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
[email protected]
+91 8073038517
