagram

signal

System/
(SFG)
Building Signal Flow Graph (cont.)
▪ Parallel system signal

Block
diagram System/
(SFG)
Building Signal Flow Graph (cont.)
▪ Feedback system nodes

Block
diagram

signal

System/
(SFG)
Building Signal Flow Graph (cont.)
Example
Mason’s rule
i) Mason’s rules is a rule applied to reduce the complex block diagram
ii) The transfer function of a system represented by a signal flow diagram
using the Mason’s rule is given by the expression below;

C(s) k Mk Δk
G(s)= =
R(s) Δ
where; k=number of forward path
Mk =k thforward path gain
Δ=1- LG+ NTL2- NTL3+...
Δk =cofactor = 1- nontouch fwd path gain+ NTL2 non touch fwd path gain
-  NTL3nontouchfwdgain+...
Mason’s rule
Example : Determine the TF, C(s)/R(s), of the
system by using Mason’s rule.